CN108490634B - Structured light projection module and depth camera - Google Patents
Structured light projection module and depth camera Download PDFInfo
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- CN108490634B CN108490634B CN201810245379.0A CN201810245379A CN108490634B CN 108490634 B CN108490634 B CN 108490634B CN 201810245379 A CN201810245379 A CN 201810245379A CN 108490634 B CN108490634 B CN 108490634B
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/42—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect
- G02B27/4233—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect having a diffractive element [DOE] contributing to a non-imaging application
- G02B27/425—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect having a diffractive element [DOE] contributing to a non-imaging application in illumination systems
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/42—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect
- G02B27/4205—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect having a diffractive optical element [DOE] contributing to image formation, e.g. whereby modulation transfer function MTF or optical aberrations are relevant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
Abstract
The invention provides a structured light projection module and a depth camera, wherein the structured light projection module comprises: a light source array including a plurality of sub light sources arranged in a two-dimensional pattern for emitting an array beam corresponding to the two-dimensional pattern; the lens receives and converges the array light beam; the diffraction optical element receives the array light beam which is converged by the lens and then emits, and projects a structural light spot point patterned light beam; wherein the structural light spot pattern comprises at least two secondary structural light spot patterns which are formed by staggered superposition; the secondary structure light spot pattern is formed by tiling and arranging a plurality of spot blocks; the spot block is composed of spots of the same diffraction order formed by at least part of the sub light sources in the plurality of sub light sources after being diffracted by the diffraction optical element. The scheme improves the density distribution of the structural light spot pattern on the basis of ensuring the uniform distribution of the structural light pattern, and has very high irrelevance.
Description
Technical Field
the invention relates to a structured light projection module and a depth camera.
Background
the 3D imaging technology is the core of a new generation of human-computer interaction technology, and with the hard demand of mobile terminal devices for the 3D imaging technology, the depth camera will be widely applied to the mobile terminal devices, which also makes the depth camera develop towards low power consumption, high performance and small volume.
The structured light projection module is a core device in a depth camera based on a structured light technology, and mainly utilizes a light source to emit light beams, and the light beams are modulated by an optical element to emit structured light patterns outwards, and the size, the energy consumption and the performance of the structured light projection module determine the volume, the power consumption and the performance of the depth camera. Structured light spot (speckle) patterns are currently a relatively widely used and mature projection scheme, and the principle is mainly to use a laser light source, a lens and a Diffractive Optical Element (DOE), wherein the DOE can split an incident light beam to generate a spot-patterned light beam with a specific distribution to be emitted outwards.
Factors such as the intensity and distribution form of the structured light spot pattern affect the calculation accuracy and the viewing angle of the depth image. While higher intensity increases the contrast of the pattern and thus improves the calculation accuracy, the zero-order diffraction problem of diffractive optical elements requires that the intensity is not too high to avoid the occurrence of laser safety problems, and patent document CN2008801199119 proposes to use a two-piece DOE to solve the zero-order diffraction problem. The distribution form of the laser spot pattern, such as density distribution, irrelevance (randomness), etc., also affects the calculation accuracy. In addition, it is also desirable to achieve a larger field of view projection with less power consumption, such as using a smaller number of light sources to produce as large a projected area structured light pattern as possible.
However, in the current scheme, it is difficult to achieve better unification on key indexes such as power consumption of the structured light projection module, density distribution of projection patterns, and degree of independence.
Disclosure of Invention
In order to overcome the defects in the prior art and solve one or more of the above problems, the present invention provides a structured light projection module and a depth camera having the same.
In order to achieve the purpose, the invention adopts the following technical scheme:
A structured light projection module, comprising: a light source array including a plurality of sub light sources arranged in a two-dimensional pattern for emitting an array beam corresponding to the two-dimensional pattern; the lens receives and converges the array light beam; the diffraction optical element receives the array light beam which is converged by the lens and then emits, and projects a structural light spot point patterned light beam; wherein the structural light spot pattern comprises at least two secondary structural light spot patterns which are formed by staggered superposition; the secondary structure light spot pattern is formed by tiling and arranging a plurality of spot blocks; the spot block is composed of spots of the same diffraction order formed by at least part of the sub light sources in the plurality of sub light sources after being diffracted by the diffraction optical element.
In some embodiments, the tiled arrangement comprises a contiguous arrangement; in other embodiments, the tiled arrangement includes a gapped arrangement.
In some embodiments, the edges of the sub-speckle patterns are non-linear and coupled to each other.
In some embodiments, the two-dimensional pattern is an irregularly arranged pattern; the single light beam is diffracted by the diffraction optical element to form a sub-spot pattern, and the arrangement form of spots in the sub-spot pattern is regular arrangement.
In some embodiments, the staggered overlap-add comprises staggering along a first direction and/or a second direction perpendicular to the first direction.
In some embodiments, the light source array further comprises a substrate on which the plurality of sub-light sources are configured; the sub-light source is a vertical cavity surface laser emitter.
