CN208536839U

CN208536839U - Image capture device

Info

Publication number: CN208536839U
Application number: CN201820631651.4U
Authority: CN
Inventors: 朱炳强
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-04-28
Filing date: 2018-04-28
Publication date: 2019-02-22
Anticipated expiration: 2028-04-28

Abstract

A kind of image capture device, for acquiring the depth information and chroma luminance information of object, image capture device includes: linear light generating unit, for generating linear projection light, and is projected to subject；Imaging unit, including imaging sensor form the corresponding image of the subject for receiving the environment light and linear projection light that reflect from subject；Light path control unit, for controlling whether imaging sensor forms image；Timing control unit, for controlling the opening time of light path control unit and linear light generating unit, to open light path control unit during the projection of linear projection light；Processing unit, for receiving and processing image and the storage of imaging sensor generation, and according to the signal of timing control unit, determine that image is First Kind Graph picture or the second class image, wherein, processing unit obtains the depth information of the subject of subject according to the second class image and First Kind Graph picture.

Description

Image capture device

Technical field

The utility model relates to Image Acquisition field more particularly to a kind of image capture devices.

Background technique

In Image Acquisition field, the surface coloration luminance information of subject is obtained using the light of subject reflection It has been tradition and common Image Acquisition means.Existing common taking pictures is the color for acquiring and storing subject surface Spend luminance information.

Fig. 1 show the basic principle of electronic imaging device.As shown in Figure 1, subject m reflects natural light, light By being imaged after the camera lens 10 ' of electronic imaging device 90 ' on 30 ' surface of imaging sensor, each picture of imaging sensor 30 ' Element experiences the light intensity of corresponding position, is converted into electric signal and exports to processing unit 40 '.In order to rationally control imaging sensor 30 ' time for exposure is usually provided with mechanically or electrically shutter 20 ', the unlatching of shutter 20 ' and pass on electronic imaging device 90 Close the on-off that can control the optical path that the external world is sent to imaging sensor 30 '.

With the development of science and technology the prior art can also be realized other than the chroma luminance information of acquisition body surface Acquire the partial depth information of subject, the i.e. distance of some or certain points apart from camera lens.By partial depth information into Row splicing etc. calculates, and obtains the three-dimensional profile information of subject.

Fig. 2 show the schematic diagram of the measurement method of partial depth information.As shown in Fig. 2, the acquisition of partial depth information Usually using projection lights such as laser, projected by triangulation on the surface of subject.As shown in Fig. 2, where point A Straight line represent laser plane, the distance of the plan range optical center line is d, the point A of imaging plane in this plane, warp It crosses after camera lens and is imaged as point a on imaging plane, the distance of distance center line is x, and distance of camera lens imaging plane is f.

According to triangle geometry relationship, point A can be calculated with a distance from imaging plane using known information f, d and x H, therefore when a part of subject is located at point A, this range Imaging plane of subject can be calculated Distance h.After in the distance h for each the point range Imaging plane for acquiring subject, so that it may obtain this and be taken The three-dimensional information of object.

Currently, generally comprising monocular laser measurement using the main method of the depth information of laser measurement subject Method, binocular laser mensuration and binocular structural light measurement method.

Monocular laser optical method is to obtain image information using an imaging sensor, and processing unit is recycled to pass from image Image information is obtained in sensor, and corresponding pixel point sequence after laser line imaging is detected according to the brightness of pixel, further according to The location information of these pixels calculates the depth information of the corresponding pixel using the principle of triangulation.

Usually in actual use, laser selects infrared laser, and image sensor lens have filter, filters visible light, By infrared light, so that the image of imaging sensor, the pixel intensity in the position for having laser irradiation is significantly higher than no laser and shines Penetrate the brightness of the pixel of position.Or in use, it is irradiated using the higher laser beam of brightness, reduces the exposure of imaging sensor Time, so that the image of imaging sensor, the pixel intensity in the position for having laser irradiation is significantly higher than no laser irradiating position Pixel brightness.

Fig. 3 A show the schematic diagram of monocular laser measurement method.Fig. 3 B is shown measured by monocular laser measurement method The schematic diagram of image.As shown in Figure 3A and Figure 3B, using line laser, each shot detection can obtain object table The depth information of one line of face laser rays irradiation.Mobile object or follow shot equipment, so that the inswept whole object of laser rays Surface, the depth information of body surface all the points can be obtained, construct the three-dimensional data of body surface.

