CN106772431A - A kind of Depth Information Acquistion devices and methods therefor of combination TOF technologies and binocular vision - Google Patents
A kind of Depth Information Acquistion devices and methods therefor of combination TOF technologies and binocular vision Download PDFInfo
- Publication number
- CN106772431A CN106772431A CN201710050801.2A CN201710050801A CN106772431A CN 106772431 A CN106772431 A CN 106772431A CN 201710050801 A CN201710050801 A CN 201710050801A CN 106772431 A CN106772431 A CN 106772431A
- Authority
- CN
- China
- Prior art keywords
- depth information
- sensor
- tof
- light source
- image sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005516 engineering process Methods 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000003384 imaging method Methods 0.000 claims abstract description 11
- 238000005286 illumination Methods 0.000 claims abstract description 9
- 230000003287 optical effect Effects 0.000 claims abstract description 3
- 238000005259 measurement Methods 0.000 claims description 10
- 230000000007 visual effect Effects 0.000 claims description 6
- 239000005338 frosted glass Substances 0.000 claims description 3
- 230000003595 spectral effect Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 description 3
- 238000001914 filtration Methods 0.000 description 2
- 238000002310 reflectometry Methods 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000001429 visible spectrum Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Computing Systems (AREA)
- Artificial Intelligence (AREA)
- Databases & Information Systems (AREA)
- Evolutionary Computation (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Health & Medical Sciences (AREA)
- Multimedia (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention discloses a kind of combination TOF technologies and the Depth Information Acquistion devices and methods therefor of binocular vision, the device includes active light source emitter, TOF sensor, left images sensor, controller and a processor；Active light source emitter includes the light source, spatial modulation device and the imaging system that are sequentially arranged；Active light source emitter and TOF sensor are connected with controller, and TOF sensor, left image sensor and right image sensor are connected with processor.Active light source emitter generation time, the optical illumination scene of spatial modulation, TOF sensor acquisition time modulated signal obtain depth information of scene, and left images sensor collection spatial modulation signal obtains scene image information.Increase constraints with depth information carries out characteristic matching to scene image, obtains high-resolution depth graph picture.The present invention realizes high-resolution fast deep acquisition of information under indoor and outdoor surroundingses at lower cost, it is adaptable to closely and more remote.
Description
Technical field
The present invention relates to depth transducer, machine vision, three-dimensional reconstruction, binocular stereo vision, TOF technical fields, especially
It is related to the Depth Information Acquistion devices and methods therefor of a kind of combination TOF technologies and binocular vision.
Background technology
In recent years, depth information obtains increasing application in the sensor.The technology for obtaining depth information is main
There are the technologies such as binocular solid matching, TOF (Time of Flight, flight time), monocular structure light.These technologies can be biography
Sensor increases extra depth information, has extensively in the field such as image identifying and processing, scene understanding, VR, AR and robot
Application.However, the main product on current market remains unchanged respective use scope and limitation.Such as, binocular solid
With the algorithm for depending on complexity, therefore hardware requirement is high, and the calculating time is long, for the unconspicuous target identification effect of feature not
It is good；Pulsed TOF depth survey technical costs is very high, due to the limitation of scan method, there is high-resolution and refreshing frequency high
Contradiction；Phase method TOF depth surveys range resolution ratio and spatial resolution be not high, and antijamming capability is poor；Structure light skill
Art there is also the defects such as resolution ratio low, time of measuring is long, poor reliability according to the difference of coding method, to measurement target property
There are certain requirements, and poor anti jamming capability, it is only used for interior.To meet demand often needs configuration multiple sensors, simply
Sensor is superimposed, and can not well improve overall performance, can also increase system architecture complexity and system cost.
The content of the invention
For above-mentioned deficiency, the present invention provide a kind of combination TOF technologies and binocular vision Depth Information Acquistion device and
Its method, while with binocular stereo vision high-resolution, is greatly reduced algorithm requirement, measuring speed is improve, to without line
The target of reason can also be recognized very well, it is adaptable to various targets under indoor and outdoors environment.Melt relative to simple multiple sensors
Close, not only cost reduction, integrated level is more preferable and also more stable in performance.
