Depth image acquisition method and device and monocular speckle structured light system

Abstract

The invention provides a depth image acquisition method and device, and a monocular speckle structured light system. The depth image acquisition method is applied to an image processing device in a monocular speckle structured light system, the monocular speckle structured light system further comprises a speckle projector and a camera, the speckle projector is used for projecting speckles on a shot object, and the camera is used for collecting a speckle image of the shot object. The acquisition method comprises the following steps: acquiring a scene speckle image currently acquired by the camera; determining parallax of each pixel point of the scene speckle image based on a pre-stored reference speckle image and a preset deformation function; using the deformation function for describing deformation of the scene speckle image relative to the reference speckle image; and determining a depth image corresponding to the scene speckle image based on the parallax of each pixel point of the scene speckle image. The method is used for realizing effective and accurate acquisition of the depth image.

Description

technical field [0001] The present application relates to the technical field of image processing, in particular, to a depth image acquisition method and device, and a monocular speckle structured light system. Background technique [0002] In the monocular speckle structured light system, a speckle image with a known position is pre-stored as a reference image. In practical applications, the speckle image of any scene is matched with the reference image to obtain the parallax. A corresponding depth image may be acquired based on the disparity. [0003] However, for structured light with a complex shape on the surface to be photographed, if there is a large drop in the depth direction, or when the normal direction of the surface to be photographed is close to the direction of the optical axis, the parallax cannot be accurately determined, or the parallax cannot be determined. Efficient and accurate acquisition of depth images is achieved. Contents of the invention [000...

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Problems solved by technology

[0003] However, for structured light with a complex shape on the surface to be photographed, if there is a large drop in the depth direction, or when the normal direction of the surface to be photographed is close to the direction of the optical axis, the parallax cannot be accurately determined, or the parallax cannot be determined. Enables efficient and accurate acquisition of depth images

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