CN110836644A - Three-dimensional sensing device and three-dimensional sensing method - Google Patents
Three-dimensional sensing device and three-dimensional sensing method Download PDFInfo
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- CN110836644A CN110836644A CN201810941982.2A CN201810941982A CN110836644A CN 110836644 A CN110836644 A CN 110836644A CN 201810941982 A CN201810941982 A CN 201810941982A CN 110836644 A CN110836644 A CN 110836644A
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Abstract
The invention provides a three-dimensional sensing device and a three-dimensional sensing method. The light projecting device is used for projecting the illumination light beam to the target object. The at least two image acquisition devices are used for acquiring the acquired images of the target object. The processor is electrically connected to the light projection device and the at least two image acquisition devices and used for providing a control signal to the light projection device so as to adjust the intensity of the illumination light beam. The processor adjusts the contrast of the acquired image into a contrast enhanced image according to the first processing signal, and extracts a characteristic region of the contrast enhanced image as a characteristic extraction image according to the second processing signal. The processor normalizes the intensity of the feature extraction image to an optimized image according to the third processing signal, and forms the optimized image into a depth image according to the sensing signal.
Description
Technical Field
The present disclosure relates to electronic devices and sensing methods, and particularly to a three-dimensional sensing device and a three-dimensional sensing method.
Background
In general three-dimensional sensing technology, stereo (passive stereo) is the most commonly used method, and depth information can be estimated through feature comparison and triangulation. However, the accuracy of this method depends on whether the texture of the object to be measured is abundant. In general, in low-texture, repetitive-texture scenes, effective depth information is less readily available.
To solve the above problem, structured light projection may be applied to assist the sensing effect in the three-dimensional sensing technology. The three-dimensional sensing device based on the structured light is composed of an image pickup device and a projection device, wherein the projection device projects a designed pattern (pattern), and then the image pickup device obtains an image and carries out depth estimation. Generally, in order to improve the sensing accuracy, a projection apparatus is generally composed of a Laser diode (Laser diode), a collimating lens group (collimating lens), and a Diffractive Optical Element (DOE) through precise Optical design. However, in order to keep the light beam emitted in parallel and have a good optical projection effect, the structure complexity is increased, and the difficulty of mass production is greatly increased.
In addition, the use of a laser source and a complex optical system further creates thermal effects. Therefore, in order to reduce the influence of the thermal effect, an active stereo technique (active stereo) has been proposed. However, this technique still has the problems of too high cost and too complicated structure to be mass-produced. Therefore, how to design a three-dimensional sensing device and method thereof with low cost, high precision and high mass production is an important issue in the field.
Disclosure of Invention
The invention provides a three-dimensional sensing device and a three-dimensional sensing method, which have lower cost and good three-dimensional sensing quality.
An embodiment of the present invention provides a three-dimensional sensing device adapted to sense a depth image of a target object. The three-dimensional sensing device comprises a light projecting device, at least two image acquisition devices and a processor. The light projecting device is used for projecting the illumination light beam to the target object. The at least two image acquisition devices are used for acquiring the acquired images of the target object. The processor is electrically connected to the light projection device and the at least two image acquisition devices and used for providing a control signal to the light projection device so as to adjust the intensity of the illumination light beam. The processor adjusts the contrast of the acquired image into a contrast enhanced image according to the first processing signal. The processor extracts the characteristic area of the contrast enhanced image as a characteristic extraction image according to the second processing signal. The processor normalizes the intensity of the feature extraction image to an optimized image according to the third processing signal. The processor forms the optimized image into a depth image according to the sensing signal.
In an embodiment of the invention, the light projection device includes a light emitting element and a projection element. The light-emitting element is used for emitting an illumination light beam. The projection element is configured on the transmission path of the illumination light beam and is used for enabling the illumination light beam to pass through and diffuse the illumination light beam.
In an embodiment of the invention, the light emitting device is a light emitting diode.