The technical solution adopted for the present invention to solve the technical problems is as follows：A kind of combination TOF technologies and binocular vision
Depth Information Acquistion device, including active light source emitter, TOF sensor, left image sensor, a right image are passed
Sensor, controller and processor；The active light source emitter include be sequentially arranged light source, spatial modulation device and
Imaging system；Active light source emitter and TOF sensor are connected with controller, TOF sensor, left image sensor and the right side
Imageing sensor is connected with processor.
Described left image sensor and right image sensor is symmetrically placed in TOF sensor both sides；As a kind of technology
Scheme, left images sensor and TOF sensor are using the image and depth information under light-splitting method collection similarity condition.Left,
The reflectivity information that right image sensor is obtained can feed back to TOF sensor, the certainty of measurement of raising TOF sensor,
Reduce noise.
The light of described controller control light source launch time modulation, after being modulated through spatial modulation device, by imaging system
Form the patterned illumination scene with certain space distribution.Preferably, light source is LED or laser module, active light source transmitting
The time-modulation of device is sine wave or quick square wave sequence, and spatial modulation device is frosted glass or grating, and imaging system is micro-
Lens array.
Described TOF sensor receives the echo-signal of scene objects reflection, and the time-modulation according to signal calculates flight
Time, further obtain depth information of scene.Described imageing sensor receives the scene under ambient light and active light source illumination
Image, the spatial modulation of active light source adds texture to scene, is easy to left images sensor to carry out feature to texture-free target
Matching.Preferably, the image that the left image sensor and right image sensor are collected is gray level image, its spectral characteristic
Primarily responsive to the narrow-band of active light source, part visible light wave range can be also responded；Further, the left image sensor and the right side
Imageing sensor collection image can also be RGB color image, and obtaining more multiple-object information carries out characteristic matching.
It is a further object of the present invention to provide a kind of combination TOF technologies and the depth information acquisition method of binocular vision, tool
Body comprises the following steps：
(1) lightwave signal of controller control light source launch time modulation, by being imaged after spatial modulation device is modulated
System forms pattern and irradiates target measurement region, and TOF sensor receives the echo-signal of target measurement region reflection, calculates light
The ripple flight time obtains the depth information of each point；Left image sensor and right image sensor collection ambient light and active light source hair
Scene under injection device illumination, obtains the left and right image under two visual angles；
(2) TOF sensor, left image sensor and right image sensor are demarcated, obtains three sensors alive
The corresponding relation of boundary's coordinate system；
(3) according to calibrating parameters, depth information is mapped in two-way image coordinate, constraints is increased with depth information
Stereo matching, including following several method are carried out to two-way image：
(3.1) in depth image, 1-2 character pair point is found in region of the depth more than D in left images, calculates
Depth information is used as background depth；Further, multiple grades are segmented into, region of the distance between D1-D2 calculates once
Depth, distance calculates a depth in the region of D2-D3, the like；
(3.2) in depth image, to the region outside step (3.1), its gradient is calculated, Grad is more than the region of G,
High Precision Stereo matching is carried out in left images, accurate depth information is calculated；
(3.3) in depth image, to the region outside step (3.1) and step (3.2), calculate secondly ladder degree, second order
Region of the gradient less than G2, only carries out Stereo matching in left images to border, calculates depth information, and other parts enter line
Property interpolation；
(3.4) in depth image, to the region outside step (3.1), (3.2), (3.3), carried out in left images low
Precision Stereo matching, calculates depth information；
(3.5) left images are carried out with high-pass filtering, image high frequency components are extracted, small size target is recognized, calculates deep
Degree information.
(4) in two-way image due to visual angle difference produced by blind area part be filled with background depth；
(5) to the no parallax region outside two-way image crossover range, it is filled with TOF depth informations, obtains scene
Depth image.
Beneficial effects of the present invention are as follows：High-resolution fast deep information is obtained under realizing indoor and outdoor surroundingses at lower cost
Take, it is adaptable to closely and more remote.Have concurrently TOF technologies quick measurement and binocular vision high-resolution it is anti-interference etc. excellent
Point, reduces the risk of None- identified and wrong identification, stability and better reliability.
The depth image and the high-resolution image of two-way of low resolution are gathered simultaneously, using depth image as prior information
Image is carried out by feature recognition and matched, high-resolution depth information is obtained according to optic triangle method principle, significantly reduced
Algorithm complex and calculating time.The inventive method or device include active light source emitter all the way, can carry out space and
Time-modulation, spatial modulation adds certain texture to target, and auxiliary two-way image carries out feature recognition, and time-modulation is used for
TOF obtains depth image.Depth image sensor only responds active light source.Left images sensor primarily responsive to active light source,
Also part visible light source can be responded, it is ensured that closely or can be obtained under more remote, strong ambient light and weak ambient light can
The image of identification.
