CN106772431B - A kind of Depth Information Acquistion devices and methods therefor of combination TOF technology and binocular vision - Google Patents
A kind of Depth Information Acquistion devices and methods therefor of combination TOF technology and binocular vision Download PDFInfo
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Abstract
The invention discloses the Depth Information Acquistion devices and methods therefor of a kind of combination TOF technology and binocular vision, which includes an active light source emitter, a TOF sensor, left images sensor, controller and processor；Active light source emitter includes the light source being sequentially arranged, spatial modulation device and imaging system；Active light source emitter and TOF sensor are connected with controller, and TOF sensor, left image sensor and right image sensor are connected with processor.Active light source emitter generates the optical illumination scene of time, spatial modulation, and TOF sensor acquisition time modulated signal obtains depth information of scene, and left images sensor acquires spatial modulation signal and obtains scene image information.Increase constraint condition with depth information and characteristic matching is carried out to scene image, obtains high-resolution depth graph picture.The present invention realizes high-resolution fast deep acquisition of information under indoor and outdoor surroundings at lower cost, is suitable for closely and relatively remote.
Description
Technical field
The present invention relates to depth transducer, machine vision, three-dimensional reconstruction, binocular stereo vision, TOF technical fields, especially
It is related to the Depth Information Acquistion devices and methods therefor of a kind of combination TOF technology and binocular vision.
Background technique
In recent years, depth information obtains more and more applications in the sensor.The technology for obtaining depth information is main
There are the technologies such as binocular solid matching, TOF (Time of Flight, flight time), monocular structure light.These technologies can be biography
Sensor increases additional depth information, has extensively in the fields such as image identifying and processing, scene understanding, VR, AR and robot
Application.However, the main product on current market still has respective use scope and limitation.For example, binocular solid
With the algorithm dependent on complexity, therefore hardware requirement is high, and the calculating time is long, and target identification effect unconspicuous for feature is not
It is good；Pulsed TOF depth measurement technical costs is very high, and due to the limitation of scan method, there are high-resolution and high refreshing frequency
Contradiction；Phase method TOF depth measurement distance resolution and spatial resolution be not high, and anti-interference ability is poor；Structure light skill
Art according to the difference of coding method, there is also resolution ratio it is low, time of measuring is long, poor reliability the defects of, to measurement target property
It there are certain requirements, and poor anti jamming capability, be only used for interior.Multiple sensors are often needed to configure for meet demand, simply
Sensor superposition, can not improve overall performance well, also will increase system structure complexity and system cost.
Summary of the invention
In view of the above deficiencies, the present invention provide a kind of combination TOF technology and binocular vision Depth Information Acquistion device and
Its method is greatly reduced algorithm requirement, improves measuring speed, to no line while having binocular stereo vision high-resolution
The target of reason can also identify very well, be suitable for various targets under indoor and outdoors environment.Melt relative to simple multiple sensors
It closes, not only cost reduces, and integrated level is more preferable, and also more stable in performance.
The technical solution adopted by the present invention to solve the technical problems is as follows: a kind of combination TOF technology and binocular vision
Depth Information Acquistion device, including an active light source emitter, a TOF sensor, left image sensor, right image pass
Sensor, controller and processor；The active light source emitter include the light source being sequentially arranged, spatial modulation device and
Imaging system；Active light source emitter and TOF sensor are connected with controller, TOF sensor, left image sensor and the right side
Imaging sensor is connected with processor.
The left image sensor and right image sensor is symmetrically placed in TOF sensor two sides；As a kind of technology
Scheme, left images sensor and TOF sensor are using the image and depth information under light-splitting method acquisition similarity condition.Left,
Right image sensor obtain reflectivity information TOF sensor can be fed back, improve TOF sensor measurement accuracy,
Reduce noise.
The light of the controller control light source launch time modulation, after the modulation of spatial modulation device, by imaging system
Form the patterned illumination scene with certain space distribution.Preferably, light source is LED or mode of laser group, active light source transmitting
The time-modulation of device is sine wave or quick square wave sequence, and spatial modulation device is frosted glass or grating, and imaging system is micro-
Lens array.
