CN106572340A - Camera shooting system, mobile terminal and image processing method - Google Patents
Camera shooting system, mobile terminal and image processing method Download PDFInfo
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- CN106572340A CN106572340A CN201610959236.7A CN201610959236A CN106572340A CN 106572340 A CN106572340 A CN 106572340A CN 201610959236 A CN201610959236 A CN 201610959236A CN 106572340 A CN106572340 A CN 106572340A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
- H04N23/13—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths with multiple sensors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/16—Constructional details or arrangements
- G06F1/1613—Constructional details or arrangements for portable computers
- G06F1/1633—Constructional details or arrangements of portable computers not specific to the type of enclosures covered by groups G06F1/1615 - G06F1/1626
- G06F1/1684—Constructional details or arrangements related to integrated I/O peripherals not covered by groups G06F1/1635 - G06F1/1675
- G06F1/1686—Constructional details or arrangements related to integrated I/O peripherals not covered by groups G06F1/1635 - G06F1/1675 the I/O peripheral being an integrated camera
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/02—Constructional features of telephone sets
- H04M1/0202—Portable telephone sets, e.g. cordless phones, mobile phones or bar type handsets
- H04M1/026—Details of the structure or mounting of specific components
- H04M1/0264—Details of the structure or mounting of specific components for a camera module assembly
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
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Abstract
A camera shooting system disclosed by the present invention comprises a first camera shooting device, a second camera shooting device, a laser projection device and a processor. The laser projection device is used to project the structured light patterns of the invisible laser to a common field of view of the first and second camera shooting devices, the first camera shooting device is used to acquire a first visible light color image and a first invisible light image in the common field of view, and the second camera shooting device is used to acquire a visible light gray-scale image and a second invisible light image in the common field of view, and the processor is used to utilize the first visible light color image and the visible light gray-scale image to synthesize a second visible light color image and utilize the first invisible light image and the second invisible light image to calculate a depth image. According to the present invention, the high-quality color image and depth image of a target can be acquired with a smaller size and the lower power consumption.
Description
【Technical field】
The present invention relates to optical measurement and electronic applications, more particularly to a kind of camera system, mobile terminal and image procossing
Method.
【Background technology】
RGB image is able to record that the color characteristic of object, has been widely used in terms of pattern-recognition, such as people
Face identification, Articles detecting etc..Recently as the development of depth survey technology, the development of structured light technique is based particularly on, profit
Further carry out the applications such as motion sensing manipulation, 3D reconstructions, tracking and avoidance with depth camera measurement object depth information also gradually to obtain
To attention.
Color camera is equipped with the computing device and depth camera causes equipment to have more extensive function, but consider
To mobile device as in mobile phone, the less computing device of flat board equal-volume, many cameras of setting are unadvisable, are on the one hand occupied
Substantial amounts of space；On the other hand bigger power consumption is also brought along.
【The content of the invention】
In order to overcome the deficiencies in the prior art, the invention provides a kind of camera system, mobile terminal and image processing method
Method, with fewer resource high-quality Color Image Acquisition and depth image collection are realized.
A kind of camera system, including the first camera head, the second camera head, laser projection device and processor；
The laser projection device is used for, and projects not to the total visual field of first camera head and the second camera head
The structured light patterns of visible laser；
First camera head is used for, and the first otherwise visible light color image and first in the collection total visual field is not
Visible images；
Second camera head is used for, and the visible ray gray level image and second in the collection total visual field is invisible
Light image；
The processor is used for, visible using first otherwise visible light color image and the synthesis second of visible ray gray level image
Light coloured image, and calculate depth image using the first black light image and the second black light image.
Preferably, the processor is used for, using the first black light image and the second black light image according to
Binocular Vision Principle obtains the depth image.
Preferably, the processor is used for, and the first depth image is calculated using the first black light image, using institute
State the second black light image and calculate the second depth image, and according to first depth image and the second range image integration institute
State depth image.
