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Method and system for acquiring depth image based on speckle structured light

A technology of depth image and structured light, which is applied in the field of computer vision, can solve the problems of better depth image and unmatched effect, and achieve the effect of improving matching quality and overall effect

Active Publication Date: 2019-03-12
BEIJING HUAJIE IMI TECH CO LTD
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Problems solved by technology

[0005] The purpose of the embodiments of the present invention is to provide a depth image acquisition method and system based on speckle structured light to solve the technical problem in the prior art that a depth image with better effect cannot be obtained through stereo vision matching

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  • Method and system for acquiring depth image based on speckle structured light
  • Method and system for acquiring depth image based on speckle structured light
  • Method and system for acquiring depth image based on speckle structured light

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Embodiment Construction

[0021] The specific implementation manners of the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation manners described here are only used to illustrate and explain the embodiments of the present invention, and are not intended to limit the embodiments of the present invention.

[0022] Such as figure 1 As shown, the depth image acquisition method based on speckle structured light according to an embodiment of the present invention includes:

[0023] S11. Acquire a speckle reference image and a speckle scene image, wherein the speckle reference image is related to a preset reference plane, and the speckle scene image is related to a target object plane.

[0024] Such as image 3 As shown, it describes the target object plane and the preset reference plane, as well as the imaging plane and lens plane in the speckle structured light camera, so the speckle ...

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Abstract

The invention relates to the technical field of computer vision. The embodiment of the invention provides a depth image acquisition method and system based on speckle structured light, wherein the method comprises the following steps: acquiring speckle reference image and speckle scene image, wherein the speckle reference image is related to a preset reference plane and the speckle scene image isrelated to a target plane; The obtained speckle reference image and speckle scene image are extracted by ellipse LBP to obtain the corresponding first feature texture image and the second feature texture image. Stereoscopic matching between a speckle reference image and a speckle scene image based on the first feature texture image and the second feature texture image to output a corresponding parallax image; And optimizing the parallax image and combining the internal parameters of the camera to determine a corresponding depth image. Thus, the influence of noise and light is avoided, and theoverall effect of the obtained depth image is improved.

Description

technical field [0001] The present invention relates to the technical field of computer vision, in particular to a depth image acquisition method and system based on speckle structured light. Background technique [0002] With the continuous development of science and technology, stereo matching (Stereo Matching), as a key technology in 3D reconstruction, non-contact distance measurement and visual navigation, is widely used in the fields of automated assembly line, unmanned driving and intelligent robot control. [0003] However, in the process of image stereo matching, due to the influence of noise, brightness, contrast, specular reflection and low texture, etc., when the image is subjected to stereo matching, there will be many problems such as mismatching or discontinuous matching scene information. It will directly affect the quality of the 3D reconstruction of the later image. [0004] Therefore, how to obtain a depth image with a better effect through stereo vision m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/593G06K9/46G06K9/62
CPCG06T7/593G06T2207/10012G06V10/467G06V10/50G06V10/757
Inventor 赵奎斌王行李骊盛赞周晓军李朔杨淼
Owner BEIJING HUAJIE IMI TECH CO LTD
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