Fig. 3 C show the schematic diagram of image measured by binocular laser measurement method.Fig. 3 D show binocular laser measurement The schematic diagram of the left and right sensor imaging of method.On the basis of monocular laser measurement method, one group of camera lens and image are increased Sensor.But the precision of monocular laser measurement method is lower, inefficiency, and binocular laser measurement method need respectively from The corresponding position pixel in the same region is found in left images, limitation is larger, equally exists the lower problem of precision.

Structure light is to project textural characteristics on the surface of subject using the method for projection.The correlation of structure light Content can refer to U.S. Patent application US8208719.Fig. 3 E show as the schematic diagram of binocular structural light measurement.Shown in Fig. 3 F The schematic diagram being imaged for the left and right sensor of binocular structural light measurement.Binocular structural light measurement is the method using laser projection, Textural characteristics are projected on the surface of subject, and are needed in binocular structural light measurement method using two image sensings Device, acquisition projects the light on subject surface from different perspectives.The laser of laser transmitting is generated by camera lens and is tied Structure light is irradiated to subject, recycles imaging sensor A and imaging sensor C acquisition back to camera lens A's and camera lens C Light, distinguishing acquired image information as imaging sensor A and imaging sensor C is, for example, shown in Fig. 3 F.These images letter Breath is admitted to the correspondence and identification that processing unit carries out two groups of image datas, calculates each point hence into processing unit Depth information further calculates out the three-dimensional information of object being measured.

In addition, there is also monocular structural light measurement methods corresponding with binocular structural light measurement method.Monocular structure flash ranging Amount method and the difference of general laser measurement method are that laser is replaced with structure light.With the difference of binocular structural light measurement method It is that binocular structured light technique from the different location acquisition reflective information of left and right two, forms two images, from same texture two Positional shift in width image calculates depth information；And monocular structured light technique then only acquires piece image, according to structure light The texture coding information of feature identifies each local grain, and according to its imaging position, calculates depth information.

Since above structure light technology needs the encoded information according to structure light itself, each local grain is identified, so The texture structure design requirement of the structure light used is higher.

With the appearance for the demand for obtaining depth information and chroma luminance information simultaneously, more and more people explore how to lead to It crosses a set of equipment while the depth information and chroma luminance information of object can be obtained.Industry mostly uses above-mentioned double at present at present The scheme of mesh structural light measurement depth information adds common chroma luminance information measurement scheme.That is, as shown in Figure 3 G, aforementioned On the basis of the scheme of binocular structural light measurement depth information, increase the RGB sensor of an acquisition chroma luminance information.Image Sensors A and imaging sensor C are for acquiring infrared spectroscopy, and imaging sensor B is for acquiring subject m reflection natural light RGB information afterwards.Processing unit obtains depth information from binocular structure optical oomputing, obtains chroma luminance letter from RGB sensor Breath associates the chroma luminance information and three-dimensional information of each pixel after calibration, contraposition, and it is corresponding to obtain object Three-dimensional information and surface color information.

Same way, it is also possible to which the scheme using monocular structure light above-mentioned adds chroma luminance image sensor package.I.e. such as Shown in Fig. 3 I and Fig. 3 J, on the basis of monocular structure light, increase the RGB sensor of an acquisition chroma luminance information, processing Unit obtains depth information from monocular structure optical oomputing, obtains chroma luminance information from RGB sensor, using calibration, contraposition Afterwards, the chroma luminance information and three-dimensional information of each pixel are associated, obtains the corresponding three-dimensional information of object and surface face Color information.

But using the scheme and monocular structure light of binocular structure light and RGB and the scheme of RGB have the device is complicated, The at high cost, accuracy of manufacture requires the high, chrominance information of object and depth information passes through different sensors and camera lens acquisition respectively, needs It just can determine that the mapping association relationship between chrominance information and depth information by a large amount of calculating.

Utility model content

There are different problems in view of existing measurement method, in order to solve the problems existing in the prior art, this is practical new Type embodiment proposes a kind of image capture device.The utility model proposes a kind of three-dimensionals that can acquire detected object simultaneously Appearance information and surface coloration/luminance information acquisition device, can be used to rebuild threedimensional model and its surface of detected object Texture has structure simple compared to a variety of traditional technical solutions, and precision is high, advantage at low cost.

