CN102073050A - Depth-camera based three-dimensional scene depth measurement device - Google Patents
Depth-camera based three-dimensional scene depth measurement device Download PDFInfo
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Abstract
The invention provides a depth-camera based three-dimensional scene depth measurement device, comprising a first depth camera, a second depth camera, a synchronization control unit and a light-path control unit. The synchronization control unit is used for controlling the first depth camera and the second depth camera to emit light simultaneously, receiving light reflected by a measured three-dimensional scene, determining two time differences respectively according to the light emitting time and the reflected light receiving time and determining the depth of the measured three-dimensional scene according to the ratio of the two time differences; and the light-path control unit is used for transmitting the emitted light to the measured three-dimensional scene, dividing the light reflected by the measured three-dimensional scene into two paths and transmitting the two paths of light respectively to the first depth camera and the second depth camera, wherein the path of the light emitted by each depth camera is the same as that of the reflected light. The depth of the three-dimensional scene is determined according to the time difference of the light emitted by the two depth cameras and the received light, the measurement error of the single depth camera is counterbalanced, and the three-dimensional scene depth measurement precision is improved.
Description
Technical field
The present invention relates to technical field of computer vision, particularly a kind of device of the measurement three-dimensional scenic degree of depth based on degree of depth camera.
Background technology
Degree of depth camera is a kind of device that obtains the information on the scene depth direction.Existing degree of depth camera adopts the principle of radargrammetry to carry out the measurement of the three-dimensional scenic degree of depth usually, promptly, the emission of degree of depth camera is the light-wave irradiation three-dimensional scenic initiatively, light wave is got back to degree of depth camera after the three-dimensional scenic reflection, obtain the depth information of three-dimensional scenic according to the mistiming (phase differential also promptly) between the time of reception of launch time of light wave and reflecting light.
The problem that existing use degree of depth camera is measured the depth information existence of three-dimensional scenic is, because the influence of factors such as the measuring accuracy of actual instrumentation, phase control, the precision of the three-dimensional scenic depth information that degree of depth camera is measured does not always reach desirable precision effect.
Summary of the invention
Purpose of the present invention is intended to solve at least the technological deficiency of the measuring accuracy difference of the three-dimensional scenic degree of depth.
For achieving the above object, the present invention proposes a kind of device of the measurement three-dimensional scenic degree of depth based on degree of depth camera, comprise: two degree of depth cameras, described two degree of depth cameras comprise first degree of depth camera and second degree of depth camera, described first degree of depth camera and second degree of depth camera are launched light simultaneously, and receive the reflected light that described measured three-dimensional scenic reflects respectively, and determine two mistimings according to the launch time and the described catoptrical time of reception of described light respectively, and determine the degree of depth of described measured three-dimensional scenic according to the ratio of described two mistimings; Synchronous control unit is used to control described first degree of depth camera and described second degree of depth camera is launched light simultaneously; And light path control unit, the light that is used for that described emission light is sent to described measured three-dimensional scenic and will described measured three-dimensional scenic reflects is divided into two-way and is sent to described first degree of depth camera and described second degree of depth camera respectively, and the radiative light path of each degree of depth camera is identical with catoptrical light path.
In one embodiment of the invention, the magazine emission light of described two degree of depth, described synchronous control unit controls described first degree of depth camera and described second degree of depth camera picks up counting simultaneously.
In one embodiment of the invention, described device also comprises: correcting unit is used for receiving the catoptrical time for the first time according to described first degree of depth camera and described second degree of depth camera described first degree of depth camera and described second degree of depth camera is carried out synchronous correction.
In an embodiment of invention, described light path control unit comprises: spectroscope and catoptron, described spectroscope is used for the light of described first degree of depth camera emission is divided into two-way, one the road to described measured three-dimensional scenic, another road is to described catoptron, and/or the light that described second degree of depth camera that described mirror reflects is come is launched is divided into two-way, one the road to described first degree of depth camera, another road is to described measured three-dimensional scenic, and/or the light that described measured three-dimensional scenic is reflected is divided into two-way, one the road to described first degree of depth camera, and another road is to described catoptron; And described catoptron is used for the light that the reflection of described spectroscope comes is reflexed to described second degree of depth camera, and/or the light of will described second degree of depth camera launching reflexes to described spectroscope.