Another embodiment of the present invention provides a three-dimensional sensing device adapted to sense a depth image of a target object. The three-dimensional sensing device comprises a light projecting device, at least two image acquisition devices and a processor. The light projecting device is used for projecting the illumination light beam to the target object. The at least two image acquisition devices are used for acquiring the acquired images of the target object. The processor is electrically connected to the light projection device and the at least two image acquisition devices and used for providing a control signal to the light projection device so as to adjust the intensity of the illumination light beam. The processor adjusts the acquired image into an optimized image according to the processing signal, and forms the optimized image into a depth image according to the sensing signal.
In an embodiment of the invention, the light projection device includes a light emitting element and a projection element. The light-emitting element is used for emitting an illumination light beam. The projection element is configured on the transmission path of the illumination light beam and is used for enabling the illumination light beam to pass through and diffuse the illumination light beam.
In an embodiment of the invention, the light emitting device is a light emitting diode.
In an embodiment of the invention, the processor is configured to provide a control signal to the light projecting device to adjust the intensity of the illumination beam.
In an embodiment of the invention, the processing signals include a first processing signal, a second processing signal and a third processing signal, and the processor is configured to: adjusting the contrast of the acquired image into a contrast enhanced image according to the first processing signal; extracting a characteristic region of the contrast enhanced image as a characteristic extraction image according to the second processing signal; and normalizing the intensity of the feature extraction image into an optimized image according to the third processing signal.
Another embodiment of the present invention provides a three-dimensional sensing device adapted to sense a depth image of a target object. The three-dimensional sensing device comprises a light projecting device and at least two image acquisition devices. The light projecting device is used for projecting the illumination light beam to the target object. The light projection device includes a light emitting element and a projection element. The light-emitting element is used for emitting an illumination light beam. The projection element is configured on the transmission path of the illumination light beam and is used for enabling the illumination light beam to pass through and diffuse the illumination light beam. The at least two image acquisition devices are used for acquiring the acquired image of the target object to form a depth image.
In an embodiment of the invention, the light emitting device is a light emitting diode.
In an embodiment of the invention, the three-dimensional sensing device further includes a processor electrically connected to the light projecting device and the at least two image capturing devices.
In an embodiment of the invention, the processor adjusts the acquired image into an optimized image according to the processing signal, and forms the optimized image into the depth image according to the sensing signal.
In an embodiment of the invention, the processing signals include a first processing signal, a second processing signal and a third processing signal, and the processor is configured to: adjusting the contrast of the acquired image into a contrast enhanced image according to the first processing signal; extracting a characteristic region of the contrast enhanced image as a characteristic extraction image according to the second processing signal; and normalizing the intensity of the feature extraction image into an optimized image according to the third processing signal.
Another embodiment of the present invention provides a three-dimensional sensing method for sensing a target object, including: providing a three-dimensional sensing device which comprises a light projecting device, at least two image acquisition devices and a processor electrically connected with the light projecting device and the at least two image acquisition devices; providing an illumination beam to a target object; acquiring an image of a target object to represent the acquired image; adjusting the acquired image to be an optimized image according to the processing signal; and forming the optimized image into a depth image according to the sensing signal.
In an embodiment of the invention, the light projection device includes a light emitting element and a projection element, wherein the light emitting element is configured to emit an illumination beam, and the projection element is disposed on a transmission path of the illumination beam to allow the illumination beam to pass through and diverge.
In an embodiment of the invention, the light emitting device is a light emitting diode.
In an embodiment of the invention, the processing signals include a first processing signal, a second processing signal and a third processing signal, and the method for adjusting the acquired image to an optimized image according to the processing signals includes: adjusting the contrast of the acquired image into a contrast enhanced image according to the first processing signal; extracting a characteristic region of the contrast enhanced image as a characteristic extraction image according to the second processing signal; and normalizing the intensity of the feature extraction image into an optimized image according to the third processing signal.
