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

Abstract

The present application provides a depth image acquisition method and device, and a monocular speckle structured light system. The acquisition method of the depth image is applied to an image processing device in a monocular speckle structured light system, and the monocular speckle structured light system also includes a speckle projector and a camera, and the speckle projector is used to capture Speckle is projected on an object, and the camera is used to collect a speckle image of the object; the acquisition method includes: acquiring a scene speckle image currently collected by the camera; based on a pre-stored reference speckle image and a pre-stored The set deformation function determines the parallax of each pixel of the scene speckle image; the deformation function is used to describe the deformation of the scene speckle image compared with the reference speckle image; based on each of the scene speckle image The disparity of the pixels determines the depth image corresponding to the scene speckle image. The method is used to realize effective and accurate acquisition of depth images.

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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