According to one embodiment of present invention,, determine the degree of depth of described measured three-dimensional scenic by following formula according to the ratio of mistiming of described two degree of depth cameras,
Wherein, D is the degree of depth of described measured three-dimensional scenic, and d is the optical path distance between described catoptron and the described spectroscope, Δ T
1Be the mistiming of described first degree of depth camera, Δ T
2Be the mistiming of described second degree of depth camera.
The present invention offsets the measuring error of single degree of depth camera by determine the degree of depth of three-dimensional scenic according to the emission light of two degree of depth cameras and the ratio that receives the mistiming of light, improves the measuring accuracy of the three-dimensional scenic degree of depth.
Aspect that the present invention adds and advantage part in the following description provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Description of drawings
Above-mentioned and/or additional aspect of the present invention and advantage are from obviously and easily understanding becoming the description of embodiment below in conjunction with accompanying drawing, wherein:
Fig. 1 is the structural representation based on the device of the measurement three-dimensional scenic degree of depth of degree of depth camera of the embodiment of the invention;
Fig. 2 is the synoptic diagram of the measurement three-dimensional scenic degree of depth of one embodiment of the invention; And
Fig. 3 launches the light time simultaneously for first degree of depth camera among Fig. 2 and second degree of depth camera and receives catoptrical sequential chart.
Embodiment
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein identical from start to finish or similar label is represented identical or similar elements or the element with identical or similar functions.Below by the embodiment that is described with reference to the drawings is exemplary, only is used to explain the present invention, and can not be interpreted as limitation of the present invention.
Be illustrated in figure 1 as the structural representation based on the measurement three-dimensional scenic degree of depth of degree of depth camera of the embodiment of the invention, this device comprises: first degree of depth camera 11, second degree of depth camera 12, synchronous control unit 13 and light path control unit 14.
The modulating frequency of first degree of depth camera 11 and second degree of depth camera 12 can be identical, also can be different, but, in one embodiment of the invention, make the degree of depth camera 11 of winning identical with the modulating frequency of second degree of depth camera 12 for fear of interference each other.
Light path control unit 14 is used for light with first degree of depth camera 11 and the emission of second degree of depth camera 12 and is sent to light that measured three-dimensional scenic and three-dimensional scenic that will be measured reflect and is divided into two-way and is sent to first degree of depth camera 11 and second degree of depth camera 12 respectively, and the radiative light path of each degree of depth camera is identical with catoptrical light path.
In order to prevent the asynchronous measuring error that causes because of first degree of depth camera 11 and second degree of depth camera 12, in one embodiment of the invention, synchronous control unit 13 also is used for receiving the catoptrical time for the first time according to first degree of depth camera 11 and second degree of depth camera 12 first degree of depth camera 11 and second degree of depth camera 12 is carried out synchronous correction.If it is identical that first degree of depth camera 11 and second degree of depth camera 12 receive the catoptrical time for the first time, then judge first degree of depth camera and second degree of depth camera synchronization, if first degree of depth camera 11 and second degree of depth camera 12 receive catoptrical asynchronism(-nization) for the first time, then first degree of depth camera 11 and second degree of depth camera 12 are carried out synchronous correction.
In order to prevent effects such as diffraction, scattering, in one embodiment of the invention, this device also comprises optical fiber, makes light along spread fiber.
According to one embodiment of present invention, this device also can comprise the conversion of signals interface, be connected between optical fiber and two degree of depth cameras 11 and 12 and two degree of depth cameras 11 and 12 and synchronous control unit 13 between, light signal is converted to electric signal.
Should be understood that of can make in the win degree of depth camera 11 and second degree of depth camera 12 emits light into measured three-dimensional scenic, synchronous control unit 13 control first degree of depth cameras 11 and second degree of depth camera 12 pick up counting simultaneously.Also can measure the degree of depth of three-dimensional scenic by such method, still, in this method, synchronous control unit 13 can't carry out synchronous correction to first degree of depth camera 11 and second degree of depth camera 12, and error can take place the possibility of result of measuring.
In order better to understand the aspect and the advantage of the device of the measurement three-dimensional scenic degree of depth of the present invention, describe below in conjunction with specific embodiment, this specific embodiment only is used to illustrate the present invention, is not used in restriction protection scope of the present invention.
Be illustrated in figure 2 as the synoptic diagram of the measurement three-dimensional scenic degree of depth of one embodiment of the invention, this device comprises: first degree of depth camera 11, second degree of depth camera 12, synchronous control unit 13, catoptron 140 and spectroscope 150.