In view of the above, in the three-dimensional sensing device and the three-dimensional sensing method of the present invention, the three-dimensional sensing device includes a simple light projecting device, and obtains an acquired image by the illumination of the light projecting device and the at least two image acquiring devices, so that the processor can perform an image processing procedure on the acquired image according to the processing signal to obtain an optimized image, and further perform sensing to form a depth image with three-dimensional information.
In order to make the aforementioned and other features and advantages of the invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
FIG. 1 is a schematic view of a three-dimensional sensing device according to an embodiment of the invention;
FIG. 2 is a schematic view of a three-dimensional sensing device according to another embodiment of the invention;
FIG. 3 is a schematic view of the light projecting device of FIG. 1;
FIG. 4 is a flowchart illustrating steps of a three-dimensional sensing method according to an embodiment of the invention;
FIG. 5 is a flowchart illustrating a three-dimensional sensing method according to another embodiment of the invention.
The reference numbers illustrate:
100. 100A: three-dimensional sensing device
110: light projector
112: light emitting element
114: projection element
120: image acquisition device
130: processor with a memory having a plurality of memory cells
LB: illuminating light beam
S400, S410, S420, S430, S432, S434, S436, S440: step (ii) of
Detailed Description
Fig. 1 is a schematic view of a three-dimensional sensing device according to an embodiment of the invention. In the present embodiment, the three-dimensional sensing device 100 is adapted to sense a depth image of a target object (not shown). The three-dimensional sensing device 100 includes a light projecting device 110, at least two image capturing devices 120, and a processor 130. In the present embodiment, the three-dimensional sensing apparatus 100 projects an illumination beam (see the illumination beam LB in fig. 3) to the target object by using the light projecting device 110, and then acquires an image of the target object by using the image acquiring device 120 as an acquired image. Finally, the processor 130 is utilized to process the image into an optimized image capable of three-dimensional sensing, so as to obtain a depth image to complete three-dimensional sensing.
In the present embodiment, the number of the image capturing devices 120 is, for example, two, but the present invention is not limited thereto. Furthermore, in the present embodiment, the image capturing device 120 may be, for example, a monochromatic light (mono) image capturing device, a color (color) image capturing device, a monochromatic light-infrared light (mono-IR) image capturing device, a red-green-blue-infrared light (RGB-IR) image capturing device, an infrared light (IR) image capturing device, or any combination thereof, and the present invention is not limited thereto. In other words, in the present embodiment, at least two image capturing devices 120 can be configured with different types for performing different image capturing or sensing to achieve different effects and functions, but the invention is not limited thereto.
Fig. 2 is a schematic view of a three-dimensional sensing device according to another embodiment of the invention. Referring to fig. 2, the three-dimensional sensing device 100A of the present embodiment is similar to the three-dimensional sensing device 100 of fig. 1. The difference between the two is that the number of the image capturing devices 120 in the present embodiment is three, and the three image capturing devices 120 may have different functions according to the types. In some embodiments, the number of the image capturing devices 120 may be configured to be more than three according to the requirement, but the invention is not limited thereto.
Fig. 3 is a schematic view of the light projecting device of fig. 1. Referring to fig. 1 and fig. 3, in the present embodiment, the light projecting device 110 includes a light emitting element 112 and a projecting element 114. The light emitting element 112 is used for emitting an illumination beam LB. In the present embodiment, the light emitting element 112 is, for example, a Light Emitting Diode (LED) or other simple light emitting element. The projection element 114 is disposed on a transmission path of the illumination beam LB to pass the illumination beam LB and to radiate the illumination beam LB. The projection Element 114 uses an Optical Element such as a Diffractive Optical Element (DOE) that can generate the pattern light or the structured light, for example, so that the illumination beam LB passes through to generate the pattern light or the structured light and transmits the pattern light or the structured light in a scattered manner. In other words, the light emitted by the light emitting element 112 is transmitted through the projecting element 114 to naturally diverge into the illumination beam LB for three-dimensional sensing.