To solve the above problems, the utility model embodiment proposes a kind of image capture device, for acquiring the depth of object Information and chroma luminance information are spent, described image acquisition equipment includes:

Projection light generating unit for generating projection light, and is projected to subject；

Imaging unit, including imaging sensor form the subject for receiving the light reflected from subject The corresponding image of body；

Light path control unit, for controlling whether described image sensor forms image；

Timing control unit, signal is connected to the light path control unit and/or the projection light generating unit, for controlling The opening time of the light path control unit and/or the projection light generating unit is made, to open during the projection of projection light The light path control unit；

Processing unit, signal is connected to the timing control unit and described image sensor, for receiving and processing The image of imaging sensor generation and storage are stated, and according to the signal of the timing control unit, determines that described image is first Class image or the second class image, the First Kind Graph picture are the first kind light that described image sensor receives subject reflection The image that line is formed, the second class image are that the second lightlike line of described image sensor reception subject reflection is formed Image；Second lightlike line includes first lightlike line and the projection light；

Wherein, the processing unit obtains the subject of the subject from the First Kind Graph picture Chroma luminance information, and obtain according to the second class image and First Kind Graph picture the subject of the subject Partial depth information.

Processing unit, signal is connected to the timing control unit and described image sensor, for receiving and processing The image of imaging sensor generation and storage are stated, and according to the signal of the timing control unit, determines that described image is first Class image or the second class image, the First Kind Graph picture are the first kind light that described image sensor receives subject reflection The image that line is formed, the second class image are that the first lightlike line of described image sensor reception subject reflection is formed Image；Second lightlike line includes first lightlike line and the projection light；

Wherein, the processing unit obtains the subject of the subject from the First Kind Graph picture Chroma luminance information, and the partial depth information of the subject according to the second class image acquisition subject, Wherein the brightness of the projection light is the 2 times or more of the brightness of environment light.

To solve the above problems, the utility model embodiment proposes a kind of image capture device, for acquiring the office of object Portion's depth information and chroma luminance information, described image acquisition equipment include:

More than two projection light generating units, for generating projection light respectively, and are projected to subject；

Timing control unit, signal is connected to the light path control unit and/or the projection light generating unit, for controlling The opening time of the light path control unit and the projection light generating unit is made, described in opening during the projection of projection light Light path control unit；

Wherein, the processing unit obtains the chroma luminance information of the subject from the First Kind Graph picture, And the partial depth information of the subject of subject is obtained according to the second class image and First Kind Graph picture.

In conclusion the utility model proposes image capture device of adopting solve the problems, such as that existing technical solution exists, Simple with system, at low cost, the accuracy of manufacture requires low advantage.The simple light sources such as line laser, nothing can be used in the utility model Complicated structure light need to be designed.The utility model is not vulnerable to ambient light interference, and the projection sources such as infrared, visible light wave range are all It can be used.In addition, the chrominance information and depth information of the utility model acquisition, have natural incidence relation, without by big Amount calculates fusion coloration and depth information.

Detailed description of the invention

Fig. 1 show the basic principle schematic of electronic imaging device.

Fig. 2 show the schematic diagram of the measurement method of depth information.

Fig. 3 A show the schematic diagram of monocular laser measurement method.

Fig. 3 B show the schematic diagram of image measured by monocular laser measurement method.

Fig. 3 C show the schematic diagram of image measured by binocular laser measurement method.

Fig. 3 D show the schematic diagram of the left and right sensor imaging of binocular laser measurement method.

Fig. 3 E show as the schematic diagram of binocular structural light measurement.

Fig. 3 F show the schematic diagram of the left and right sensor imaging of binocular structural light measurement.

Fig. 3 G show the schematic diagram for the combined measurement system that binocular structural light measurement is taken the photograph with environment photo-beat.

Fig. 3 H show the schematic diagram of the image obtained using the measuring system shooting of Fig. 3 G.

Fig. 3 I show the schematic diagram for the combined measurement system that monocular structural light measurement is taken the photograph with environment photo-beat.

Fig. 3 J show the schematic diagram of the image obtained using the measuring system shooting of Fig. 3 I.

Fig. 4 show the schematic diagram of the image capture device of an embodiment of the present invention.

Fig. 5 and Fig. 6 show the schematic diagram using the image capture device acquired image.

Fig. 7 show the schematic diagram for carrying out surrounding shooting using image capture device.

Fig. 8 and Fig. 9 is shown captured by the linear projection light using general brightness and the linear projection light using high brightness To the schematic diagram of image.

Figure 10 is the schematic diagram using the image capture device of two groups of imaging units.

Specific embodiment

Below by way of multiple embodiments, to the utility model proposes image capture device be illustrated.