Preferably, the laser projection device is used to alternately project the structured light patterns and pass to the total visual field
Close the projection structured light patterns；
First camera head is used for, and during the laser projection device projects the structured light patterns first is gathered
One black light image, during the laser projection device closes the projection structured light patterns the one or two black light is gathered
Image；Second camera head is used for, and the 2nd 1 is gathered during the laser projection device projects the structured light patterns
Black light image, during the laser projection device closes the projection structured light patterns the two or two black light figure is gathered
Picture；The processor is additionally operable to, using the difference image of the one one black light image and the one or two black light image,
And the difference image of the 2nd 1 black light image and the two or two black light image calculates the depth image.
Preferably, within the cycle of the laser projection device alternating projection and the closing projection structured light patterns, throw
The duration of the structured light patterns is penetrated more than the duration for closing the projection structured light patterns.
Preferably, the focal length of lens of first camera head is different from the focal length of lens of second camera head.
Preferably, the invisible laser is infrared ray laser.
Preferably, the laser projection device is arranged between first camera head and the second camera head.
Present invention also offers a kind of mobile terminal, including arbitrary described camera system.
Present invention also offers a kind of image acquiring method, comprises the steps：
Projection step：Laser projection device is invisible to the total visual field projection of the first camera head and the second camera head
The structured light patterns of laser；
Acquisition step：First camera head gathers the first otherwise visible light color image in the total visual field and the
One black light image, second camera head gathers the visible ray gray level image in the total visual field and second can not
See light image；
Process step：The processor is using first otherwise visible light color image and visible ray gray level image synthesis second
Otherwise visible light color image, and calculate depth image using the first black light image and the second black light image.
The invention has the beneficial effects as follows：
Compared to prior art, the present invention can realize the high-quality colour to target with less volume, lower power consumption
The collection of image and depth image.
【Description of the drawings】
Fig. 1 is the camera system schematic diagram of an embodiment of the present invention
Fig. 2 is the structural representation of the camera head of an embodiment of the present invention
Fig. 3 is the optical filter schematic diagram of first camera head of an embodiment of the present invention
Fig. 4 is the optical filter schematic diagram of second camera head of an embodiment of the present invention
Fig. 5 is the projection sequential chart of the laser projection device of an embodiment of the present invention
Fig. 6 is the mobile terminal schematic diagram of an embodiment of the present invention
【Specific embodiment】
Preferred embodiment to inventing below is described in further detail.
As shown in figure 1, a kind of camera system of embodiment, including the first camera head, the second camera head, laser projection
Device and processor, processor is electrically connected respectively with the first camera head, the second camera head and laser projection device.
The laser projection device is used for, and projects not to the total visual field of first camera head and the second camera head
The structured light patterns of visible laser；First camera head is used for, and gathers the first otherwise visible light color in the total visual field
Image and the first black light image, second camera head is used for, and gathers the visible ray gray scale in the total visual field
Image and the second black light image；The processor is used for, using first otherwise visible light color image and visible ray ash
Degree image synthesizes the second otherwise visible light color image, and is calculated using the first black light image and the second black light image
Depth image.
In Fig. 1, FOV represents the visual angle of the first camera head and the second camera head, the projection scope of laser projection device
Cover the total visual field of the first camera head and the second camera head.
As shown in Fig. 2 the typical structure schematic diagram of camera head, including imageing sensor 1, optical filter 2 and lens 3, light
Gathered by imageing sensor after optical filter 3 again through the convergence of lens 3.Optical filter 2 is used for the light by specific wavelength, figure
As sensor 1 is used to convert light to digital electric signal.
The Baeyer optical filter that common RGB camera is adopted, optical filter has identical with image sensor pixel quantity and one
One corresponding filter unit, Baeyer optical filter has for respectively by the filter unit of ruddiness, green glow and blue light, light process
The pixel of imageing sensor corresponding with the filter unit is incided after certain filter unit.It is quicker to green glow in view of human eye
Sense, therefore be R (25%) generally by the ratio setting of three:G (50%):B (25%).
As shown in figure 3, in a kind of embodiment, the first camera head adopts RGB-IR cameras, the optical filter that it is adopted with visit
Your optical filter is different, and the optical filter of the present embodiment is made up of four kinds of different filter units, respectively can be by R, G, B and red
Outer light (IR) component, four ratio is R (25%):G (25%):B (25%):IR (25%), by using this optical filter
2, the first camera head can both gather otherwise visible light color image, it is also possible to gather sightless infrared light image.Certainly, also may be used
To substitute IR filter units using the filter unit of other black lights, with coordinate laser projection device to project other are invisible
Laser.The arrangement mode of each filter unit of the optical filter of the present embodiment and each component accounting are simultaneously not exclusive, it is possibility to have other
Arrangement and distribution mode.