Wherein, the angle configurations of catoptron 140 and spectroscope 150 is: the light of first degree of depth camera, 11 emissions is identical with light drop point on spectroscope 150 after catoptron 140 reflections of second degree of depth camera, 12 emissions at the drop point on the spectroscope 150, and the light of second degree of depth camera 12 emission is identical with light drop point on catoptron 140 after spectroscope 150 reflects of measured three-dimensional scenic reflection at the drop point on the catoptron 140.Should be understood that when the reflectivity of catoptron 140 and spectroscope 150 changed, the angle of catoptron 140 and spectroscope 150 also should change thereupon, made it satisfy above-mentioned configuration guidelines.
In one embodiment of the invention, first degree of depth camera 11 and second degree of depth camera 12 are launched light simultaneously, be illustrated in figure 3 as first degree of depth camera 11 among Fig. 2 and second degree of depth camera 12 and launch the light time simultaneously and receive catoptrical sequential chart, the light of first degree of depth camera, 11 emissions is through light path h
1Arrive spectroscope 150, be divided into two-way by spectroscope 150, the one tunnel through light path h
3Arrive measured three-dimensional scenic, another road arrives catoptron 140 through light path d and is reflected after light path h
2Arrive second degree of depth camera 12 (second degree of depth camera 12 receives reflected light for the first time), through light path h
3The light that arrives measured three-dimensional scenic is reflected by three-dimensional scenic after light path h
3Arrive spectroscope 150, be divided into two-way by spectroscope 150 again, a curb light path h
1Arrive first degree of depth camera 11 (first degree of depth camera 11 receives reflected light for the second time), another Lu Zaijing light path d arrives catoptron 140 and is reflected after light path h
2Arrive second degree of depth camera 12 (second degree of depth camera 12 receives reflected light for the second time); The light of second degree of depth camera, 12 emissions is through light path h
2Arrive catoptron 140, mirror 140 reflections that are reflected are divided into two-way after light path d arrives spectroscope 150 by spectroscope 150, and one the tunnel through light path h
3Arrive measured three-dimensional scenic, another road is through light path h
1Arrive first degree of depth camera 11 (first degree of depth camera 11 receives reflected light for the first time), through light path h
3The light that arrives measured three-dimensional scenic is reflected by three-dimensional scenic after light path h
3Arrive spectroscope 150, be divided into two-way by spectroscope 150 again, a curb light path h
1Arrive first degree of depth camera 11 (first degree of depth camera receives reflected light for the third time), another Lu Zaijing light path d arrives catoptron 140 and is reflected after light path h
2Arrive second degree of depth camera 12 (second degree of depth camera 12 receives reflected light for the third time).
The reflected light that first degree of depth camera 11 and second degree of depth camera 12 receive for the first time changes and transfers feedback signal to and be input to and carry out synchronous correction in the synchronous control unit, and the catoptrical time that the reflected light that first degree of depth camera 11 receives for the second time and second degree of depth camera receive for the third time is used for measuring.
Obviously, the degree of depth of the three-dimensional scenic that measure is h
1+ h
3,
Emission light and catoptrical mistiming that first degree of depth camera 11 draws are:
Emission light and catoptrical mistiming that second degree of depth camera 12 draws are:
Thereby,
So,
Wherein, c is the light velocity.
Like this, the degree of depth of measuring three-dimensional scenic is converted to the computing of ratio between the mistiming, offsets the progression influence of single degree of depth camera, improve the precision of measuring.
Should be understood that the foregoing description only is schematic embodiment, is not limited to the present invention.Those skilled in the art also can use the function of other optical instruments realization light path control unit 14 etc., and these all should be included in of the present invention comprising in the scope,
The present invention offsets the measuring error of single degree of depth camera by determine the degree of depth of three-dimensional scenic according to the emission light of two degree of depth cameras and the ratio that receives the mistiming of light, improves the measuring accuracy of the three-dimensional scenic degree of depth.
Although illustrated and described embodiments of the invention, for the ordinary skill in the art, be appreciated that without departing from the principles and spirit of the present invention and can carry out multiple variation, modification, replacement and modification that scope of the present invention is by claims and be equal to and limit to these embodiment.
Claims (10)
1. the device based on the measurement three-dimensional scenic degree of depth of degree of depth camera is characterized in that, comprising:
Two degree of depth cameras, described two degree of depth cameras comprise first degree of depth camera and second degree of depth camera, described first degree of depth camera and second degree of depth camera are launched light simultaneously, and receive the reflected light that described measured three-dimensional scenic reflects respectively, and determine two mistimings according to the launch time and the described catoptrical time of reception of described light respectively, and determine the degree of depth of described measured three-dimensional scenic according to the ratio of described two mistimings;
Synchronous control unit is used to control described first degree of depth camera and described second degree of depth camera is launched light simultaneously; And
The light path control unit, the light that is used for that described emission light is sent to described measured three-dimensional scenic and will described measured three-dimensional scenic reflects is divided into two-way and is sent to described first degree of depth camera and described second degree of depth camera respectively, and the radiative light path of each degree of depth camera is identical with catoptrical light path.
2. the device of the measurement three-dimensional scenic degree of depth based on degree of depth camera according to claim 1 is characterized in that, also comprises:
The magazine emission light of described two degree of depth, described synchronous control unit controls described first degree of depth camera and described second degree of depth camera picks up counting simultaneously.
3. the device of the measurement three-dimensional scenic degree of depth based on degree of depth camera according to claim 1, it is characterized in that described synchronous control unit also is used for receiving the catoptrical time for the first time according to described first degree of depth camera and described second degree of depth camera described first degree of depth camera and described second degree of depth camera are carried out synchronous correction.
4. the device of the measurement three-dimensional scenic degree of depth based on degree of depth camera according to claim 3, it is characterized in that, described synchronous control unit receives the catoptrical time for the first time according to described first degree of depth camera and described second degree of depth camera described first degree of depth camera and described second degree of depth camera is carried out synchronous correction, further comprises:
If it is identical that described first degree of depth camera and described second degree of depth camera receive the catoptrical time for the first time, then judge described first degree of depth camera and described second degree of depth camera synchronization;
If described first degree of depth camera and described second degree of depth camera receive catoptrical asynchronism(-nization) for the first time, then described first degree of depth camera and described second degree of depth camera are carried out synchronous correction.
5. the device of the measurement three-dimensional scenic degree of depth based on degree of depth camera according to claim 1 and 2 is characterized in that described light path control unit further comprises: spectroscope and catoptron,
Described spectroscope, be used for the light of described first degree of depth camera emission is divided into two-way, one the road to described measured three-dimensional scenic, another road is to described catoptron, and/or the light of described second degree of depth camera emission that described mirror reflects is come is divided into two-way, and one the road to described first degree of depth camera, another road is to described measured three-dimensional scenic, and/or the light of described measured three-dimensional scenic reflection is divided into two-way, and one the road to described first degree of depth camera, and another road is to described catoptron; And
Described catoptron is used for the light that described spectroscope reflection comes is reflexed to described second degree of depth camera, and/or the light of described second degree of depth camera emission is reflexed to described spectroscope.
6. the device of the measurement three-dimensional scenic degree of depth based on degree of depth camera according to claim 5 is characterized in that the angle of described spectroscope and horizontal direction is 45 °, and the angle of described catoptron and horizontal direction is 45 °.
7. the device of the measurement three-dimensional scenic degree of depth based on degree of depth camera according to claim 1 and 2 is characterized in that the modulating frequency of described two degree of depth cameras is identical.
8. the device of the measurement three-dimensional scenic degree of depth based on degree of depth camera according to claim 1 and 2 is characterized in that also comprise: optical fiber is used to propagate described emission light and described reflected light.
9. the device of the 10 described measurement three-dimensional scenic degree of depth based on degree of depth camera as requested, it is characterized in that, also comprise: the conversion of signals interface, be connected between described optical fiber and described first degree of depth camera, between described optical fiber and described second degree of depth camera and between described two degree of depth cameras and the described light path control unit, be used for light signal is converted to electric signal.
10. the device of the measurement three-dimensional scenic degree of depth based on degree of depth camera according to claim 5 is characterized in that, described ratio according to described two mistimings is determined the degree of depth of described measured three-dimensional scenic, further comprises:
According to the ratio of mistiming of described two degree of depth cameras, determine the degree of depth of described measured three-dimensional scenic by following formula,
Wherein, D is the degree of depth of described measured three-dimensional scenic, and d is the optical path distance between described catoptron and the described spectroscope, Δ T
1Be the mistiming of described first degree of depth camera, Δ T
2Be the mistiming of described second degree of depth camera.
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