First embodiment

The utility model embodiment proposes the image capture device of a kind of three-dimensional information and chroma luminance.Fig. 4 show this The schematic diagram of image capture device.As shown in figure 4, the image capture device includes: projection light generating unit 10, imaging unit 20, light path control unit 30, timing control unit 40 and processing unit 50.Wherein, imaging unit can with noncontinuity receive The image of the summation of environment light and projection light that subject 100 reflects, the received only reflection environment light with before or after Image comparison, the partial depth information of the subject is determined by difference.It is illustrated in detail below.

In the present embodiment, the projection light light generating unit 10 of projection light is generated for example including projection source 11 and projection Camera lens 12.Projection source 11 is for generating projection light；Projection lens 12 is for the projection light that projection source 11 issues to be converted into Simply, well-regulated figure.

From the point of view of the shape of projection light, projection light is, for example, linear projection light or other shapes, such as dotted, wedge-shaped, The light of the other shapes such as rectangle, trapezoidal.The shape of light can be through the determination of projection lens 12, belong to known in the industry Technology, details are not described herein.From the point of view of the attribute of projection light, projection light is, for example, laser, infrared light, ultraviolet light, blue light, structure Light etc..

In one embodiment, described " linear " projection light refers to that length-width ratio is greater than certain proportion --- such as 200:1's Projection light.It, can be easily with the projection photogenerated linear light of the sending of projection source 11 in the way of existing diffraction etc..

Linear projection light is not limited to one, can be it is a plurality of, these linear projection light can be formed parallel lines, The various figures such as crosswise, latticed, radial, are projeced on subject 100.

In addition, linear projection light can be together in the case where including multiple projection sources 11 and multiple projection lens 12 Light, light of different wave length of one wavelength etc..Such as a plurality of linear projection light can be multiple projection sources 11 and projecting mirror First 12 infrared light, ultraviolet light, the blue lights, structure light etc. issued, herein with no restrictions.

For example, the projection light that same projection light generating unit can be simultaneously emitted by three kinds of different wave lengths is (such as feux rouges, green Light, blue light), this three is projected to respectively on subject 100, and the light that the reflection point of the object 100 is reflected is returned into As unit, the reflected light of three kinds of different wave lengths can be acquired respectively by imaging unit, it is possible thereby to acquire after primary projection The different image of three width, carries out subsequent calculating, and the efficiency of acquisition and the precision of calculation processing can be improved.

In addition, above-mentioned structure light is content well known in the art, structure light is using the method for projection, in subject The surface of body projects textural characteristics.The related content of structure light can refer to U.S. Patent application US8208719.Belong in the industry Well-known technique, details are not described herein.

Imaging unit 20 is for example including imaging lens 21 and imaging sensor 22.Imaging lens 21 are used for subject The environment light and projection light of 100 surface reflections are by optical imagery in 22 image forming surface of imaging sensor.Imaging sensor The image on surface is converted into digital electric signal by 22, forms digital picture.Imaging unit 20 can be one or more groups of, such as scheme 10 show the image capture device including two groups of imaging units 20, and the effect of Image Acquisition can be improved using two groups of imaging units Rate.

The imaging lens 21 that light path control unit 30 is used to control imaging unit 20 are projected to the light of imaging sensor 22 Path opens or closes.Light path control unit 30 can be shutter, such as can be the mechanical shutter of entity, be also possible to integrate Electronic shutter on imaging sensor 22, the utility model are not specially limited.Light path control unit 30 can also be setting Optical filter on projecting light path or imaging optical path.When being mounted on imaging optical path, such as imaging lens 21 and image pass When between sensor 22, when optical filter comes into force, projection light is filtered out, and projection light part can not be imaged；When optical filtering failure, light projection unit It is divided into picture.Similarly, this optical filter also may be mounted on projecting light path, as figure projection source 11 and projection lens 12 it Between, for synchronously controlling projection source and imaging sensor.

The projection source 11 be it is controllable, be connected with timing control unit 40, can receive timing control unit 40 control Signal is opened or closed according to control instruction；Light path control unit 30 is connected with timing control unit 40, receives timing control list The control of member 40.

In one embodiment, 40 synchronous signal of timing control unit is connected to light path control unit 30 and occurs at projection light Unit 10, for synchronously controlling linear light generating unit 10 and light path control unit 30, so that Image Acquisition can be with every time Alternately generate First Kind Graph picture and the second class image.

Above-mentioned " synchronously controlling projection light generating unit 10 and light path control unit 30 ", and it is single that projection light is occurred Member 10 opens or closes synchronous with light path control unit 30 " simultaneously "；And refer to through timing control, acquiring the second class image During linear light generating unit 10 projection source 11 open time in keep linear projection light can reflex to image Sensor 22, i.e. light path control unit 30 are opened, the conducting light paths between imaging lens 21 and imaging sensor 22, or are clapped Take the photograph conducting light paths between object 100 and imaging sensor 22, linear projection light being capable of normal propagation.Also, timing control list During member 40 also guarantees first kind Image Acquisition, linear light generating unit 10 is closed always, the linear projection light of no projection Reflex to imaging sensor 22.