Imageing sensor in first camera head is obtained after the optical information of each component (such as R, G, B, IR), due to
Each optical information all only occupies the pixel of part, so that recovering other three kinds points in each pixel by way of interpolation
The intensity information of amount, so as to finally realize synchronous acquisition RGB image and IR images.The method of interpolation has various, such as add
Weight average etc., due to for prior art thus do not described in detail here.
As shown in figure 4, in one embodiment, the second camera head is used to gathering visible ray gray level image and invisible
Light image.Fig. 4 is the optical filter that the second camera head is adopted in a kind of embodiment, and wherein IR represents infrared filtering unit, and W is represented
White light filter element is transparent cell, can pass through the light of any wavelength.
Laser projection device is different according to the structured light patterns of projection, and its structure is also different.The present embodiment is with speckle particle
Illustrate as a example by structured light patterns.Laser projection device is typically by light source, collimation lens and diffraction optical element (DOE) group
Into.Light source is infrared laser in the present embodiment, can be that single edge emitting LASER Light Source, or vertical-cavity surface-emitting swash
Optical arrays light source.Because the light that LASER Light Source sends has certain angle of divergence so that using collimation lens collimated with
Launch the light beam of focal length.Laser beam is expanded into multiple laser Jing after DOE, and forms speckle particle pattern in space.
It is the collection image under the irradiation of the light sources such as sunshine in much using scene, these light sources are usually contained
There is black light identical black light (such as infrared light) projected with laser projection device, the light note of this part is to collection
Black light image produce impact, particularly in the case of light source is more strong, can cause gather black light image
The unfavorable situation such as contrast is relatively low, noise is big.In one embodiment, it is spaced to total visual field by controlling laser projection device
Projection structure light pattern is eliminating this adverse effect.As shown in figure 5, being a kind of interval throwing of laser projection device of embodiment
Shadow sequential chart, such as close laser projection device projection in the T1 time periods, and gathers corresponding black light pattern I1, and in phase
The adjacent T2 time periods open laser projection device projection, and gather corresponding black light pattern I2... by that analogy.When adjacent
Between the spacing frequency of section be not more than the frequency acquisition of black light image, you can once can not with only gathering in a period of time
See light image, it is also possible to gather multiple black light image.To illustrate how to below eliminate with frequency identical situation
The impact of black light image of the black light that light source is produced to gathering.
In the T1 time periods, laser projection device is closed, and the black light image I1 of acquisition is only comprising invisible in light source
Light composition.In the T2 time periods, the black light image I2 of acquisition black light then simultaneously comprising laser projection device projection into
Point and light source black light composition.A kind of processing method is, it is assumed that the illumination of two neighboring time period inner light source does not become
Change and collected object is not moved, now can be eliminated the effects of the act by infrared-difference：Differentiated black light figure
As I2 '=I2-I1, such black light image I2 ' has more high-contrast.In another kind of processing method, it is possible to use in front and back
At least two width black light images doing difference, such as：I2 '=I2- (I3+I1)/2.Concrete calculus of finite differences processing method also has many
Kind.
It is overall because laser projection device is to close within a period of time, therefore under conditions of frequency acquisition is constant
The quantity of the black light image of acquisition is reduced, and on the follow-up depth image that calculates certain impact is caused.In order to reduce this impact,
In the switch periods of laser projection device, the length of the length more than projection shut-in time section of projection opening time section is set
(such as T2 be more than T1) is obtaining the collection frame number of higher black light image.
In one embodiment, a kind of image acquiring method, comprises the steps：
S1, laser projection device to the total visual field of the first camera head and the second camera head projects invisible laser
Structured light patterns.
The first otherwise visible light color image and first in S2, the first camera head collection total visual field can not
See light image, second camera head gathers visible ray gray level image and the second black light figure in the total visual field
Picture.
S3, the processor synthesize the second visible ray using first otherwise visible light color image and visible ray gray level image
Coloured image.