In some embodiments, the light source array comprises a plurality of independently controllable sub-light source arrays, which are individually or collectively controlled to produce a plurality of the structured light spot patterns with different density distributions. The light source array comprises a first sub light source array and a second sub light source array which can be independently controlled, the first/second sub light source array comprises a plurality of sub light sources which are arranged in a first/second two-dimensional pattern form and used for emitting first/second sub array light beams corresponding to the first/second two-dimensional pattern; the diffraction optical element receives the first and/or second subarray beams which are emitted after being converged by the lens, and projects first and/or second secondary structural light spot point patterned beams corresponding to the first and/or second subarray beams.
In some embodiments, when the first sub-light source array and the second sub-light source array are turned on simultaneously, the structured light projection module projects a structured light spot pattern formed by overlapping the first sub-structured light spot pattern and the second sub-structured light spot pattern, and the density of the structured light spot pattern is greater than that of the first sub-structured light spot pattern and that of the second sub-structured light spot pattern.
The invention also provides a depth camera, which comprises the structured light projection module and a depth control module, wherein the structured light projection module is used for projecting structured light patterns into space; the acquisition module is used for acquiring the structured light pattern; a processor receives the structured light pattern and calculates a depth image.
The invention has the beneficial effects that: the structure light spot pattern comprises at least two secondary structure light spot patterns which are formed by staggered superposition, the secondary structure light spot patterns are formed by tiling and arranging a plurality of spot blocks, and the spot blocks are formed by spots of the same diffraction orders formed by at least partial sub light sources in the plurality of sub light sources after being diffracted by the diffraction optical element, so that the density distribution of the structure light spot patterns is improved on the basis of ensuring the uniform distribution of the structure light patterns, and meanwhile, the structure light spot patterns also have very high irrelevance.
Drawings
FIG. 1 is a schematic diagram of a structured light depth camera according to one embodiment of the present invention.
FIG. 2 is a schematic diagram of a structured light projection module according to an embodiment of the invention.
FIG. 3 is a schematic diagram of a structured light projection module according to another embodiment of the invention.
FIG. 4 is a schematic diagram of a light source arrangement, sub-spot patterns, and structured spot pattern according to one embodiment of the present invention.
FIG. 5 is a schematic diagram of a light source arrangement, sub-spot pattern and structured spot pattern according to another embodiment of the present invention
Fig. 6 is a schematic diagram of a structured light spot pattern according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of a staggered structural light spot pattern according to an embodiment of the present invention.
FIG. 8 is a schematic diagram of a structured light pattern according to yet another embodiment of the present invention.
Fig. 9 is a diagram illustrating a relationship between sub-regions and inter-block gaps according to an embodiment of the invention.
FIG. 10 is a schematic diagram of a structured light projection module for projecting a high-density pattern according to an embodiment of the invention.
FIG. 11 is a schematic diagram of a structured light projection module for projecting a high-density pattern according to yet another embodiment of the invention.
FIG. 12 is a schematic diagram of an overlay pattern according to one embodiment of the present invention.
FIG. 13 is a schematic diagram of an overlay pattern according to another embodiment of the present invention.
Fig. 14 is a schematic diagram of generating a structured light spot pattern by overlapping 3 sub-structured light spot patterns according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
FIG. 1 is a schematic diagram of a structured light depth camera according to one embodiment of the present invention. The depth camera comprises a structured light projection module 10 and a collection module 20, wherein the structured light projection module 10 is used for projecting structured light beams into a space, when the structured light beams irradiate a plane 60, a structured light pattern 50 is generated on an area 30, the collection module 20 is used for collecting structured light images on objects in a collection area 40, the general projection area 30 is not smaller than the collection area 40, and therefore the objects in the collection area corresponding to the collection module can be covered by the structured light patterns.
When the structured light pattern is irradiated on the surface of the object, the 3-dimensional shape of the surface of the object can enable the structured light pattern to deform relative to the preset pattern, and the deformation amplitude and the depth of the object have a corresponding relation. Therefore, when performing depth calculation, firstly, performing matching calculation on the structured light pattern reflected by the object and a preset pattern (reference structured light image/pattern), where the matching calculation refers to selecting a sub-region with a certain size, such as a sub-region with a size of 7x7 or 11x11, on the current structured light image (or reference structured light image) with a certain pixel as a center, and then searching a sub-region most similar to the sub-region on the reference structured light image (or current structured light image), where a difference value between pixel coordinates of the two sub-regions on the two images is a deviation value; and secondly, calculating the depth value based on the deviation value by utilizing the corresponding relation between the deviation value and the depth value, wherein the depth values of a plurality of pixels form a depth image. The deviation value here generally refers to a deviation value along a baseline direction, and the baseline refers to a central connecting line between the structured light projection module 10 and the acquisition module 20.