In another embodiment, timing control unit 40 can be only to light path control unit 30 or projection light generating unit 10 one of them are controlled, and equally can be realized the embodiment of the utility model, detailed description below.

For example, timing control unit 40 only controls light path control unit Unit 30.It projects in this latter case Light generating unit 10 can be continuously sent out over projection light, within the period for issuing projection light, can pass through timing control unit 40 control light path control units 30 are intermittently opened during projection light issues, and are enabled imaging sensor 22 collect and are taken The projection light and environment light of object reflection, and during light path control unit 30 is closed to filter out projection light, imaging sensor 22 can only collect the environment light of subject reflection.

For another example timing control unit 40 only controls projection light generating unit 10, so that projection light generating unit Projection light is intermittently issued, within the period for issuing projection light, imaging sensor 22 is enabled to collect subject reflection Projection light and environment light enable imaging sensor 22 collect subject anti-and within the period for not issuing projection light The environment light penetrated.

It is worth noting that, above-mentioned " environment light " refers to the light under the shooting conditions such as natural light or Routine Test Lab Line.Refer only to the light under normal photographing state herein, to " projection light " relatively as directed.It is believed that this is practical new In type, when imaging sensor 22 receives the projection light of subject reflection, the received image of institute is the second lightlike line, When receiving the projection light not comprising reflection, the received image of institute is the first lightlike line, and second lightlike line is by described first Lightlike line increase the shape of projection light at.

Processing unit 50 is used to receive the digital picture of the formation of imaging sensor 22 and storage, and according to timing control unit 40 signal determines that such image is First Kind Graph picture or the second class image.The First Kind Graph picture is described image sensor The image that the first lightlike line of subject reflection is formed is received, the second class image is that described image sensor receives quilt Shoot the image that the second lightlike line of object reflection is formed；Second lightlike line increases the projection by first lightlike line Light is formed；Second lightlike line may include projection light and environment light in one embodiment, and the first lightlike line in one embodiment may be used To include environment light.

Processing unit 50 is also used to extract subject from First Kind Graph picture or in the first kind and the second class image The chroma luminance information on surface.

Processing unit 50 is also sequentially adjacent or similar or as the first kind continuous in time by the reduced time The difference of image and the second class image, identification the shape of projection light at pattern, and count subject part calculate depth information.This In " part " refer to the part of subject that projection light is projected to, i.e., receiving on subject and reflecting projection light Part.Such as when projection light is linear light, which is projected on subject, illuminates a certain line of projection object Property region, then this region is above-mentioned " part " of subject.

Above-mentioned Time Continuous includes the First Kind Graph picture and the second class image that front and back is shot.Such as shoot every second Picture is 24 frames, then situation continuous in time or adjacent include 1/24 second beats first frame, 2/24 second beats taken the photograph take the photograph the second frame, The 4th frame such case that third frame that 3/24 second beats is taken the photograph, 4/24 second beats are taken the photograph.Similarly, further include 1/24 second beats take the photograph first The case where four frame that frame, 4/24 second beats are taken the photograph, even if that is, intermediate skip several frames, as long as the image of acquisition is that have rule on the time Rule, also belong to the scope of the utility model.

In an alternative embodiment, the image capture device can also include movement and Attitude estimation unit 60, movement and Attitude estimation unit 60 obtains image sequence from processing unit 50, passes through the difference between reduced time upper adjacent or similar image Different, whether identification image has the variation such as translation, scaling, rotation, and detect and calculate according to this filming apparatus and subject it Between the postures such as relative bearing, angle variation, current shooting posture and movement tendency are estimated；Movement and Attitude estimation list Member 60 will calculate resulting posture information and be transmitted to processing unit 50；

Accordingly, angle, direction when processing unit 50 is also used to receive the shooting that movement and Attitude estimation unit 60 transmit Equal posture informations.Hereafter, processing unit 50 is by chroma luminance information, partial depth information, the posture on subject surface Information association；Processing unit 50 is to same subject 100, the chroma luminance information that shoots from different perspectives, part Depth information, posture information merged, Optimization Solution, obtains the complete three-dimensional information of body surface and associated coloration is bright Spend information.It is had been introduced according to the mode that image information obtained calculates depth information in background technology part, herein no longer It repeats.