The first camera head is identical with the size and resolution ratio of the image acquisition device of the second camera head in the present embodiment, this
Sample visible ray gray level image and the first otherwise visible light color image only need to consider two image acquisition devices due to position in synthesis
The image registration problem that difference causes.In other embodiments the parameter of the first camera head and the second camera head can also
Differ.Image registration algorithm is known technology more ripe at present, is not elaborated here.Due to visible ray gray-scale map
Seem not filter through optical filter and directly receive acquired in visible ray, thus its speed is stronger, can with first by it
See that light coloured image carries out synthesis and can realize following effect：
Details strengthens.Under half-light environment, many details in the first otherwise visible light color image will be relatively fuzzyyer, now
It will be seen that after the details of the part is synthesized with the first otherwise visible light color image in light gray level image, the second visible ray of formation
Coloured image will possess the image effect for becoming apparent from.
Image zoom.First camera head and the focal length of lens of the second camera head are set to different, such as are respectively
It is near burnt with remote Jiao.Because the first otherwise visible light color image is obtained under remote focal length, thus the subject image in image nearby compares
It is fuzzy, and visible ray gray level image is obtained under nearly focal length mode, is now mended with the information in visible ray gray level image
The part obscured in the first otherwise visible light color image is repaid, the second relatively sharp otherwise visible light color image is ultimately formed.
S4, the processor calculate depth image using the first black light image and the second black light image.
In one embodiment, a kind of image acquiring method comprises the steps：
S11, laser projection device alternately can not to the total visual field projection of the first camera head and the second camera head
See the structured light patterns of laser.
S12, first camera head gather the first otherwise visible light color image in the total visual field, and described
Laser projection device gathers the one one black light image during projecting the structured light patterns, closes in the laser projection device
The one or two black light image is gathered during closing the projection structured light patterns.
S13, second camera head gather the visible ray gray level image in the total visual field, and in the laser
Projection arrangement gathers the 2nd 1 black light image during projecting the structured light patterns, closes in the laser projection device and throws
The two or two black light image is gathered during penetrating the structured light patterns.
S14, the processor are using the one one black light image and the difference diagram of the one or two black light image
The difference image of picture and the 2nd 1 black light image and the two or two black light image, according to Binocular Vision Principle
Calculate the depth image.
The structured light patterns of warp knit code are cast in object space as a result of laser projection device, thus first takes the photograph
As the black light pattern that device and the second camera head are collected has gem-pure minutia, with common based on double
The camera visually felt is compared, using the present invention in the first black light image with the second black light image based on binocular vision
Principle can obtain the higher depth image of precision.Simultaneously be made up of single camera and laser-projector based on structure light skill
The depth survey principle of art is compared, and reference picture is preserved (such as with reference to speckle pattern without the need for extra memory in this method
Picture), while this method has higher environment resistant light interference performance.In addition, calculating depth map using difference image, essence is calculated
Du Genggao.
In one embodiment, a kind of image acquiring method comprises the steps：
S21, laser projection device alternately can not to the total visual field projection of the first camera head and the second camera head
See the structured light patterns of laser.
S22, first camera head gather the first otherwise visible light color image in the total visual field, and described
Laser projection device gathers the one one black light image during projecting the structured light patterns, closes in the laser projection device
The one or two black light image is gathered during closing the projection structured light patterns.
S23, second camera head gather the visible ray gray level image in the total visual field, and in the laser
Projection arrangement gathers the 2nd 1 black light image during projecting the structured light patterns, closes in the laser projection device and throws
The two or two black light image is gathered during penetrating the structured light patterns.
S24, the processor are using the one one black light image and the difference diagram of the one or two black light image
As calculating the first depth image, using the 2nd 1 black light image and the difference image meter of the two or two black light image
The second depth image is calculated, then using the depth image that the first depth image and the second range image integration precision are higher.
May be constructed based on the trigon depth survey unit of structure light by the first camera head and laser projection device.Obtain
The principle for taking depth information is the black light image that will collect to be carried out matching primitives and obtains with the reference picture that accesses in system
Capture element deviation value, then just can be with using the one-to-one relationship of pixel deviation value and actual grade value by principle of triangulation
Obtain the depth image of object space.Here reference picture is by gathering in the plane of depth camera known depth value
Black light image and obtain.