In some embodiments, the structured light depth camera may also include two or more acquisition modules 20, for example, two, the structured light projection module 10 projects structured light patterns to the field of view areas of two acquisition modules 20 (left and right), the left and right acquisition modules 20 simultaneously acquire left and right structured light images, and the depth image may also be acquired through calculation of the left and right structured light images based on a binocular vision algorithm; the left and right structured light images and the corresponding reference structured light images can be calculated to obtain two depth images, respectively, which is advantageous in that in one embodiment, the left and right acquisition modules can be set to have different parameters, such as resolution, focal length, and the like, so that the structured light images with different resolutions, angles of view, and the like can be acquired at the same time, and further, the depth images with different resolutions, angles of view, and the like can be acquired at the same time; in one embodiment, the acquired depth images can be fused into a depth image with more information.
The depth calculation function can be implemented by a depth calculation processor configured in the depth camera, and the processor can be a special-purpose processor such as an SOC, an FPGA and the like, or a general-purpose processor. In some embodiments, an external computing device, such as a computer, a mobile terminal, a server, or the like, may also be used, where the external computing device receives the structured light image from the acquisition module 20 and then performs depth calculation, and the obtained depth image may be directly used for other applications of the device.
In one embodiment, the structured light projection module is used for projecting the infrared speckle pattern, the acquisition module is a corresponding infrared camera, and the processor is a special SOC chip. When the depth camera is integrated as an embedded device into other computing terminals, such as a computer, a tablet, a mobile phone, a television, etc., the functions implemented by the processor described above may be implemented by a processor or an application in the terminal, for example, the depth calculation function is stored in a memory in the form of a software module and called by the processor in the terminal to implement the depth calculation.
The structured light pattern may be a stripe pattern, a two-dimensional pattern, a speckle pattern (speckle pattern), etc., and the present invention will be described by taking a structured light projection module for emitting a speckle pattern and a depth camera thereof as examples, and other types of projection modules and depth cameras thereof can also utilize the idea of the present invention.
FIG. 2 is a schematic diagram of a structured light projection module, according to one embodiment of the invention. The structured light projection module 10 includes a light source array 201 (such as a vertical face laser emitter array chip, i.e. a VCSEL array chip) composed of a plurality of sub-light sources 202, a lens 203, and a diffractive optical element DOE 204. For convenience of illustration, 3 sub-light sources are drawn in the figure only in one-dimensional x direction, in practical embodiments, the number of light sources may reach several tens or even thousands, and the light sources may be arranged in two dimensions, and the arrangement may be regular or irregular.
The light beams emitted by the light source array 201 can form a patterned light beam corresponding to the light source arrangement, the patterned light beam is converged by the lens 203 and then incident on the DOE204, and the DOE204 projects a spot-patterned light beam into a space, and the spot-patterned light beam is incident on the plane 205 to form a spot pattern. The converging means that the lens 203 converges an incident light beam with a certain divergence angle and then emits the incident light beam with a smaller divergence angle, and the propagation of a single light beam is only represented by a single line in the figure, and for the sake of simplicity, the effects of the width, the convergence and the like of the light beam are not shown. The lens 203 may be a single lens or a lens combination or lens array of multiple lenses, and in some embodiments is used to collimate the light beam emitted by the light source 201.
Since the sub-light sources can be regarded as non-correlated light sources, and the mutual interference effect can be ignored, the speckle pattern emitted by the projection module 201 satisfies the linear condition, that is, the speckle pattern formed by the projection module 10 can be regarded as a superposition of sub-speckle patterns formed by the light beams emitted by the sub-light sources in the light source 201 after passing through the DOE 204.
for simplicity, the embodiment shown in fig. 2 only analyzes the case where the DOE204 forms 3 diffraction orders (for example, -1 order, 0 order, and 1 order, and other diffraction orders) in the x direction for an incident light beam, and actually more diffraction orders in the x and y directions can be formed. The DOE204 receives the light beam from the lens 203, diffracts the light beam, and forms 3 diffraction orders within the diffraction angle θ, and all the diffraction orders form a sub-spot pattern of the sub-light source. In the embodiment, by comprehensively designing the DOE diffraction angle θ and the size of the light source array (including the DOE diffraction angle, the included angle between adjacent diffraction orders, the size of the light source array, the focal length of the lens, and the incident angle of each sub-light source relative to the DOE), the sub-spot patterns of the multiple sub-light sources are made to intersect with each other, and spots of the same order number in different sub-spot patterns are focused together to form a spot block, in the figure, a spot block 206 is composed of 1-order diffraction spots, a spot block 207 is composed of 0-order diffraction spots, a spot block 208 is composed of-1-order diffraction spots, and the multiple spot blocks are tiled and arranged to jointly form a structural spot pattern. As shown in fig. 2, it can be understood that the arrangement and the arrangement of the spots in each spot block correspond to the arrangement of the sub-light sources 202 in the light source 201, such as the arrangement pattern is the same or a central symmetry relationship, and the arrangement of the spot blocks is the same as the arrangement of the spots in the sub-spot pattern.
In order to make the density of the speckle distribution in the structured speckle pattern relatively uniform and satisfy the irrelevance, on one hand, the arrangement of the sub-light sources 202 is designed so that the speckle arrangement inside the speckle block 206 satisfies the irrelevance, and on the other hand, the DOE204 is designed so that each speckle block 206 is arranged in a tiled manner to ensure that all the speckle blocks can cover the whole projection area.