In detail, the present embodiment does not use a laser light source and a complicated optical system compared to the conventional method. In the embodiment, only the simple light emitting device 112 is used to emit the illumination beam LB, and the pattern light or the structured light is projected onto the target object through the single projecting device 114, and then the images are acquired from different angles by the image acquiring devices 120 with two or more numbers to perform the subsequent image processing procedure to complete the three-dimensional sensing. Therefore, the sensing effect the same as or better than that of the conventional structure can be achieved through the simple projection structure, so that the structure of the light projection device 110 is simplified, the cost is saved, and the mass production is easy.
Referring to fig. 1 and fig. 3, the processor 130 is electrically connected to the light projecting device 110 and the at least two image capturing devices 120, and is configured to provide a control signal to the light projecting device 110 to adjust the intensity of the illumination beam LB, and control the at least two image capturing devices 120 to perform image capturing on the target object to obtain a captured image. And, the acquired image obtained is further subjected to an image processing program to obtain an optimized image for three-dimensional sensing. In some embodiments, the three-dimensional sensing device 100 may further be configured with a sensing element and electrically connected to the processor 130, and the intensity of the illumination beam LB may be further modified by feeding back the intensity of the light sensed by the sensing element to the processor 130, but the invention is not limited thereto.
In the image processing program of the present embodiment, the processor 130 adjusts the acquired image into an optimized image according to the processing signal, and senses the optimized image to form a depth image according to the sensing signal. For example, in the embodiment, the processing signals include a first processing signal, a second processing signal and a third processing signal, and the processor 130 adjusts the contrast of the acquired image into a contrast enhanced image according to the first processing signal. Therefore, the contrast enhanced image has better contrast than the acquired image, and better sensing effect can be further obtained.
In addition, the processor 130 may extract the feature region of the contrast-enhanced image as the feature extraction image according to the second processing signal. Therefore, further image optimization can be performed on the region with small depth change, so that the subsequent three-dimensional sensing has better sensing effect. Further, the processor 130 may normalize the intensity of the feature extraction image to an optimized image according to the third processing signal. Therefore, the distortion of the image can be further reduced to improve the subsequent three-dimensional sensing precision.
After the image processing procedure of the present embodiment is completed, the processor 130 may form the optimized image into a depth image according to the sensing signal. In detail, the three-dimensional sensing apparatus 100 may perform three-dimensional sensing on the optimized image obtained as described above through the processor 130, thereby obtaining a depth image with three-dimensional information, and completing the three-dimensional sensing. In some embodiments, the processing signal may only include the first processing signal, the second processing signal, the third processing signal, or any combination of the first processing signal and the third processing signal. In other words, the user can adjust the combination of the processing signals according to the requirement to make the processor 130 perform the image processing procedure. As such, the three-dimensional sensing degree of freedom of the three-dimensional sensing apparatus 100 can be increased and the apparatus can be adapted to various types of target objects, but the invention is not limited thereto.
FIG. 4 is a flowchart illustrating a three-dimensional sensing method according to an embodiment of the invention. The three-dimensional sensing method of the present embodiment can be applied to at least the three-dimensional sensing device 100 of fig. 1 or the three-dimensional sensing device 100A of fig. 2, and the application to the three-dimensional sensing device 100 of fig. 1 will be taken as an example, but the invention is not limited thereto. Referring to fig. 1, fig. 3 and fig. 4, in the three-dimensional sensing method of the present embodiment, first, step S400 is performed to provide a three-dimensional sensing device 100 including a light projecting device 110, at least two image capturing devices 120, and a processor 130 electrically connected to the light projecting device 110 and the at least two image capturing devices 120. Then, step S410 is performed to provide the illumination beam LB to the target object. In detail, in this step, the light projector 110 generates the illumination beam LB and projects the illumination beam LB to the target object to generate the image representation that can be captured by the at least two image capturing devices 120.