The TOF sensor receives the echo-signal of scene objects reflection, is calculated and is flown according to the time-modulation of signal
Time further obtains depth information of scene.The imaging sensor receives the scene under environment light and active light source illumination
The spatial modulation of image, active light source adds texture to scene, carries out feature to texture-free target convenient for left images sensor
Matching.Preferably, the left image sensor and right image sensor acquired image are gray level image, spectral characteristic
It, also can response section visible light wave range primarily responsive to the narrow-band of active light source；Further, the left image sensor and the right side
It may be RGB color image that imaging sensor, which acquires image, obtains more multiple-object information and carries out characteristic matching.
It is a further object of the present invention to provide the depth information acquisition method of a kind of combination TOF technology and binocular vision, tools
Body includes the following steps:
(1) lightwave signal of controller control light source launch time modulation, by being imaged after the modulation of spatial modulation device
System forms pattern and irradiates target measurement region, and TOF sensor receives the echo-signal of target measurement region reflection, calculates light
The wave flight time obtains the depth information of each point；Left image sensor and right image sensor acquisition environment light and active light source hair
Scene under injection device illumination, obtains the left and right image under two visual angles；
(2) TOF sensor, left image sensor and right image sensor are demarcated, it is alive obtains three sensors
The corresponding relationship of boundary's coordinate system；
(3) according to calibrating parameters, depth information is mapped in two-way image coordinate, constraint condition is increased with depth information
Stereo matching, including following several method are carried out to two-way image:
(3.1) in depth image, depth is greater than the region of D, and 1-2 character pair point is found in left images, calculates
Depth information is as background depth；Further, multiple grades are segmented into, region of the distance between D1-D2 calculates primary
Depth, distance calculate a depth in the region of D2-D3, and so on；
(3.2) in depth image, to the region except step (3.1), its gradient is calculated, gradient value is greater than the region of G,
High Precision Stereo matching is carried out in left images, calculates accurate depth information；
(3.3) it in depth image, to the region except step (3.1) and step (3.2), calculates secondly ladder degree, second order
Gradient is less than the region of G2, only carries out Stereo matching to boundary in left images, calculates depth information, and other parts carry out line
Property interpolation；
(3.4) it in depth image, to the region except step (3.1), (3.2), (3.3), is carried out in left images low
Precision Stereo matching calculates depth information；
(3.5) high-pass filtering is carried out to left images, extracts image high frequency components, identify small size target, calculated deep
Spend information.
(4) the blind area part as caused by the difference of visual angle in two-way image is filled with background depth；
(5) it to the no parallax region except two-way image crossover range, is filled with TOF depth information, obtains scene
Depth image.
Beneficial effects of the present invention are as follows: realizing that high-resolution fast deep information obtains under indoor and outdoor surroundings at lower cost
It takes, is suitable for closely and relatively remote.The high-resolution of the rapid survey and binocular vision that have both TOF technology is anti-interference etc. excellent
Point reduces the risk that can not be identified with wrong identification, stability and better reliability.
The depth image and the high-resolution image of two-way for acquiring low resolution simultaneously, using depth image as prior information
Feature is carried out to image to identify and match, and is obtained high-resolution depth information according to optic triangle method principle, is significantly reduced
Algorithm complexity and calculating time.The method of the present invention or device include active light source emitter all the way, can carry out space and
Time-modulation, spatial modulation add certain texture to target, and auxiliary two-way image carries out feature identification, and time-modulation is used for
TOF obtains depth image.Depth image sensor only responds active light source.Left images sensor primarily responsive to active light source,
Also can response section visible light source, guarantee closely or under more remote, strong environment light and weak environment light can obtain can
The image of identification.
Detailed description of the invention
Fig. 1 is the structure chart of apparatus of the present invention；
Fig. 2 is the structural schematic diagram of active light source emitter in apparatus of the present invention；
Fig. 3 is the method for the present invention flow chart；
Fig. 4 is the schematic diagram of sensor acquisition signal in the present invention；
In figure: active light source emitter 1, TOF sensor 2, left image sensor 3, right image sensor 4, controller
5, processor 6, light source 7, spatial modulation device 8, imaging system 9.
Specific embodiment
The present invention is described further with reference to the accompanying drawings and examples.