Brief description of the drawings
Fig. 1 is the structure chart of apparatus of the present invention；
Fig. 2 is the structural representation of active light source emitter in apparatus of the present invention；
Fig. 3 is the inventive method flow chart；
Fig. 4 is the schematic diagram of sensor collection signal in the present invention；
In figure：Active light source emitter 1, TOF sensor 2, left image sensor 3, right image sensor 4, controller
5th, processor 6, light source 7, spatial modulation device 8, imaging system 9.
Specific embodiment
The present invention is described further with reference to the accompanying drawings and examples.
Embodiment：
As shown in figure 1, the Depth Information Acquistion device of a kind of combination TOF technologies and binocular vision, including an active light
Source emitter 1, TOF sensor 2, left image sensor 3, right image sensor 4, controller 5 and a processor 6；Such as
Shown in Fig. 2, the active light source emitter 1 includes the light source 7, spatial modulation device 8 and the imaging system 9 that are sequentially arranged；
Active light source emitter 1 and light source 7 are connected with controller 5, TOF sensor 2, left image sensor 3 and right image sensing
Device 4 is connected with processor 6；
Left image sensor 3 and right image sensor 4 be arranged symmetrically in the present embodiment the both sides of TOF sensor 2, left,
Right image sensor and TOF sensor 2 are using the image and depth information under light-splitting method collection similarity condition.Left and right image
The reflectivity information that sensor is obtained can feed back to TOF sensor 2, improve the certainty of measurement of TOF sensor, reduction and make an uproar
Sound.
Described TOF sensor 2 receives the echo-signal of scene objects reflection, and the time-modulation according to signal calculates flight
Time, further obtain depth information of scene.Described left and right imageing sensor is received under ambient light and active light source illumination
Scene image, the spatial modulation of active light source adds texture to scene, is easy to left and right imageing sensor to carry out texture-free target
Characteristic matching.Left image sensor 3 and the collection image of right image sensor 4 are RGB color image, its Spectral Properties in the present embodiment
Property primarily responsive to active light source narrow-band, can also respond part visible light wave range, obtaining more multiple-object information carries out feature
Match somebody with somebody.
The light of the described control launch time of light source 7 modulation of controller 5, after being modulated through spatial modulation device, be by imaging
System 9 forms the patterned illumination scene with certain space distribution.Light source 7 uses 850nm laser modules, active light source in embodiment
The time-modulation of emitter 1 is sine wave, and spatial modulation device 8 is frosted glass, and imaging system 9 is microlens array.
As shown in figure 3, the depth information acquisition method of a kind of combination TOF technologies and binocular vision, specifically includes following step
Suddenly：
(1) controller 5 control the launch time of light source 7 modulation lightwave signal, by spatial modulation device 8 modulation after by into
As system 9 forms pattern and irradiates target measurement region, realize being sine wave, the tune for spatially thering is certain hot spot to be distributed on the time
Optical illumination processed, as shown in Figure 4；TOF sensor 2 receives the echo-signal of target measurement region reflection, calculates the light wave flight time
The depth information of each point is obtained, resolution ratio is 360 × 240；Left image sensor 3 and right image sensor 4 collection ambient light and
Scene under the illumination of active light source emitter 1, obtains the left and right image under two visual angles, and resolution ratio is 1280 × 1024；
(2) TOF sensor 2, left image sensor 3 and right image sensor 4 are demarcated, obtains three sensors and exist
The corresponding relation of world coordinate system；
The narrow-band spectrum of 2 response active light sources of TOF sensor obtains preferable signal to noise ratio to improve anti-interference, and
Because spatial resolution is relatively low, reception be in the range of average signal, therefore not exposure pattern space distribution influence.Ash
Degree imageing sensor can also respond part visible spectrum primarily responsive to the narrow-band spectrum of active light source.
(3) according to calibrating parameters, depth information is mapped in two-way image coordinate, constraints is increased with depth information
Stereo matching is carried out to two-way image；
(4) in two-way image due to visual angle difference produced by blind area part be filled with background depth；
(5) to the no parallax region outside two-way image crossover range, it is filled with TOF depth informations, obtains scene
Depth image.