Timing control unit 40, movement can be with Attitude estimation unit 60 it is mutually independent with processing unit 50, can also Be it is integrated, be located at same circuit board, or in same component.The utility model is not specially limited.

Fig. 5 and Fig. 6 show collected First Kind Graph picture and the second class image schematic diagram.According to the utility model Scheme be acquired, available one serial First Kind Graph picture and the staggered image sequence of the second class image.This place That states interlocks, and can be interlock one by one (such as Fig. 5), is also possible to be alternately arranged (such as Fig. 6) by other rules.According to the image sequence Column, processing unit by comparing the difference between adjacent First Kind Graph picture and the second class image, available laser projection at The location information of picture can calculate the partial depth information of the pixel of laser projection position further according to triangulation.

Lasting shooting and mobile object or follow shot equipment, so that the surface of inswept whole object, can be obtained object The depth information of surface all the points constructs the three-dimensional data of body surface.As shown in Figure 7.In one embodiment, projection light is Linear light, the surface of the linear light is from top to bottom inswept subject, or by a left side and rightlyly inswept subject Surface, can use the difference of the First Kind Graph picture shot each time and the second class image in the later period, and acquisition is projected on object That a part of corresponding depth information for being projected linear light, be as projected the partial depth information of object.

In an alternative embodiment, the image capture device of the utility model can also include internal attitude transducer 80, Attitude transducer is usually the one kind such as accelerometer, gyroscope, magnetometer or several combination；Attitude transducer 80 and movement It is connected with Attitude estimation unit 60, movement attitude transducer information in conjunction with Attitude estimation unit can be more accurately to current Posture is estimated.

Optionally, utility model device can be connected with external sensor 70, for example, utility model device can fix It in circuit orbit, is shot around subject, track can provide alignment sensor, for more accurately determining each moment Opposite shooting orientation.The result that external sensor 70 is sensed unit 50 processed obtains, for according to opposite shooting orientation The current posture etc. of subject 100 is determined, for more accurately estimating current pose.

The utility model proposes image processing equipment in because the chroma luminance information of subject and using throw Penetrating the partial depth information that light projects is, therefore pixel collected by same optical path by same imaging sensor Chrominance information and partial depth information have natural relevance, without carrying out Corresponding matching again as the prior art.It is logical Normal image acquisition rates can reach tens per second to frames up to a hundred, and between the adjacent image acquired twice, object movement is changed very little, And this movement can be calculated according to image sequence, thus to equipment production required precision it is lower, without into The processes such as row calibration calibration.The precision of acquisition is improved while saving cost.

Second embodiment

The utility model second embodiment proposes a kind of image capture device, for acquiring the depth information and coloration of object Luminance information, described image acquisition equipment include:

Wherein, the processing unit obtains the chroma luminance information of the subject from the First Kind Graph picture, And the partial depth information of subject is obtained according to the second class image, wherein the brightness of the projection light is the ring The 2 times or more of the brightness of border light.

Above-mentioned image capture device is similar with the image capture device of first embodiment, the present embodiment only to difference into Row explanation, related content this can refer to first embodiment.

In one embodiment, the projection light hair is one or more linear projection light.

In one embodiment, the processing unit reduced time upper continuous or adjacent First Kind Graph picture and the second class image Between difference, the partial depth information of the subject is calculated according to triangulation.

In one embodiment, the linear projection light is a plurality of, and a plurality of linear projection light has identical or different Wavelength.

In one embodiment, chroma luminance information drawn game of the processing unit also according to the subject of multi collect Portion's depth information calculates the three-dimensional information and chroma luminance information for obtaining subject surface.In this embodiment, with it is preceding It states in the same manner, processing unit is spliced to form subject using the partial depth information of multi collect in the way of splicing The three-dimensional information and chroma luminance information on surface.

In one embodiment, described image acquires equipment further include:

Movement and Attitude estimation unit, for providing athletic posture information to processing unit；

The processing unit is according to the athletic posture information, and the repeatedly chroma luminance information of shooting acquisition and part Depth information calculates the three-dimensional information for obtaining the subject surface and associated chroma luminance information.

In one embodiment, the projection light is laser, and it is one of to be also possible to infrared light, ultraviolet light, blue light.

