Monocular single-frame multispectral three-dimensional imaging method

Abstract

The invention relates to a monocular single-frame multispectral three-dimensional imaging method, which comprises the following steps of: 1, acquiring an image, namely performing primary exposure zero-time-difference collection on N (N is more than or equal to 3) spectral images by using a snapshot multispectral camera device; 2, image gradient calculation: an image processing and analyzing devicecalculates gradients of the N spectral images greater than or equal to 3; 3, image edge extraction: an image processing and analyzing device analyzes and extracts an image edge according to the gradient image and reserves an image gradient at the image edge; 4, image edge gradient: for all N spectral images, obtaining N spectral image edge gradient graphs; and step five, depth detection: according to the image edge gradient, longitudinal Z information of a corresponding position at the image edge is acquired, and XYZ stereoscopic vision is completed. The method overcomes the defects of largebinocular stereo vision calculation amount, high price of a laser 3D vision system and the like, and has wide application value in advanced manufacturing, intelligent robot movement, pilotless automobile navigation, obstacle avoidance and the like.

Description

technical field [0001] The invention relates to the technical field of machine vision, in particular to a monocular single-frame multispectral three-dimensional imaging method. Background technique [0002] The natural world is three-dimensional, with plane (X, Y) position information and Z depth information. The methods for people to recognize depth information mainly include: recognition through parallax information of left and right eyes, recognition through motion information of eyes moving relative to objects, and recognition through object surface color information. Currently, there is also a recognition method for detecting depth through object surface texture information. [0003] In the past 20 to 30 years, the 3D vision methods studied by the academic circle mainly include obtaining depth information by analyzing the disparity information of the left and right eyes. Although 3D vision has been discussed for a long time in the literature, most machine vision system...

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Problems solved by technology

[0005] The main purpose of the present invention is to overcome the shortcomings of the existing machine vision methods, especially the dual-camera stereo vision method, which has a large amount of calculation and poor real-time performance, and the existing 3D laser vision system is expensive. The detection result is sparse clouds and cannot have realistic 2D images. In view of the shortcomings of information, a monocular single-frame multi-spectral 3D imaging method is proposed

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