In the solid matching method, increased constraints is specific as follows：
(3.1) in depth image, 1-2 character pair point is found in region of the depth more than D in left images, calculates
Depth information is used as background depth；Further, multiple grades are segmented into, region of the distance between D1-D2 calculates once
Depth, distance calculates a depth in the region of D2-D3, the like；
(3.2) in depth image, to the region outside step (3.1), its gradient is calculated, Grad is more than the region of G,
High Precision Stereo matching is carried out in left images, accurate depth information is calculated；
(3.3) in depth image, to the region outside step (3.1) and step (3.2), calculate secondly ladder degree, second order
Region of the gradient less than G2, only carries out Stereo matching in left images to border, calculates depth information, and other parts enter line
Property interpolation；
(3.4) in depth image, to the region outside step (3.1), (3.2), (3.3), carried out in left images low
Precision Stereo matching, calculates depth information；
(3.5) left images are carried out with high-pass filtering, image high frequency components are extracted, small size target is recognized, calculates deep
Degree information.
Constraints is not limited to above several method, and the several method being mentioned herein can not also be used all.
Claims (10)
1. the Depth Information Acquistion device of a kind of combination TOF technologies and binocular vision, it is characterised in that including an active light source
Emitter, TOF sensor, left image sensor, right image sensor, controller and a processor etc.；The active
Light source emitter includes the light source, spatial modulation device and the imaging system that are sequentially arranged；Active light source emitter and TOF
Sensor is connected with controller, and TOF sensor, left image sensor and right image sensor are connected with processor.
2. the Depth Information Acquistion device of combination TOF technologies according to claim 1 and binocular vision, it is characterised in that
The left image sensor and right image sensor are arranged symmetrically in TOF sensor both sides.
3. the Depth Information Acquistion device of combination TOF technologies according to claim 1 and binocular vision, it is characterised in that
The image that the left image sensor and right image sensor are collected is gray level image, and its spectral characteristic is primarily responsive to active light
The narrow-band in source, can also respond part visible light wave range.
4. the Depth Information Acquistion device of combination TOF technologies according to claim 1 and binocular vision, it is characterised in that
The image that the left image sensor and right image sensor are collected is coloured image.
5. the Depth Information Acquistion device of combination TOF technologies according to claim 1 and binocular vision, it is characterised in that
The light source can be LED or laser module.
6. the Depth Information Acquistion device of combination TOF technologies according to claim 1 and binocular vision, it is characterised in that
The spatial modulation device is frosted glass or grating.
7. the Depth Information Acquistion device of combination TOF technologies according to claim 1 and binocular vision, it is characterised in that
The imaging system is microlens array.
8. the Depth Information Acquistion device of combination TOF technologies according to claim 1 and binocular vision, it is characterised in that
The time-modulation of the active light source emitter is sine wave or quick square wave sequence.
9. the Depth Information Acquistion device of combination TOF technologies according to claim 1 and binocular vision, it is characterised in that
The left image sensor and TOF sensor are using the image and depth information under light-splitting method collection similarity condition.
10. combination TOF technologies described in a kind of utilization claim 1 and the depth letter of the Depth Information Acquistion device of binocular vision
Breath acquisition methods, it is characterised in that specifically include following steps：
(1) optical signal of controller control light source launch time modulation, by imaging system shape after spatial modulation device is modulated
Into pattern and target measurement region is irradiated, TOF sensor receives the echo-signal of target measurement region reflection, calculate light wave flight
Time obtains the depth information of each point；Left image sensor and right image sensor collection ambient light and active light source emitter
Scene under illumination, obtains the left and right image under two visual angles.
(2) TOF sensor, left image sensor and right image sensor are demarcated, obtains three sensors and sat in the world
Mark the corresponding relation of system.
(3) according to calibrating parameters, depth information is mapped in two-way image coordinate, constraints is increased to two with depth information
Road image carries out Stereo matching.
(4) in two-way image due to visual angle difference produced by blind area part be filled with background depth.