FIG. 4 is a schematic diagram of a light source arrangement, sub-spot pattern, and structured spot pattern according to one embodiment of the present invention. Fig. 4(a), (b), and (c) respectively correspond to the light source 201, the sub-spot pattern formed by the single light beam via the DOE204, and the structural spot pattern in the projection module 10 in the embodiment shown in fig. 2. In fig. 4(a), the light source includes a substrate 401 and a light source array formed by sub light sources 402 arranged on the substrate 401, in this embodiment, the arrangement of the sub light sources in the sub light source array 402 is irregular, and the spots in the sub spot pattern are regularly distributed, so that the arrangement of each spot block 405 in the finally formed structured light pattern can also be regularly arranged as the arrangement of each spot in the sub spot pattern is the same. In this embodiment, the outline of the arrangement pattern formed by the sub-light sources 402 (indicated by the dotted line in the figure, the outline may not be included in the actual product) is an irregular outline, and therefore, the outline of each blob 405 is also an irregular outline, and when the blobs 405 form the structured blob pattern 404 in a mutually adjacent and tiled manner, the edges of the adjacent blobs 405 are irregular (illustrated in fig. 4 as an undulating non-linear shape), and the adjacent blobs are coupled to each other (it should be noted that the actual structured blob pattern is deformed due to the distortion of the lens, which is not ideal in the figure). The outline of the blob block 405 is non-linear in both the x and/or y directions, it being understood that since the edges of adjacent blob blocks are non-linear, they do not necessarily coincide with the baseline, i.e. do not coincide with the baseline direction x. The arrangement of the coupling between the blocks when the contour is non-linear can further improve the uncorrelation and density uniformity of the spots adjacent to the adjacent blocks, compared to the case where the pattern of the sub-light sources 402 is set to be square. In fig. 4(c), the structured light spot pattern 404 is formed by a plurality of spot blocks 405 in a mutually adjacent tiled arrangement, and for convenience, the connection between the spot blocks 405 is illustrated, so that a dotted line is drawn to represent an outline, and the connection places are dense, and the density of the connection places is relatively uniform because no dotted line exists in the actual pattern.
As can be seen from fig. 4(c), the randomness of the distribution of the spots at the joints of the adjacent blocks can be improved by the mutual coupling arrangement of the non-linear contours, but the disadvantage is that the non-linear undulating contours also appear at the edges of the structural spot pattern, and since the field of view of the acquisition module is often square (here, the analysis is still performed in an ideal situation, ignoring image distortion), the effective area 406 of the structural spot pattern is smaller than the overall structural spot pattern 404 formed by all the spot blocks 405.
FIG. 3 is a schematic diagram of a structured light projection module according to another embodiment of the invention. After the light beams emitted by the light source array 301 composed of a plurality of sub-light sources 302 are converged by the lens 303 and then enter the DOE304, a structural light spot pattern is emitted on the plane 305. Unlike the embodiment shown in fig. 2, the diffraction angle θ of the DOE304 in this embodiment is relatively small, so that the sub-spot patterns formed by the light beams emitted by each sub-light source after being diffracted by the DOE304 do not intersect with each other, that is, one spot block is directly formed, as shown in fig. 3, the sub-spot patterns formed by the sub-light sources 3021, 3022, 3023 by the DOE304 and composed of spots with different diffraction orders are 308, 307, and 306, respectively. Unlike the embodiment shown in fig. 2, a plurality of sub-dot patterns do not intersect each other and collectively constitute a structural light dot pattern. As can be seen from fig. 3, the arrangement of the plurality of sub-dot patterns corresponds to the arrangement of the sub-light sources 302.
FIG. 5 is a schematic diagram of a light source arrangement, sub-spot pattern, and structured spot pattern according to another embodiment of the present invention. Fig. 5(a), (b) and (c) respectively correspond to the light source 301, the sub-spot pattern formed by the single light beam via the DOE304, and the structural spot pattern in the projection module 10 in the embodiment shown in fig. 3. In fig. 5(a), the light source is composed of a substrate 501 and sub-light sources 502, and the sub-light sources 502 are regularly arranged, so that the sub-speckle patterns cover the projection area in a tiled arrangement by corresponding regular arrangement to form a structured speckle pattern, as shown in fig. 5 (c); FIG. 5(b) shows a sub-spot pattern 503 composed of multiple diffraction orders of spots after the light beams emitted by the single sub-light source are diffracted by the DOE 304; fig. 5(c) shows a structured light spot pattern 504, which is composed of a plurality of sub-spot patterns 505 (i.e., sub-spot patterns 503) together, and the arrangement of the sub-spot patterns 505 corresponds to the arrangement of the sub-light sources 502. In this embodiment, in order to make the structural light spot pattern satisfy the irrelevance characteristic, the arrangement of the spots in the sub-spot pattern (spot block) 503 is irregularly arranged, and this requirement can be achieved by designing the DOE304 such that the beam angles of adjacent diffraction orders are not uniformly distributed. In this embodiment, the contour of the sub-speckle pattern 503 is non-linear along the x and/or y direction, and adjacent sub-speckle patterns are coupled to each other to form the structural speckle pattern.