Embodiment:
As shown in Figure 1, the Depth Information Acquistion device of a kind of combination TOF technology and binocular vision, including an active light
1, TOF sensor 2 of source emitter, left image sensor 3, right image sensor 4, controller 5 and processor 6；Such as
Shown in Fig. 2, the active light source emitter 1 includes light source 7, spatial modulation device 8 and the imaging system 9 being sequentially arranged；
Active light source emitter 1 and light source 7 are connected with controller 5, TOF sensor 2, left image sensor 3 and right image sensing
Device 4 is connected with processor 6；
Left image sensor 3 and right image sensor 4 are arranged symmetrically in the two sides of TOF sensor 2 by the present embodiment, left,
Right image sensor and TOF sensor 2 are using the image and depth information under light-splitting method acquisition similarity condition.Left and right image
The reflectivity information that sensor obtains can feed back TOF sensor 2, improve the measurement accuracy of TOF sensor, reduce and make an uproar
Sound.
The TOF sensor 2 receives the echo-signal of scene objects reflection, is calculated and is flown according to the time-modulation of signal
Time further obtains depth information of scene.The left and right imaging sensor receives under environment light and active light source illumination
The spatial modulation of scene image, active light source adds texture to scene, carries out convenient for left and right imaging sensor to texture-free target
Characteristic matching.It is RGB color image, Spectral Properties that left image sensor 3 and right image sensor 4, which acquire image, in the present embodiment
Property primarily responsive to active light source narrow-band, also can response section visible light wave range, obtain more multiple-object information carry out feature
Match.
The controller 5 controls the light of 7 launch time of light source modulation, after the modulation of spatial modulation device, is by imaging
System 9 forms the patterned illumination scene with certain space distribution.Light source 7 uses 850nm mode of laser group, active light source in embodiment
The time-modulation of emitter 1 is sine wave, and spatial modulation device 8 is frosted glass, and imaging system 9 is microlens array.
As shown in figure 3, a kind of depth information acquisition method of combination TOF technology and binocular vision, specifically includes following step
It is rapid:
(1) controller 5 control 7 launch time of light source modulation lightwave signal, by spatial modulation device 8 modulation after by
As the formation pattern of system 9 and target measurement region is irradiated, is realized on the time as sine wave, the tune for spatially having certain hot spot to be distributed
Optical illumination processed, as shown in Figure 4；TOF sensor 2 receives the echo-signal of target measurement region reflection, calculates the light wave flight time
The depth information of each point is obtained, resolution ratio is 360 × 240；Left image sensor 3 and right image sensor 4 acquire environment light and
Scene under the illumination of active light source emitter 1, obtains the left and right image under two visual angles, and resolution ratio is 1280 × 1024；
(2) TOF sensor 2, left image sensor 3 and right image sensor 4 are demarcated, obtains three sensors and exists
The corresponding relationship of world coordinate system；
The narrow-band spectrum of TOF sensor 2 response active light sources obtains preferable signal-to-noise ratio to improve anti-interference, and
Since spatial resolution is lower, received is the average signal in range, therefore the not influence of exposure pattern space distribution.Ash
Degree imaging sensor, also can response section visible spectrum primarily responsive to the narrow-band spectrum of active light source.
(3) according to calibrating parameters, depth information is mapped in two-way image coordinate, constraint condition is increased with depth information
Stereo matching is carried out to two-way image；
(4) the blind area part as caused by the difference of visual angle in two-way image is filled with background depth；
(5) it to the no parallax region except two-way image crossover range, is filled with TOF depth information, obtains scene
Depth image.
In the solid matching method, increased constraint condition is specific as follows:
(3.1) in depth image, depth is greater than the region of D, and 1-2 character pair point is found in left images, calculates
Depth information is as background depth；Further, multiple grades are segmented into, region of the distance between D1-D2 calculates primary
Depth, distance calculate a depth in the region of D2-D3, and so on；
(3.2) in depth image, to the region except step (3.1), its gradient is calculated, gradient value is greater than the region of G,
High Precision Stereo matching is carried out in left images, calculates accurate depth information；
(3.3) it in depth image, to the region except step (3.1) and step (3.2), calculates secondly ladder degree, second order
Gradient is less than the region of G2, only carries out Stereo matching to boundary in left images, calculates depth information, and other parts carry out line
Property interpolation；
(3.4) it in depth image, to the region except step (3.1), (3.2), (3.3), is carried out in left images low
Precision Stereo matching calculates depth information；
(3.5) high-pass filtering is carried out to left images, extracts image high frequency components, identify small size target, calculated deep
Spend information.