In the present embodiment, projection light is by two width adjacent images of comparison to identify, therefore is reflected by object itself Environment light influence very little, the projected light of various wavelength can be used to do light source.As special case, in the scene of part, can be used The higher projection source of brightness is projected, so that the projection luminous intensity of object reflection is strong much larger than the environment light of object reflection Degree, in this case, even if the comparison without adjacent image, also can recognize that reflecting linear projection light imaging.Fig. 8 and Fig. 9 show image captured by the linear projection light using normal brightness and using captured by high-intensitive linear projection light Image.Such as the display that compares of Fig. 8 and 9, due to projection light intensity much larger than reflection environment light intensity, it is possible to be easy Identify image formed by reflecting linear projection light in ground.In one embodiment, the brightness of linear projection light is the environment light 2 times, 10 times, 20 times, 50 times or more etc. of brightness.

3rd embodiment

The utility model 3rd embodiment proposes a kind of image capture device, for acquiring the depth information and coloration of object Luminance information, described image acquisition equipment include:

3rd embodiment is similar with first or second embodiment, is only illustrated herein with regard to difference.

In the present embodiment, projection light generating unit be two or more, and one of them or more than one do not limit To issue linear projection light.In one embodiment, projection light generating unit is two, is respectively used to generate linear projection light and knot Structure light.Imaging unit can be to receive First Kind Graph picture that environment light formed, receive environment light and linear respectively at three classes image The third class image that the second class image, reception environment light and the structure light that projection light generates generate.Processing unit receives two respectively A projection light generating unit is incident upon the reflection light that the reflection point of subject generates, according to generated three classes image, Determine the partial depth information of subject.

Above-mentioned two projection light generating unit can be simultaneously closed off first, generate First Kind Graph picture by imaging unit, then in turn It opens, the second class image and third class image is generated by imaging unit, do not limited herein.

In another embodiment, projection light generating unit can project the light of different wave length, such as project respectively infrared Light, purple light, blue light etc..Processing unit is handled for different light, can calculate the partial-depth of subject Information.

In one embodiment, the projection light generating unit is two, is respectively used to generate linear projection light and structure light.

In one embodiment, the projection light generating unit is two, and described two projection light generating units are for generating The linear projection light of different wave length.

In one embodiment, the projection light generating unit is simultaneously or alternately opened.

In one embodiment, the second class image includes the first subclass image and the second subclass image, first son Class image receives one of projection light generating unit by described image sensor and issues to the projection light of subject and ring The reflection photogenerated of border light；The second subclass image receives another one projection light generating unit by described image sensor It issues to the projection light of subject and the reflection photogenerated of environment light.

In the present embodiment, projection light generating unit includes two or more, and for example one of projection light occurs single Member is for projecting infrared light, another projection light generating unit is for projecting ultraviolet light.Then, imaging sensor can be set to elder generation Three kinds of reflected lights are received afterwards: the light (such as only environment light) that the first lightlike line reflects for no infrared light and ultraviolet light, second Lightlike line is the light (such as having environment light and infrared light) for having infrared light reflection, and third lightlike line is the light for having ultraviolet light to reflect Line (such as having environment light and ultraviolet light), these three light generate image in the image sensor respectively, and First Kind Graph picture is anti- The image of environment light is penetrated, the first subclass image of the second class image is the image of reflection environment light and infrared light；Second class image The second subclass image be reflection environment light and ultraviolet light image.Pass through the difference of the second class image and First Kind Graph picture after imaging It is different (including the first subclass image and the second subclass image respectively at First Kind Graph picture difference) calculate and obtain partial depth information.

It has been described in the background technology by the triangulation algorithm that image information obtains partial depth information, This is repeated no more.

In this embodiment it is possible to disposably acquire by the pictorial informations of a variety of projection photogenerateds, using multi-pronged Mode improves the efficiency for obtaining the 3 D surface shape of partial depth information and testee.

Above to a kind of image capture device provided herein, it is described in detail, it is used herein specifically The principle and implementation of this application are described for a example, the application that the above embodiments are only used to help understand Device and its core concept；At the same time, for those skilled in the art is being embodied according to the thought of the application There will be changes in mode and application range, in conclusion the contents of this specification should not be construed as limiting the present application.

Claims

1. a kind of image capture device, for acquiring the depth information and chroma luminance information of object, which is characterized in that the figure As acquisition equipment includes:

Imaging unit, including imaging sensor form the subject pair for receiving the light reflected from subject The image answered；

Timing control unit, signal is connected to the light path control unit and/or the projection light generating unit, for controlling The opening time of light path control unit and/or the projection light generating unit is stated, described in opening during the projection of projection light Light path control unit；

Processing unit, signal are connected to the timing control unit and described image sensor, for receiving and processing the figure The image generated as sensor and storage, and according to the signal of the timing control unit, determine that described image is First Kind Graph Picture or the second class image, the First Kind Graph picture are the first lightlike line shape that described image sensor receives subject reflection At image, the second class image be described image sensor receive subject reflection the second lightlike line formed figure Picture；Second lightlike line includes first lightlike line and the projection light；

Wherein, the processing unit obtains the chroma luminance information of the subject, and root from the First Kind Graph picture The partial depth information of the subject is obtained according to the second class image and First Kind Graph picture.