It should be noted that each pattern in fig. 4 and 5 is schematically depicted, and the proportion of the pattern is not strictly in accordance with the actual product design. The tiling arrangement herein means that a plurality of sub-patterns are arranged in a non-overlapping manner to form a final pattern to substantially cover the field of view, and the tiling arrangement includes arranging the sub-patterns at a certain interval in addition to being adjacent to each other, as described in the following embodiments.
Fig. 6 is a schematic diagram of a structured light spot pattern according to one embodiment of the present invention. In some embodiments, in order to further expand the projection area of the projection module, when the plurality of blob blocks 602 (or sub-blob patterns) are arranged in a tiled manner to form the structure blob pattern 601, adjacent blocks are not adjacent to each other when coupled with each other, but are staggered by a certain gap 603. However, it is not preferable that the larger the gap is, it is understood that when the gap is larger, the blank area in the sub-area is larger when the matching calculation is performed, so that the accuracy of the depth value is reduced or the depth value cannot be calculated, as shown in fig. 9 by the sub-area 903 and the sub-area 906, and there are only a few spots in the area. The size of the gap generally needs to be set in conjunction with the size of the sub-region 604 in the depth calculation algorithm.
When the edge shape of the blob block 602 is non-linear, since the sub-region 604 is generally square, that is, the edge shape is linear, when the sub-region selection and matching calculation is performed on the pixels around the gap, the sub-region 604 can contain the blobs in the adjacent blob blocks, thereby improving the irrelevance of the sub-region around the gap. When the edge shape of the blob block 602 is a straight line, there are a large number of blobs in a single block and blank gaps in the periphery of the gap, and the arrangement of the blobs in the sub-region has low degree of irrelevance.
In addition to increasing the incorrelation of the sub-regions, the irregular edge shape may also increase the area of the projected region. Fig. 9 is a diagram illustrating a relationship between sub-regions and inter-block gaps according to an embodiment of the present invention. When the size of the sub-region is fixed (the size of the sub-region determines the accuracy and efficiency of the depth calculation algorithm, and therefore a compromise value is generally selected), for the case where the blob block is square, as shown in fig. 9(a), the adjacent blob blocks 901 and 902 are square, and the outline thereof is parallel to one side of the sub-region, so that the blob exists in the sub-region, theoretically, the side length h of the sub-region is not less than the gap g1 between the adjacent blob blocks (actually, much less than the side length of the sub-region, for example, set to be half of the side length), that is, h is greater than or equal to g 1; however, for the spot blocks with non-linear edge contours, as shown in fig. 9(b), the gap g2 between adjacent spot blocks is not necessarily required to be smaller than the sub-region side length h. Comparing fig. 9(a) and fig. 9(b), it is obvious that g2> g1, that is, for a patch surface with a non-linear contour, under the condition of a certain size of a subregion, the gap between adjacent spots is relatively large, so that a large field of view can be obtained. On the contrary, under the condition that the gaps are the same, when the matching calculation is performed on the structural light spot pattern composed of the non-linear contour spot blocks, a smaller matching sub-region can be adopted, so that the speed of the matching calculation can be increased, and the output frame rate of the depth image can be improved.
To further improve the irrelevancy of the pattern, adjacent patch blocks may also be arranged offset from each other, as shown in FIG. 7. In FIG. 7, adjacent blob blocks 702 and 705 are misaligned in the y-direction, thereby increasing the degree of non-correlation between blocks along the baseline x-direction. In the embodiment shown in fig. 7, there are gaps 703 between adjacent blocks, it being understood that a staggered arrangement may be used in a gapless embodiment.
In the embodiments shown in fig. 4 and 5, the sub-light source arrangement pattern in fig. 4 is set to have an edge non-linear form, and the sub-spot pattern in fig. 5 is set to have an edge non-linear form, so that adjacent blocks in a plurality of blocks constituting the structural light spot pattern are coupled to each other, thereby improving the irrelevance of the structural light spot pattern. Besides the spot pattern shown in the figure, there may be other patterns, such as the edges being wavy, etc. It will be appreciated that where the edges are non-linear, the adjacent edges of adjacent blocks will necessarily not coincide with the baseline direction, and the adjacent edges of adjacent blocks may be coupled to one another. In addition, when the edges are straight lines, the adjacent edges of the adjacent blocks may not be aligned with the baseline direction, and the adjacent edges of the adjacent blocks are coupled to each other. For example, fig. 8 is a schematic diagram of a structured light pattern according to yet another embodiment of the present invention. The structured light pattern 801 is composed of a plurality of blob blocks 802 (or sub-blob patterns), the blob blocks are in the shape of prisms, adjacent blocks are coupled to each other, a sub-region is arbitrarily selected around any gap in the active region 803, and the sub-region includes at least two blobs in the blocks, so that the structured light blob pattern has a high degree of irrelevance.