Next, step S420 is performed to acquire an image representation of the target object as an acquired image. In detail, in this step, at least two image capturing devices 120 are used to capture images of the target object and integrate the images into a captured image for subsequent image processing. Then, step S430 is performed to adjust the acquired image to an optimized image according to the processing signal. In detail, in this step, the acquired image is subjected to an image processing procedure by the processor 130 to obtain an optimized image that can be three-dimensionally sensed. Finally, step S440 is performed to form the optimized image into a depth image according to the sensing signal, so as to complete three-dimensional sensing.
FIG. 5 is a flowchart illustrating a three-dimensional sensing method according to another embodiment of the invention. The three-dimensional sensing method of the present embodiment can be applied to at least the three-dimensional sensing device 100 of fig. 1 or the three-dimensional sensing device 100A of fig. 2, and the application to the three-dimensional sensing device 100 of fig. 1 will be taken as an example, but the invention is not limited thereto. Referring to fig. 1, fig. 3 and fig. 5, the three-dimensional sensing method of the present embodiment is similar to the three-dimensional sensing method of fig. 4, and the difference between the two methods is that the processing signals of the present embodiment include a first processing signal, a second processing signal and a third processing signal, and the method for adjusting the acquired image to be the optimized image according to the processing signals includes: step S432 is carried out, and the contrast of the obtained image is adjusted into a contrast enhanced image according to the first processing signal; step S434 is performed to extract the feature region of the contrast-enhanced image as a feature extraction image according to the second processing signal; and performing step S436 to normalize the intensity of the feature extraction image to an optimized image according to the third processing signal. The detailed steps and methods for obtaining the contrast-enhanced image, the feature extraction image and the optimized image can be sufficiently suggested by the above description, and thus are not repeated herein.
In summary, in the three-dimensional sensing apparatus and the three-dimensional sensing method of the invention, the three-dimensional sensing apparatus includes a simple light projecting device, and obtains the acquired image by the illumination of the light projecting device and the at least two image acquiring devices, so that the processor can perform an image processing procedure on the acquired image according to the processing signal to obtain an optimized image, and further perform sensing to form a depth image with three-dimensional information.
Although the present invention has been described with reference to the above embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention.
Claims (17)
1. A three-dimensional sensing device adapted to sense a depth image of a target object, comprising:
a light projecting device for projecting an illumination beam to the target object;
at least two image acquisition devices for acquiring the acquired images of the target object; and
the processor is electrically connected to the light projection device and the at least two image acquisition devices and used for providing control signals to the light projection device to adjust the intensity of the illumination light beam, wherein the processor adjusts the contrast of the acquired image into a contrast enhanced image according to a first processing signal, the processor extracts a characteristic region of the contrast enhanced image into a characteristic extraction image according to a second processing signal, the processor normalizes the intensity of the characteristic extraction image into an optimized image according to a third processing signal, and the processor forms the optimized image into the depth image according to a sensing signal.
2. The three-dimensional sensing device according to claim 1, wherein the light projecting device comprises:
a light emitting element for emitting the illumination beam; and
and the projection element is configured on the transmission path of the illumination light beam and is used for enabling the illumination light beam to pass and diffuse the illumination light beam.
3. The three-dimensional sensing device according to claim 2, wherein the light emitting element is a light emitting diode.
4. A three-dimensional sensing device adapted to sense a depth image of a target object, comprising:
a light projecting device for projecting an illumination beam to the target object;
at least two image acquisition devices for acquiring the acquired images of the target object; and
and the processor is electrically connected with the light projection device and the at least two image acquisition devices, adjusts the acquired image into an optimized image according to the processing signal, and forms the optimized image into the depth image according to the sensing signal.
5. The three-dimensional sensing device according to claim 4, wherein the light projecting device comprises:
a light emitting element for emitting the illumination beam; and
and the projection element is configured on the transmission path of the illumination light beam and is used for enabling the illumination light beam to pass and diffuse the illumination light beam.