(5) to the no parallax region outside two-way image crossover range, it is filled with TOF depth informations, obtains the depth of scene
Degree image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710050801.2A CN106772431B (en) | 2017-01-23 | 2017-01-23 | A kind of Depth Information Acquistion devices and methods therefor of combination TOF technology and binocular vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710050801.2A CN106772431B (en) | 2017-01-23 | 2017-01-23 | A kind of Depth Information Acquistion devices and methods therefor of combination TOF technology and binocular vision |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106772431A true CN106772431A (en) | 2017-05-31 |
| CN106772431B CN106772431B (en) | 2019-09-20 |
Family
ID=58942287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710050801.2A Active CN106772431B (en) | 2017-01-23 | 2017-01-23 | A kind of Depth Information Acquistion devices and methods therefor of combination TOF technology and binocular vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106772431B (en) |
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107635129A (en) * | 2017-09-29 | 2018-01-26 | 周艇 | Three-dimensional three mesh camera devices and depth integration method |
| CN108495113A (en) * | 2018-03-27 | 2018-09-04 | 百度在线网络技术（北京）有限公司 | control method and device for binocular vision system |
| CN108921888A (en) * | 2018-07-03 | 2018-11-30 | 京东方科技集团股份有限公司 | A kind of depth image detection method, system and computer readable storage medium |
| CN109299662A (en) * | 2018-08-24 | 2019-02-01 | 上海图漾信息科技有限公司 | Depth data calculates apparatus and method for and face recognition device |
| CN109343565A (en) * | 2018-10-29 | 2019-02-15 | 中国航空无线电电子研究所 | A kind of UAV Intelligent ground control control method based on gesture perception identification |
| CN109389632A (en) * | 2018-09-05 | 2019-02-26 | 深圳奥比中光科技有限公司 | Depth calculation System and method for |
| CN109435845A (en) * | 2018-12-26 | 2019-03-08 | 中国地质大学（武汉） | A kind of lorry blind area detection warning device and detection alarm method based on TOF technology |
| CN109579852A (en) * | 2019-01-22 | 2019-04-05 | 杭州蓝芯科技有限公司 | Robot autonomous localization method and device based on depth camera |
| CN109615652A (en) * | 2018-10-23 | 2019-04-12 | 西安交通大学 | A kind of depth information acquisition method and device |
| CN109788622A (en) * | 2019-03-18 | 2019-05-21 | 上海炬佑智能科技有限公司 | Light source control device, light source control method and time-of-flight sensor |
| CN109917419A (en) * | 2019-04-12 | 2019-06-21 | 中山大学 | A kind of depth fill-in congestion system and method based on laser radar and image |
| CN110035269A (en) * | 2019-04-12 | 2019-07-19 | 信利光电股份有限公司 | A kind of bimodulus depth camera |
| CN110136203A (en) * | 2018-02-08 | 2019-08-16 | 浙江舜宇智能光学技术有限公司 | The scaling method and its calibration system of TOF device |
| CN110456380A (en) * | 2019-07-31 | 2019-11-15 | 炬佑智能科技(苏州)有限公司 | Flight time sensing cameras and its depth detection method |
| CN110456379A (en) * | 2019-07-12 | 2019-11-15 | 深圳奥比中光科技有限公司 | The depth measurement device and distance measurement method of fusion |
| US20200041620A1 (en) * | 2018-07-31 | 2020-02-06 | Waymo Llc | Hybrid Time-of-Flight and Imager Module |
| CN111045030A (en) * | 2019-12-18 | 2020-04-21 | 深圳奥比中光科技有限公司 | Depth measuring device and method |
| CN111175786A (en) * | 2019-10-14 | 2020-05-19 | 岭纬科技（厦门）有限公司 | Multi-path crosstalk-eliminating wide-view-field high-resolution solid-state laser radar |
| WO2020192209A1 (en) * | 2019-03-25 | 2020-10-01 | 华为技术有限公司 | Large aperture blurring method based on dual camera + tof |
| CN111741284A (en) * | 2019-03-25 | 2020-10-02 | 华为技术有限公司 | Image processing apparatus and method |
| CN112230244A (en) * | 2020-09-08 | 2021-01-15 | 奥比中光科技集团股份有限公司 | Fused depth measurement method and measurement device |
| CN112379389A (en) * | 2020-11-11 | 2021-02-19 | 杭州蓝芯科技有限公司 | Depth information acquisition device and method combining structured light camera and TOF depth camera |
