Speckle projector calibration parameter determination method for monocular speckle structured light system

Abstract

The embodiment of the invention provides a speckle projector calibration parameter determination method for a monocular speckle structured light system. The method comprises the following steps: determining internal parameters of a camera; determining q mark points in a reference plane, and collecting images of the reference plane when the speckle projector is turned on and turned off when the camera is located at two different positions respectively; determining a plane equation of the reference plane in the images acquired by the camera at the two different positions based on three-dimensional coordinates of mark points in the images acquired by the camera at the two different positions in a camera coordinate system when the speckle projector is turned off; determining three-dimensionalcoordinates of speckle points and homonymy points in the camera coordinate system based on the plane equation and pixel coordinates of s speckle points and s homonymy points selected in the image whenthe speckle projector is started; and determining horizontal axis coordinates and vertical axis coordinates of the speckle projector based on the three-dimensional coordinates of the speckle spots and the homonymous points. According to the method provided by the embodiment of the invention, accurate calibration of the position parameters of the speckle projector is realized.

Description

technical field [0001] The invention relates to the technical field of monocular speckle structured light systems, in particular to a method for determining calibration parameters of a speckle projector of a monocular speckle structured light system. Background technique [0002] In 3D measurement technology, monocular speckle-based structured light technology is an important branch, which is favored by its advantages of high precision and low price, and has been widely used in consumer electronics, games, industry and other fields. For example, Microsoft's Kinect generation products, Iphonex's FaceID technology, etc., are all based on monocular speckle mechanism light solutions. Generally, an active infrared speckle generator is used to endow the surface of the scene with rich image feature information, and then the camera is used to record the speckle image of the scene, and the depth information of the scene is calculated to finally obtain the depth image or 3D data. Bef...

AI Technical Summary

Problems solved by technology

[0026] The embodiment of the present invention provides a method for determining the calibration parameters of the speckle projector of the monocular speckle structured light system, which is used to solve the depth error caused by the inability to accurately calibrate in the existing monocular speckle structured light system. The problem that the precision occasion cannot be accepted

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