6. The three-dimensional sensing device according to claim 5, wherein the light emitting element is a light emitting diode.
7. The three-dimensional sensing device according to claim 4, wherein the processor is configured to provide a control signal to the light projecting device to adjust the intensity of the illumination beam.
8. The three-dimensional sensing device according to claim 4, wherein the processed signals comprise a first processed signal, a second processed signal, and a third processed signal, and the processor is configured to perform:
adjusting the contrast of the acquired image into a contrast enhanced image according to the first processing signal;
extracting a characteristic region of the contrast enhanced image as a characteristic extraction image according to the second processing signal; and
and normalizing the intensity of the feature extraction image into an optimized image according to the third processing signal.
9. A three-dimensional sensing device adapted to sense a depth image of a target object, comprising:
a light projecting device for projecting an illumination beam onto the target object, the light projecting device comprising:
a light emitting element for emitting the illumination beam; and
the projection element is configured on the transmission path of the illumination light beam and is used for enabling the illumination light beam to pass through and diffuse the illumination light beam; and
at least two image acquisition devices for acquiring the acquired image of the target object to form the depth image.
10. The three-dimensional sensing device according to claim 9, wherein the light emitting element is a light emitting diode.
11. The three-dimensional sensing device according to claim 9, further comprising:
and the processor is electrically connected with the light projecting device and the at least two image acquisition devices.
12. The three-dimensional sensing device according to claim 11, wherein the processor adjusts the acquired image to an optimized image in dependence on the processing signal and forms the optimized image to the depth image in dependence on the sensing signal.
13. The three-dimensional sensing device according to claim 11, wherein the processed signals comprise a first processed signal, a second processed signal, and a third processed signal, and the processor is configured to perform:
adjusting the contrast of the acquired image into a contrast enhanced image according to the first processing signal;
extracting a characteristic region of the contrast enhanced image as a characteristic extraction image according to the second processing signal; and
and normalizing the intensity of the feature extraction image into an optimized image according to the third processing signal.
14. A three-dimensional sensing method for sensing a target object, comprising:
providing a three-dimensional sensing device which comprises a light projecting device, at least two image acquisition devices and a processor electrically connected with the light projecting device and the at least two image acquisition devices;
providing an illumination beam to the target object;
acquiring the image of the target object to represent the acquired image;
adjusting the acquired image into an optimized image according to the processing signal; and
the optimized image is formed into a depth image in dependence on the sensing signal.
15. The three-dimensional sensing method according to claim 14, wherein the light projecting device comprises a light emitting element and a projecting element, wherein the light emitting element is used for emitting the illumination light beam, and the projecting element is disposed on a transmission path of the illumination light beam to pass and diverge the illumination light beam.
16. The three-dimensional sensing method according to claim 15, wherein the light emitting element is a light emitting diode.
17. The three-dimensional sensing method according to claim 14, wherein the processing signals include a first processing signal, a second processing signal and a third processing signal, and the method of adjusting the acquired image to the optimized image according to the processing signals comprises:
adjusting the contrast of the acquired image into a contrast enhanced image according to the first processing signal;
extracting a characteristic region of the contrast enhanced image as a characteristic extraction image according to the second processing signal; and
normalizing the intensity of the feature extracted image to the optimized image according to the third processed signal.
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| CN104634276A (en) * | 2015-02-12 | 2015-05-20 | 北京唯创视界科技有限公司 | Three-dimensional measuring system, photographing device, photographing method, depth calculation method and depth calculation device |
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| CN102356457A (en) * | 2009-02-06 | 2012-02-15 | 新加坡科技研究局 | A light detection arrangement and a method for detecting light in a light detection arrangement |
| CN102760234A (en) * | 2011-04-14 | 2012-10-31 | 财团法人工业技术研究院 | Depth image acquisition device, system and method |
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