| CN112415533A (en) * | 2021-01-21 | 2021-02-26 | 杭州蓝芯科技有限公司 | Depth sensing method and device based on chirped pulse and sensor |
| CN112802114A (en) * | 2019-11-13 | 2021-05-14 | 浙江舜宇智能光学技术有限公司 | Multi-vision sensor fusion device and method and electronic equipment |
| CN112802127A (en) * | 2021-03-31 | 2021-05-14 | 深圳中科飞测科技股份有限公司 | Calibration method and device, calibration equipment and storage medium |
| US20210199802A1 (en) * | 2018-06-22 | 2021-07-01 | Ams Ag | Using time-of-flight and pseudo-random bit sequences to measure distance to object |
| WO2021238212A1 (en) * | 2020-05-24 | 2021-12-02 | 奥比中光科技集团股份有限公司 | Depth measurement apparatus and method, and electronic device |
| US11516455B2 (en) | 2018-08-22 | 2022-11-29 | Guangdong Oppo Mobile Telecommunications Corp., Ltd. | Electronic device and method for controlling the same |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101390404A (en) * | 2006-02-22 | 2009-03-18 | 皇家飞利浦电子股份有限公司 | Method of colour image projection using spatial light modulation and light source modulation |
| 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 |
| CN104583804A (en) * | 2012-08-14 | 2015-04-29 | 微软公司 | Illumination light projection for depth camera |
| 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 |
| CN105115445A (en) * | 2015-09-14 | 2015-12-02 | 杭州光珀智能科技有限公司 | Three-dimensional imaging system and imaging method based on combination of depth camera and binocular vision |
-
2017
- 2017-01-23 CN CN201710050801.2A patent/CN106772431B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101390404A (en) * | 2006-02-22 | 2009-03-18 | 皇家飞利浦电子股份有限公司 | Method of colour image projection using spatial light modulation and light source modulation |
| 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 |
| CN104583804A (en) * | 2012-08-14 | 2015-04-29 | 微软公司 | Illumination light projection for depth camera |
| 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 |
| CN105115445A (en) * | 2015-09-14 | 2015-12-02 | 杭州光珀智能科技有限公司 | Three-dimensional imaging system and imaging method based on combination of depth camera and binocular vision |
Non-Patent Citations (1)
| Title |
|---|
| 刘娇丽 等: "基于TOF与立体匹配相融合的高分辨率深度获取", 《信息技术》 * |
Cited By (43)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107635129A (en) * | 2017-09-29 | 2018-01-26 | 周艇 | Three-dimensional three mesh camera devices and depth integration method |
| CN110136203A (en) * | 2018-02-08 | 2019-08-16 | 浙江舜宇智能光学技术有限公司 | The scaling method and its calibration system of TOF device |
| CN108495113A (en) * | 2018-03-27 | 2018-09-04 | 百度在线网络技术（北京）有限公司 | control method and device for binocular vision system |
| US11994586B2 (en) * | 2018-06-22 | 2024-05-28 | Ams Ag | Using time-of-flight and pseudo-random bit sequences to measure distance to object |
| US20210199802A1 (en) * | 2018-06-22 | 2021-07-01 | Ams Ag | Using time-of-flight and pseudo-random bit sequences to measure distance to object |
| CN108921888A (en) * | 2018-07-03 | 2018-11-30 | 京东方科技集团股份有限公司 | A kind of depth image detection method, system and computer readable storage medium |
| CN108921888B (en) * | 2018-07-03 | 2022-07-19 | 京东方科技集团股份有限公司 | Depth image detection method, system and computer readable storage medium |
| US20200041620A1 (en) * | 2018-07-31 | 2020-02-06 | Waymo Llc | Hybrid Time-of-Flight and Imager Module |
| US11609313B2 (en) * | 2018-07-31 | 2023-03-21 | Waymo Llc | Hybrid time-of-flight and imager module |
| US12032097B2 (en) | 2018-07-31 | 2024-07-09 | Waymo Llc | Hybrid time-of-flight and imager module |
| US11516455B2 (en) | 2018-08-22 | 2022-11-29 | Guangdong Oppo Mobile Telecommunications Corp., Ltd. | Electronic device and method for controlling the same |
| CN109299662A (en) * | 2018-08-24 | 2019-02-01 | 上海图漾信息科技有限公司 | Depth data calculates apparatus and method for and face recognition device |
| CN109389632A (en) * | 2018-09-05 | 2019-02-26 | 深圳奥比中光科技有限公司 | Depth calculation System and method for |