In some applications, it is often desirable to acquire a high resolution depth image, where projecting a higher density of speckle patterns will facilitate acquisition of the high resolution depth image.
FIG. 10 is a schematic diagram of a structured light projection module projecting a high density pattern, according to one embodiment of the present invention. The projection module 10 includes a light source array 1001 composed of a plurality of sub-light sources 1002, a lens 1003, and a DOE1004, and unlike the embodiment shown in fig. 2, a structured light spot pattern formed by a light beam emitted from the DOE1004 incident on a plane 1005 has a higher density than the structured light spot pattern in fig. 2. The patches of spots comprised of the same diffraction order in fig. 2 form a structured spot pattern by being laid out (adjacent or spaced apart by suitable gaps), whereas in this embodiment, the spots are overlapped to increase the density distribution of the spots. The structured spot pattern formed by the superposition of patches 1006 of six different diffraction orders (for example-2, -1,0,1,2,3 orders) is schematically shown in fig. 10.
In fact, it is not possible to generate a structured light spot pattern that can be used for depth calculation in any way of superposition, since to calculate a depth image, the density distribution of the structured light spot pattern also affects its degree of irrelevancy and further affects the calculation of the depth image, and a structured light spot pattern with a relatively uniform density distribution is most desirable. Therefore, it is necessary to ensure uniformity of density distribution as much as possible while increasing the pattern density by overlapping.
In order to make the pattern density relatively uniform, the present invention proposes an overlay scheme. To facilitate the illustration of the overlay scheme, the plurality of spot blocks 1006 of different diffraction orders on the plane 1005 are shown offset in the z-direction, it being understood that virtually all of the spot blocks are formed on the plane 1005. In the embodiment shown in fig. 10, three spot blocks having the diffraction orders of 2, 0, -2 form a first secondary structured spot pattern by being adjacent to each other, three spot blocks having the diffraction orders of 3, 1, -1 form a second secondary structured spot pattern by being adjacent to each other, the first secondary structured spot pattern and the second secondary structured spot pattern are offset at a predetermined distance and overlap each other, an overlapping region of the two secondary structured spot patterns is 1007, which is also an effective projection region of the projector 10, and the density of non-overlapping fringe regions is lower than that of the overlapping region. Because each secondary speckle structure light spot pattern is formed by mutually adjoining a plurality of speckle blocks, the density distribution of the secondary speckle structure light spot pattern is more uniform, and when a plurality of uniform secondary speckle structure light patterns are overlapped in a staggered overlapping mode, the density distribution of the speckle patterns in an overlapping area is also more uniform. Therefore, such an overlapping scheme would be advantageous to generate a structured spot pattern with a more uniform density distribution.
FIG. 12 is a schematic view of an overlay pattern according to one embodiment of the present invention. In fig. 11, the overlapping scheme is schematically shown only in one dimension, and for further illustration, fig. 12 shows the overlapping scheme in two dimensions. Fig. 12(a) shows a first-order structured light spot pattern 1201 composed of 9 patches of different diffraction orders (corresponding to the abscissa and ordinate in the figure), fig. 12(b) shows a second-order structured light spot pattern 1202 composed of 9 patches, and fig. 12(c) shows a structured light spot pattern formed by staggering the first-order and second-order structured light spot patterns. The second sub-structure light spot pattern is shifted from the first sub-structure light spot pattern by distances Sx and Sy in a first direction (x) and a second direction (y) perpendicular to the first direction. It will be appreciated that the two sub-structured spot patterns may also be offset by a distance in the x or y direction only to achieve mutual overlap. When two sub-structured spot patterns overlap in a single direction (e.g., x-direction or y-direction), the density in the respective directions increases. The density of the overlapped region 1203 is increased relative to the density of the non-overlapped region of the edge, as shown in the pattern density distribution diagrams of the enlarged views 1204 and 1205, the overlapped region 1203 is the effective projection region.
In the embodiment shown in fig. 12, the individual patches in the secondary structured spot pattern are formed by abutting each other, and fig. 13 shows another embodiment of an overlapping scheme, in which a certain gap is provided between the patches in the secondary structured spot pattern, thereby increasing the projected area. Fig. 13(a) shows a first-order structured light spot pattern 1301 composed of 9 patches of different diffraction orders (corresponding to the abscissa and ordinate in the figure), fig. 13(b) shows a second-order structured light spot pattern 1302 composed of 9 patches, and fig. 13(c) shows a structured light spot pattern formed by the first and second-order structured light spot patterns by being staggered. As can be seen from the figure, the first and second secondary structured light spot patterns are formed by arranging a plurality of spot blocks at certain intervals.