Constraint condition is not limited to the above several method, and the several method being mentioned herein can not also be used all.
Claims (7)
1. a kind of depth information acquisition method of combination TOF technology and binocular vision, which is characterized in that this method is combining TOF
It is realized in the Depth Information Acquistion device of technology and binocular vision, the depth information of the combination TOF technology and binocular vision obtains
Taking device includes an active light source emitter, a TOF sensor, left image sensor, right image sensor, controller
And processor；The active light source emitter includes the light source being sequentially arranged, spatial modulation device and imaging system, institute
The time-modulation for stating active light source emitter is sine wave or quick square wave sequence；Active light source emitter and TOF sensing
Device is connected with controller, and TOF sensor, left image sensor and right image sensor are connected with processor；
The left image sensor and right image sensor acquired image are gray level image, and spectral characteristic is primarily responsive to master
The narrow-band of dynamic light source, also can response section visible light wave range；
This method comprises:
(1) optical signal of controller control light source launch time modulation, by imaging system shape after the modulation of spatial modulation device
At pattern and target measurement region is irradiated, TOF sensor receives the echo-signal of target measurement region reflection, calculates light wave flight
Time obtains the depth information of each point；Left image sensor and right image sensor acquisition environment light and active light source emitter
Scene under illumination, obtains the left and right image under two visual angles；
(2) TOF sensor, left image sensor and right image sensor are demarcated, obtains three sensors and is sat in the world
Mark the corresponding relationship of system；
(3) according to calibrating parameters, depth information is mapped in two-way image coordinate, constraint condition is increased to two with depth information
Road image carries out Stereo matching, comprising the following steps:
(3.1) in depth image, depth is greater than the region of D, and 1-2 character pair point is found in left images, calculates depth
Information is as background depth；Wherein, region of the depth greater than D is divided into multiple grades, and region of the distance between D1-D2 calculates one
Secondary depth, distance calculate a depth in the region of D2-D3, and so on；
(3.2) in depth image, to the region except step (3.1), its gradient is calculated, gradient value is greater than the region of G, in left and right
High Precision Stereo matching is carried out in image, calculates accurate depth information；
(3.3) it in depth image, to the region except step (3.1) and step (3.2), calculates secondly ladder degree, second order gradient
Region less than G2 only carries out Stereo matching to boundary in left images, calculates depth information, and other parts are linearly inserted
Value；
(3.4) in depth image, to the region except step (3.1), (3.2), (3.3), low precision is carried out in left images
Stereo matching calculates depth information；
(3.5) high-pass filtering is carried out to left images, extracts image high frequency components, identify small size target, calculate depth letter
Breath；
(4) the blind area part as caused by the difference of visual angle in two-way image is filled with background depth；
(5) it to the no parallax region except two-way image crossover range, is filled with TOF depth information, obtains the depth of scene
Spend image.
2. the depth information acquisition method of combination TOF technology and binocular vision according to claim 1, which is characterized in that
The left image sensor and right image sensor acquired image are color image.
3. the depth information acquisition method of combination TOF technology and binocular vision according to claim 1, which is characterized in that
The light source can be LED or mode of laser group.
4. the depth information acquisition method of combination TOF technology and binocular vision according to claim 1, which is characterized in that
The spatial modulation device is frosted glass or grating.
5. the depth information acquisition method of combination TOF technology and binocular vision according to claim 1, which is characterized in that
The imaging system is microlens array.
6. the depth information acquisition method of combination TOF technology and binocular vision according to claim 1, which is characterized in that
The left image sensor and right image sensor are arranged symmetrically in TOF sensor two sides.
7. the depth information acquisition method of combination TOF technology and binocular vision according to claim 1, which is characterized in that
The left image sensor and TOF sensor are using the image and depth information under light-splitting method acquisition similarity condition.
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