Due to the relation of shooting visual angle, it is only capable of obtaining the depth information of object side, such as human body, if phase seat in the plane
On the left of human body, then the data on right side have loss.Thus can further using the first depth image and second for obtaining
Depth image is synthesized, and can carry out data complement, and comparatively the 3rd depth image for obtaining possesses higher space point
Debate rate.
As shown in fig. 6, a kind of mobile terminal 7 containing this camera system of embodiment, including processor, a camera head
4th, the camera head 6 of laser projection device 5 and second.First camera head 4, the camera head 6 of laser projection device 5 and second can be with
It is arranged on the same surface of mobile terminal, laser projection device 5 is preferably provided at the first camera head 4 and the second shooting dress
Put between 6, the first camera head 4, the camera head 6 of laser projection device 5 and second are preferably provided on same straight line.Process
Device etc. can be made up of one or more in the CPU in mobile terminal, application specific processor, microelectronic component etc..Mobile terminal
Can be mobile phone, flat board, computer etc..
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
The present invention be embodied as be confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of without departing from present inventive concept, some simple deduction or replace can also be made, all should be considered as belonging to the present invention by
The scope of patent protection that the claims submitted to determine.
Claims (10)
1. a kind of camera system, is characterized in that, including the first camera head, the second camera head, laser projection device and process
Device；
The laser projection device is used for, and the total visual field projection to first camera head and the second camera head is invisible
The structured light patterns of laser；
First camera head is used for, and the first otherwise visible light color image and first in the collection total visual field is invisible
Light image；
Second camera head is used for, and gathers visible ray gray level image and the second black light figure in the total visual field
Picture；
The processor is used for, and using first otherwise visible light color image and visible ray gray level image the second visible brilliance is synthesized
Color image, and calculate depth image using the first black light image and the second black light image.
2. camera system as claimed in claim 1, is characterized in that,
The processor is used for, using the first black light image and the second black light image according to Binocular Vision Principle
Obtain the depth image.
3. camera system as claimed in claim 1, is characterized in that,
The processor is used for, and using the first black light image the first depth image is calculated, can not using described second
See that light image calculates the second depth image, and the depth map according to first depth image and the second range image integration
Picture.
4. camera system as claimed in claim 1, is characterized in that,
The laser projection device is used to alternately project the structured light patterns and close to the total visual field to project described
Structured light patterns；
First camera head is used for, and the one one is gathered during the laser projection device projects the structured light patterns not
Visible images, during the laser projection device closes the projection structured light patterns the one or two black light figure is gathered
Picture；Second camera head is used for, and the 2nd 1 is gathered during the laser projection device projects the structured light patterns not
Visible images, during the laser projection device closes the projection structured light patterns the two or two black light figure is gathered
Picture；The processor is additionally operable to, using the difference image of the one one black light image and the one or two black light image,
And the difference image of the 2nd 1 black light image and the two or two black light image calculates the depth image.
5. camera system as claimed in claim 1, is characterized in that,
Within the cycle of the laser projection device alternating projection and the closing projection structured light patterns, the structure light is projected
The duration of pattern is more than the duration for closing the projection structured light patterns.
6. camera system as claimed in claim 1, is characterized in that,
The focal length of lens of first camera head is different from the focal length of lens of second camera head.
7. camera system as claimed in claim 1, is characterized in that,
The invisible laser is infrared ray laser.
8. camera system as claimed in claim 1, is characterized in that,
The laser projection device is arranged between first camera head and the second camera head.
9. a kind of mobile terminal, is characterized in that, including the camera system as described in claim 1-8 is arbitrary.
10. a kind of image acquiring method, is characterized in that, comprise the steps：
Projection step：Laser projection device to the total visual field of the first camera head and the second camera head projects invisible laser
Structured light patterns；
Acquisition step：First camera head gathers the first otherwise visible light color image and first in the total visual field not
Visible images, second camera head gathers visible ray gray level image and the second black light in the total visual field
Image；
Process step：The processor is visible using first otherwise visible light color image and the synthesis second of visible ray gray level image
Light coloured image, and calculate depth image using the first black light image and the second black light image.
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