In the embodiments shown in fig. 12 and 13, which schematically show two sub-structured light spot patterns for generating a high-density and uniformly distributed structured light spot pattern by overlapping, it is conceivable that a higher-density structured light spot pattern by overlapping two or more sub-structured light spot patterns is also possible according to the inventive idea. Fig. 14 is a schematic diagram illustrating the generation of a structured spot pattern by superposition from 3 sub-structured spot patterns according to an embodiment of the present invention. Here, fig. 14(a) shows a first-order structure light spot pattern 1401 composed of 9 patches of different diffraction orders (corresponding to the abscissa and ordinate in the figure), fig. 14(b) shows a second-order structure light spot pattern 1402 composed of 9 patches, fig. 14(c) shows a third-order structure light spot pattern 1403 composed of 9 patches, and fig. 14(d) shows a structure light spot pattern formed by the first, second, and third-order structure light spot patterns by staggered arrangement. The common region 1404 where the three secondary structure spots overlap is the highest density.
Fig. 12 to 14 are merely illustrative, and in practice, the offset distance is very small relative to the entire field angle face, i.e., the non-overlapping area with a low edge density or the area with a low degree of overlap (as shown in fig. 14, the area where two secondary structured light spot patterns overlap) is much smaller than the effective projection areas 1203, 1303 and 1404.
FIG. 11 is a schematic diagram of a structured light projection module according to another embodiment of the invention. In this embodiment, compared to the embodiment shown in fig. 3, a plurality of sub-structure light spot patterns 1106 constituting the structure light spot pattern are overlapped in a certain overlapping manner to form a high-density structure light spot pattern. In this embodiment, 5 sub-light sources 1102 arranged in sequence in the x direction are taken as an example for explanation, and the 5 sub-light sources 1102 generate the substructure light spot patterns a, b, c, d, and e via the lens 1103 and the DOE1104, respectively. The sub-speckle patterns a, c, e form a first-time structure speckle pattern in a tiled arrangement (i.e. adjacent arrangement or gap arrangement), the sub-speckle patterns b and d form a second-time structure speckle pattern in a tiled arrangement, the first-time structure speckle pattern and the second-time structure speckle pattern are overlapped in a certain dislocation manner to form a final structure speckle pattern, the density of the overlapping region 1107 is improved relative to any one of the first-time structure speckle patterns, and the overlapping region 1107 is an effective projection region of the projection module 10. The overlapping of the plurality of sub-structured light spot patterns to generate the high-density structured light spot patterns may be in the overlapping form as shown in fig. 12 to 14, except that the patch blocks shown in fig. 12 to 14 are sub-patch patterns in the present embodiment.
The sizes of the plurality of secondary structure light spot patterns may be the same (as shown in the embodiment shown in fig. 10) or different (as shown in the embodiment shown in fig. 11), and in practical application, the secondary structure light spot patterns may be configured as required. For example, for the embodiment shown in fig. 11, a first sub-structure light spot pattern may be configured, which is designed to correspond to the effective projection area (e.g. the effective projection area 1107 composed of sub-spot patterns b and d in fig. 11), and a second sub-structure light spot pattern (e.g. the area composed of sub-spot patterns a, c and e in fig. 11) with a slightly larger area and capable of covering the first sub-structure light spot pattern may be configured, because the sub-spot pattern composing each sub-structure light spot pattern is composed of a single light source by DOE diffraction, the number of light sources required by the first sub-structure light spot pattern with a smaller area should be less than the number of light sources corresponding to the second sub-structure light spot pattern, and compared to the case that the areas of the plurality of sub-structure light spot patterns are the same in size, the embodiment may reduce the number of light sources, thereby reducing power consumption.
It will be appreciated that in the embodiment shown in fig. 10-14, the outline shapes of the light source arrangement pattern (patch) and the sub-patch pattern may be arranged in a non-linear manner as in the embodiment shown in fig. 4-8.
for the embodiments shown in fig. 2 and 10, the structured light spot pattern is composed of spot blocks, each spot block is composed of the same diffraction order of a plurality of sub-light sources, and thus it can be understood that when a plurality of sub-light sources are configured to be controlled independently or in groups, the projection area size of the structured light spot pattern does not change, but the density of the pattern changes, and the greater the number of sub-light sources turned on, the greater the density. Therefore, in some embodiments, a plurality of light sources in the light source array may be divided into a plurality of sub-arrays, the sub-arrays may be arranged in a cross manner or in a tiled manner in the spatial arrangement, and when performing projection, structural light spot patterns of different densities may be generated by controlling the switches of the sub-arrays, so as to adapt to applications with different requirements.
For the embodiments shown in fig. 3 and 11, the structured light spot pattern is composed of sub-spot patterns, wherein the sub-spot patterns are formed by single sub-light sources in the array light source, so that the independent or grouped control of the sub-light sources in the light source array will directly affect the size or density of the projection area, and the following description will be made in conjunction with specific embodiments.