| CN109615652A (en) * | 2018-10-23 | 2019-04-12 | 西安交通大学 | A kind of depth information acquisition method and device |
| CN109615652B (en) * | 2018-10-23 | 2020-10-27 | 西安交通大学 | Depth information acquisition method and device |
| CN109343565A (en) * | 2018-10-29 | 2019-02-15 | 中国航空无线电电子研究所 | A kind of UAV Intelligent ground control control method based on gesture perception identification |
| CN109435845A (en) * | 2018-12-26 | 2019-03-08 | 中国地质大学（武汉） | A kind of lorry blind area detection warning device and detection alarm method based on TOF technology |
| CN109579852A (en) * | 2019-01-22 | 2019-04-05 | 杭州蓝芯科技有限公司 | Robot autonomous localization method and device based on depth camera |
| CN109788622B (en) * | 2019-03-18 | 2024-02-06 | 上海炬佑智能科技有限公司 | Light source control device, light source control method and time-of-flight sensor |
| CN109788622A (en) * | 2019-03-18 | 2019-05-21 | 上海炬佑智能科技有限公司 | Light source control device, light source control method and time-of-flight sensor |
| WO2020192209A1 (en) * | 2019-03-25 | 2020-10-01 | 华为技术有限公司 | Large aperture blurring method based on dual camera + tof |
| CN111741284A (en) * | 2019-03-25 | 2020-10-02 | 华为技术有限公司 | Image processing apparatus and method |
| CN111741283A (en) * | 2019-03-25 | 2020-10-02 | 华为技术有限公司 | Image processing apparatus and method |
| US12096134B2 (en) | 2019-03-25 | 2024-09-17 | Huawei Technologies Co., Ltd. | Big aperture blurring method based on dual cameras and TOF |
| CN109917419A (en) * | 2019-04-12 | 2019-06-21 | 中山大学 | A kind of depth fill-in congestion system and method based on laser radar and image |
| CN110035269A (en) * | 2019-04-12 | 2019-07-19 | 信利光电股份有限公司 | A kind of bimodulus depth camera |
| CN109917419B (en) * | 2019-04-12 | 2021-04-13 | 中山大学 | Depth filling dense system and method based on laser radar and image |
| CN110456379A (en) * | 2019-07-12 | 2019-11-15 | 深圳奥比中光科技有限公司 | The depth measurement device and distance measurement method of fusion |
| CN110456380B (en) * | 2019-07-31 | 2021-12-28 | 炬佑智能科技(苏州)有限公司 | Time-of-flight sensing camera and depth detection method thereof |
| CN110456380A (en) * | 2019-07-31 | 2019-11-15 | 炬佑智能科技(苏州)有限公司 | Flight time sensing cameras and its depth detection method |
| CN111175786A (en) * | 2019-10-14 | 2020-05-19 | 岭纬科技（厦门）有限公司 | Multi-path crosstalk-eliminating wide-view-field high-resolution solid-state laser radar |
| CN111175786B (en) * | 2019-10-14 | 2022-05-03 | 岭纬科技（厦门）有限公司 | Multi-path crosstalk-eliminating wide-view-field high-resolution solid-state laser radar |
| CN112802114A (en) * | 2019-11-13 | 2021-05-14 | 浙江舜宇智能光学技术有限公司 | Multi-vision sensor fusion device and method and electronic equipment |
| CN111045030B (en) * | 2019-12-18 | 2022-09-13 | 奥比中光科技集团股份有限公司 | Depth measuring device and method |
| CN111045030A (en) * | 2019-12-18 | 2020-04-21 | 深圳奥比中光科技有限公司 | Depth measuring device and method |
| WO2021238212A1 (en) * | 2020-05-24 | 2021-12-02 | 奥比中光科技集团股份有限公司 | Depth measurement apparatus and method, and electronic device |
| WO2022052366A1 (en) * | 2020-09-08 | 2022-03-17 | 奥比中光科技集团股份有限公司 | Fused depth measurement method and measurement device |
| CN112230244A (en) * | 2020-09-08 | 2021-01-15 | 奥比中光科技集团股份有限公司 | Fused depth measurement method and measurement device |
| CN112379389A (en) * | 2020-11-11 | 2021-02-19 | 杭州蓝芯科技有限公司 | Depth information acquisition device and method combining structured light camera and TOF depth camera |
| CN112379389B (en) * | 2020-11-11 | 2024-04-26 | 杭州蓝芯科技有限公司 | Depth information acquisition device and method combining structured light camera and TOF depth camera |
| CN112415533A (en) * | 2021-01-21 | 2021-02-26 | 杭州蓝芯科技有限公司 | Depth sensing method and device based on chirped pulse and sensor |
| CN112802127B (en) * | 2021-03-31 | 2021-07-20 | 深圳中科飞测科技股份有限公司 | Calibration method and device, calibration equipment and storage medium |