2. image capture device according to claim 1, which is characterized in that the processing unit reduced time it is upper continuous or Difference between adjacent First Kind Graph picture and the second class image, the part of the subject is calculated according to triangulation Depth information.

3. image capture device according to claim 1, which is characterized in that the light path control unit includes shutter, is used Control whether described image sensor receives light in the on-off by the optical path in control imaging unit.

4. image capture device according to claim 1, which is characterized in that the light path control unit includes optical filter, For controlling whether described image sensor receives light by the on-off of the optical path in control projection light generating unit.

5. image capture device according to claim 1, which is characterized in that the projection light generating unit includes projection light Source and projection lens, the projection source are used for the projection photogenerated is linear for generating projection light, the projection lens Projection light.

6. image capture device according to claim 1, which is characterized in that the projection light is one or one or more line Property projection light.

7. image capture device according to claim 6, which is characterized in that the linear projection light be it is a plurality of, it is described more Linear projection light is directional light, crosswise, latticed or radial.

8. image capture device according to claim 6, which is characterized in that the linear projection light be it is a plurality of, it is described more Linear projection light has identical or different wavelength.

9. image capture device according to claim 1, which is characterized in that the processing unit is obtained also according to multiple shooting Subject chroma luminance information and partial depth information, calculate obtain subject surface three-dimensional information and Chroma luminance information.

10. image capture device according to claim 1, which is characterized in that described image acquires equipment further include:

Movement and Attitude estimation unit, signal are connected to the processing unit, for providing athletic posture information to processing unit；

The processing unit is according to the athletic posture information, and the repeatedly chroma luminance letter of the subject of shooting acquisition Breath and partial depth information, obtain the three-dimensional information and chroma luminance information on the subject surface.

11. image capture device according to claim 10, which is characterized in that the movement and Attitude estimation unit include Accelerometer, gyroscope, combination one or more in magnetometer.

12. image capture device according to claim 1, which is characterized in that the projection light is laser.

13. image capture device according to claim 10, which is characterized in that it further includes outside that described image, which acquires equipment, Sensor, the external sensor signal are connected to the movement and Attitude estimation unit, for determining that described image acquisition is set The standby opposite shooting orientation in different moments.

14. a kind of image capture device, for acquiring the depth information and chroma luminance information of object, which is characterized in that described Image capture device includes:

Wherein, the processing unit obtains the chroma luminance information of the subject, and root from the First Kind Graph picture The partial depth information of subject is obtained according to the second class image, wherein the brightness of the projection light is the bright of environment light The 2 times or more of degree.

15. image capture device according to claim 14, which is characterized in that the processing unit reduced time is upper continuous Or the difference between adjacent First Kind Graph picture and the second class image, the office of the subject is calculated according to triangulation Portion's depth information.

16. image capture device according to claim 14, which is characterized in that the processing unit is also according to multiple shooting The chroma luminance information and partial depth information of the subject of acquisition calculate the three-dimensional information for obtaining subject surface With chroma luminance information.

17. a kind of image capture device, for acquiring the depth information and chroma luminance information of object, which is characterized in that described Image capture device includes:

Timing control unit, signal is connected to the light path control unit and/or the projection light generating unit, for controlling The opening time of light path control unit and the projection light generating unit is stated, to open the optical path during the projection of projection light Control unit；

Wherein, the processing unit obtains the chroma luminance information of the subject, and root from the First Kind Graph picture The partial depth information of subject is obtained according to the second class image and First Kind Graph picture.

18. image capture device according to claim 17, which is characterized in that the projection light generating unit is two, It is respectively used to generate linear projection light and structure light；Or described two projection light generating units are used to generate the line of different wave length Property projection light.

19. image capture device according to claim 17, which is characterized in that the projection light generating unit is opened in turn It opens, the second class image includes the first subclass image and the second subclass image, and the first subclass image is passed by described image Sensor receives one of projection light generating unit and issues reflection photogenerated to the projection light of subject and environment light；Institute The second subclass image is stated to be issued by described image sensor reception another one projection light generating unit to subject The reflection photogenerated of projection light and environment light.