For example, in the embodiment of forming the structured light spot pattern based on the principle shown in fig. 3 and shown in fig. 5, if the plurality of sub-light sources 502 in the light source array are controlled in groups, for example, the first sub-light source array is formed by grouping the sub-light sources in the middle area 507, and the second sub-light source array is formed by grouping the sub-light sources in the periphery, two projection effects with different projection pattern areas can be generated. When only the first sub light source array is turned on, a first structural light spot pattern corresponding to the region 508 in fig. 5(c) is formed; when the first sub-light source array and the second sub-light source array are turned on simultaneously, the structured light spot pattern 504 shown in fig. 5(c) can be formed. This arrangement may provide better power savings, for example, for some applications with a smaller field of view, only a few sub-light sources need to be turned on to meet the demand. In some embodiments, more sets of sub-light source arrays may be provided, and even each sub-light source may be independently controlled.
For another example, for the embodiment shown in fig. 11, the independent or grouped control of the sub-light sources in the light source array can change not only the size of the projected pattern area, but also the pattern density. Assuming that the light sources 1102 in the diagram are labeled A, B, C, D, E (not shown in the figure) from bottom to top, respectively, they produce a pattern of spot points of the substructure a, b, c, d, e, respectively. If the sub-illuminant A, C, E is divided into a group to form a first sub-illuminant array and the sub-illuminant B, D is a group to form a second sub-illuminant array, when only the first sub-illuminant array is turned on, a first structural facula point pattern with an area of S1 and a distribution density of D1 is generated, wherein the first structural facula point pattern is composed of the sub-structural facula point patterns a, c and e; when only the second sub-light source array is turned on, a second structure light spot pattern consisting of the sub-structure light spot patterns b and D and having an area of S2 and a distribution density of D2 is generated; when the first sub-light source array and the second sub-light source array are turned on simultaneously, a third structural light spot pattern which is composed of the sub-structural light spot patterns a, b, c, D and e, has an area S3 (which means an effective projection area) and has a distribution density D3 is generated. As can be seen from the figure:
S1>S2＝S3,
D1＝D2<D3,
Based on the present idea, in some embodiments, the light source arrays may also have other forms of grouping or independent control, which are not illustrated herein. Therefore, in the present embodiment, the structured light spot patterns with various areas and densities can be projected through independent or grouped control of the sub-light sources in the light source array.
The foregoing is a more detailed description of the invention in connection with specific/preferred embodiments and is not intended to limit the practice of the invention to those descriptions. It will be apparent to those skilled in the art that various substitutions and modifications can be made to the described embodiments without departing from the spirit of the invention, and these substitutions and modifications should be considered to fall within the scope of the invention.
Claims (9)
1. A structured light projection module, comprising:
A light source array including a plurality of sub light sources arranged in a two-dimensional pattern for emitting an array beam corresponding to the two-dimensional pattern;
The lens receives and converges the array light beam;
The diffraction optical element receives the array light beam which is converged by the lens and then emits, and projects a structural light spot point patterned light beam;
Wherein the structural light spot pattern comprises at least two secondary structural light spot patterns which are formed by staggered superposition; the secondary structure light spot pattern is formed by tiling and arranging a plurality of spot blocks; the spot block consists of spots of the same diffraction order formed by at least part of the sub light sources in the plurality of sub light sources after being diffracted by the diffraction optical element; the edges of the blob blocks are non-linear and coupled to each other.
2. The structured light projection module of claim 1, wherein the tiled arrangement comprises a contiguous arrangement.
3. The structured light projection module of claim 1, wherein the tiled arrangement comprises a gapped arrangement.
4. The structured light projection module of claim 1, wherein the two-dimensional pattern is an irregularly arranged pattern; the single light beam is diffracted by the diffraction optical element to form a sub-spot pattern, and the arrangement form of spots in the sub-spot pattern is regular arrangement.
5. The structured light projection module of claim 1, wherein the interleaving comprises interleaving in a first direction and/or a second direction perpendicular to the first direction.
6. The structured light projection module of claim 1, wherein the light source array further comprises a substrate, the plurality of sub-light sources being disposed on the substrate; the sub-light source is a vertical cavity surface laser emitter.
7. The structured light projection module of claim 1, wherein the light source array comprises a first sub light source array and a second sub light source array that are independently controllable, the first/second sub light source array comprising a plurality of sub light sources arranged in a first/second two-dimensional pattern for emitting first/second sub array light beams corresponding to the first/second two-dimensional pattern; the diffraction optical element receives the first and/or second subarray beams which are emitted after being converged by the lens, and projects first and/or second secondary structural light spot point patterned beams corresponding to the first and/or second subarray beams; and the first sub light source array and the second sub light source array are controlled separately or integrally to generate a plurality of structural light spot patterns with different density distributions.
8. The structured light projection module of claim 7 wherein when the first sub-light source array and the second sub-light source array are turned on simultaneously, the structured light projection module projects a structured light spot pattern formed by overlapping the first sub-structured light spot pattern and the second sub-structured light spot pattern, the structured light spot pattern having a density greater than the first sub-structured light spot pattern and the second sub-structured light spot pattern.
9. a depth camera, comprising:
The structured light projection module of any of claims 1 to 8, for projecting a structured light pattern into space;
The acquisition module is used for acquiring the structured light pattern;
A processor receives the structured light pattern and calculates a depth image.
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