| CN112802127A (en) * | 2021-03-31 | 2021-05-14 | 深圳中科飞测科技股份有限公司 | Calibration method and device, calibration equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106772431B (en) | 2019-09-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106772431B (en) | A kind of Depth Information Acquistion devices and methods therefor of combination TOF technology and binocular vision | |
| CN107862293B (en) | Radar color semantic image generation system and method based on countermeasure generation network | |
| US9392262B2 (en) | System and method for 3D reconstruction using multiple multi-channel cameras | |
| US9432593B2 (en) | Target object information acquisition method and electronic device | |
| JP5337243B2 (en) | Adaptive 3D scanning system for surface features | |
| CN110044300A (en) | Amphibious 3D vision detection device and detection method based on laser | |
| EP3008485A1 (en) | Detector for optically detecting at least one object | |
| CN107783353A (en) | For catching the apparatus and system of stereopsis | |
| CN102438111A (en) | Three-dimensional measurement chip and system based on double-array image sensor | |
| CN110619617B (en) | Three-dimensional imaging method, device, equipment and computer readable storage medium | |
| CN109410234A (en) | A kind of control method and control system based on binocular vision avoidance | |
| CN107514745A (en) | A kind of method and system of intelligent air condition stereoscopic vision positioning | |
| CN112255639B (en) | Depth perception sensor and depth perception sensing module for region of interest | |
| CN105004324A (en) | Monocular vision sensor with triangulation ranging function | |
| CN113379848A (en) | Target positioning method based on binocular PTZ camera | |
| CN109270546A (en) | Distance measuring device based on structured light and double image sensors and distance measuring method thereof | |
| CN109085603A (en) | Optical 3-dimensional imaging system and color three dimensional image imaging method | |
| CN202406199U (en) | Three-dimensional measure chip and system based on double-array image sensor | |
| CN212992427U (en) | Image acquisition module | |
| CN116824067B (en) | Indoor three-dimensional reconstruction method and device thereof | |
| CN112379389A (en) | Depth information acquisition device and method combining structured light camera and TOF depth camera | |
| CN108693538A (en) | Accurate confidence level depth camera range unit based on binocular structure light and method | |
| Zheng et al. | Underwater 3D target positioning by inhomogeneous illumination based on binocular stereo vision | |
| CN207909195U (en) | Depth data measurement assembly and equipment | |
| CN107392955B (en) | Depth of field estimation device and method based on brightness |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20170531 Assignee: Hangzhou Jintou Finance Leasing Co.,Ltd. Assignor: HANGZHOU LANXIN TECHNOLOGY CO.,LTD. Contract record no.: X2023980031743 Denomination of invention: A depth information acquisition device and method combining TOF technology and binocular vision Granted publication date: 20190920 License type: Exclusive License Record date: 20230202 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A depth information acquisition device and method combining TOF technology and binocular vision Effective date of registration: 20230207 Granted publication date: 20190920 Pledgee: Hangzhou Jintou Finance Leasing Co.,Ltd. Pledgor: HANGZHOU LANXIN TECHNOLOGY CO.,LTD. Registration number: Y2023110000056 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Hangzhou Jintou Finance Leasing Co.,Ltd. Assignor: HANGZHOU LANXIN TECHNOLOGY CO.,LTD. Contract record no.: X2023980031743 Date of cancellation: 20240402 |
|
| EC01 | Cancellation of recordation of patent licensing contract | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Granted publication date: 20190920 Pledgee: Hangzhou Jintou Finance Leasing Co.,Ltd. Pledgor: HANGZHOU LANXIN TECHNOLOGY CO.,LTD. Registration number: Y2023110000056 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |