CN106997603A - Depth camera based on VCSEL array light source - Google Patents
Depth camera based on VCSEL array light source Download PDFInfo
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Abstract
The present invention provides a kind of depth camera based on VCSEL array light source, including：Structured light projection module, including VCSEL array light source, for the emitting structural light pattern into space；The structured light patterns include sparsity structure light pattern, one kind in close packed structure light pattern or combination；Module is gathered, for gathering the structured light patterns reflected by target；Processor, for calculating depth image according to the structured light patterns.It can be sent by VCSEL array light source into space including one kind or the structured light patterns of combination in sparsity structure light pattern, close packed structure light pattern, structured light patterns are told by collection and matching primitives are carried out to it, the depth image of high-precision and high frame per second can be obtained, so that depth camera has wider application.
Description
Technical field
The present invention relates to optics and electronic technology field, more particularly to a kind of depth camera based on VCSEL array light source.
Background technology
The 3D imaging technique that 3D imagings are especially applicable in consumer field will constantly impact traditional 2D imaging techniques, 3D
Imaging technique can also obtain the depth information of target object in addition to possessing and carrying out 2D imaging capabilities to target object, according to
Depth information can further realize the functions such as 3D scannings, scene modeling, gesture interaction.Depth camera particularly structure optical depth
Camera or TOF (time flight) depth camera are the hardware devices for being generally used to 3D imagings at present.
Core component in depth camera is laser projection module, according to the difference of depth camera species, laser projection mould
The structure of group is also had any different with function, such as the projection module disclosed in patent CN201610977172A is used for into space
Projection speckle patterns are to realize structure light depth survey, and this spot structure light depth camera is also more ripe and extensive at present
The scheme of use.With the continuous extension of depth camera application field, optical projection module by less and less volume and
Continued to develop in higher and higher performance.
VCSEL (vertical cavity surface emitting laser) array light sources are due to small volume, power is big, beam divergence angle is small, operation
The many advantages such as stable are by into the first choice of the light source of depth camera laser projection module.VCSEL light source array can be a pole
Laser projection is carried out in its small substrate by way of arranging multiple VCSEL light sources, such as is served as a contrast in 2mmx2mm semiconductor
100 even more VCSEL light sources are arranged on bottom.Speckle pattern is based particularly on for the projection module of structure light depth camera
Projection module for, VCSEL provide not only illumination, and its spread pattern can also directly influence the final structure for investing target
Light speckle pattern, will further influence whether the measurement accuracy and speed of depth camera.
In existing program using it is more be irregular alignment VCSEL array light source, wherein arranging density can also influence
The pattern of structured light projection.Sparse VCSEL array light source is such as arranged for dense arrangement, the pattern of generation is close
Degree is also relatively small, and the precision of obtained depth image is relatively low；And utilize the depth image of close packed structure light pattern acquisition
Precision is relatively high, nevertheless, when carrying out depth calculation to close packed structure light pattern using structure light trigonometry, it is required
The calculating time wanted is also longer, so also just reduces the frame per second of depth image output.On the whole, it is deep in current scheme
The precision and frame per second for spending image are a paradox, it is difficult to while obtaining the depth image of high-precision and high frame per second.
The content of the invention
The present invention in order to solve to be difficult in the prior art while the problem of obtaining the depth image of high-precision and high frame per second,
A kind of depth camera based on VCSEL array light source is provided.
In order to solve the above problems, the technical solution adopted by the present invention is as described below：
The present invention provides a kind of depth camera based on VCSEL array light source, including：Structured light projection module, including
VCSEL array light source, for the emitting structural light pattern into space；The structured light patterns include sparsity structure light pattern, close
One kind or combination in structure set light pattern；Module is gathered, for gathering the structured light patterns reflected by target；Processing
Device, for calculating depth image according to the structured light patterns.
In some embodiments, the processor using the structured light patterns comprising sparsity structure light pattern with the
One window carries out matching primitives, obtains rough deviation value and/or rough depth map picture；Recycle comprising close packed structure light pattern
The structured light patterns carry out matching primitives with the second window, obtain fine deviation value and/or fine depth image.
In some embodiments, the structured light patterns are included by sparsity structure light pattern and close packed structure light pattern group
Into mixed structure light pattern.The processor is using the mixed structure light pattern and in terms of first window progress matching
Calculate, obtain rough deviation value and/or rough depth map picture；The processor recycles the mixed structure light pattern and with second
Window carries out matching primitives, obtains fine deviation value and/or fine depth image.
In some embodiments, the structured light patterns include sparsity structure light pattern and close packed structure light pattern.Institute
Processor is stated according to the sparsity structure light pattern and matching primitives are carried out with first window, rough deviation value is obtained and/or thick
Omit depth image；The processor recycles the close packed structure light pattern and carries out matching primitives with the second window, obtains essence
Thin deviation value and/or fine depth image.
In some embodiments, the structured light patterns include sparsity structure light pattern and by sparsity structure light pattern with
The mixed structure light pattern of close packed structure light pattern composition.The processor is using the sparsity structure light pattern and with the first window
Mouth carries out matching primitives, obtains rough deviation value and/or rough depth map picture；The processor recycles the mixed structure light
Pattern, and matching primitives are carried out with the second window, obtain fine deviation value and/or fine depth image.
In some embodiments, the structured light patterns are included by sparsity structure light pattern and close packed structure light pattern group
Into mixed structure light pattern and close packed structure light pattern.The processor utilizes the mixed structure light pattern, and with first
Window carries out matching primitives, obtains rough deviation value and/or rough depth map picture；The processor recycles the close packed structure
The mixed structure light pattern of light pattern composition, and matching primitives are carried out with the second window, obtain fine deviation value and/or fine deep
Spend image.
In some embodiments, the brightness of pattern unit is more than the close packed structure light in the sparsity structure light pattern
The brightness of pattern unit in pattern.
In some embodiments, the first window is more than the second window.In some embodiments, it is described fine inclined
It is that matching primitives are carried out with reference to the rough deviation value or rough depth map picture with the second window from value and fine depth image
Obtain.
Beneficial effects of the present invention are：The present invention provides a kind of depth camera based on VCSEL array light source, can pass through
VCSEL array light source is sent into space including one kind or the knot of combination in sparsity structure light pattern, close packed structure light pattern
Structure light pattern, tells structured light patterns by collection and carries out matching primitives to it, can obtain high-precision and high frame per second
Depth image, so that depth camera has wider application.
Brief description of the drawings
Fig. 1 is the side view of the structure light depth camera system of the embodiment of the present invention.
Fig. 2 is the side view of the structured light projection module of the embodiment of the present invention.
Fig. 3 is the schematic diagram of the structured light projecting device of the embodiment of the present invention.
Fig. 4 is the schematic diagram of the sparsity structure light pattern of the embodiment of the present invention.
Fig. 5 is the schematic diagram of the close packed structure light pattern of the embodiment of the present invention.
Fig. 6 is the schematic diagram of the combining structure light pattern of the embodiment of the present invention.
Fig. 7 is the control sequential figure of a kind of structured light projection module and collection module of the embodiment of the present invention.
Fig. 8 is the control sequential figure of another structured light projection module and collection module of the embodiment of the present invention
Fig. 9 is a kind of depth image obtaining step of the embodiment of the present invention.
Figure 10 is the control sequential figure of another the structure light projection module and collection module of the embodiment of the present invention.
Figure 11 is another depth image obtaining step of the embodiment of the present invention.
Figure 12 is the control sequential figure of the 4th kind of structured light projection module and collection module of the embodiment of the present invention.
Figure 13 is another depth image obtaining step of the embodiment of the present invention.
Figure 14 is the control sequential figure of the 5th kind of structured light projection module and collection module of the embodiment of the present invention.
Figure 15 is the 4th kind of depth image obtaining step of the embodiment of the present invention.
Figure 16 is the control sequential figure of the 6th kind of light projection module of structure and collection module of the embodiment of the present invention.
Wherein, 101- depth cameras, 102- processors, 103- circuit boards, 104- structured light projections module, 105- collection moulds
Group, 106- interfaces, 107-RGB cameras, 108- entering lights/light-emitting window, 201- substrates, 202- light sources, 203- lens units, 204-
Speckle patterns maker, 301-VCSEL array light sources, 302- subarrays, the another subarrays of 303-, 304- diffraction optical elements,
The another diffraction optical element unit of 305- diffraction optical elements unit, 306-, 307- view fields, 308- speckle patterns, 309-
Another speckle pattern, 401- larger window, the less windows of 501-, 601- mixing speckle patterns.
Embodiment
The present invention is described in detail by specific embodiment below in conjunction with the accompanying drawings, for a better understanding of this hair
It is bright, but following embodiments are not intended to limit the scope of the invention.In addition, it is necessary to the diagram provided in explanation, following embodiments
Only illustrate the basic conception of the present invention in a schematic way, the only display component relevant with the present invention rather than according to reality in accompanying drawing
Component count, shape during implementation and size are drawn, shape, quantity and the ratio of it is actual when implementing each component can for one kind with
The change of meaning, and its assembly layout form may also be increasingly complex.
The depth camera side schematic view based on structure light shown in Fig. 1.The main building block of depth camera 101 has structure
Light projection module 104, collection module 105, circuit board 103 and processor 102, RGB is further provided with some depth cameras
Camera 107.Structured light projection module 104, collection module 105 and RGB camera 107 are typically fixed on support and are in
In same depth camera plane, three is typically on same baseline in addition, and corresponding one of each module or camera enters
Light/light-emitting window 108.Usually, processor 102 is installed on circuit board 103, and structured light projection module 104 and collection
Module 105 is connected by interface 106 with mainboard respectively, and interface can be DVP interfaces, MIPI interfaces etc..Circuit board 103 can be with
For the circuit boards such as PCB or semiconductor substrate.Wherein, structured light projection module 104 is used into object space project warp
The structured light patterns of coding, collection module 105 is collected after the structure light image by the processing of processor so as to obtain target
The depth image in space.In one embodiment, structure light image is infrared laser speckle pattern, and pattern distribution of particles is relatively equal
Even but with very high local irrelevance, local irrelevance here is referred in pattern along in some direction dimension
(referring generally to along laser projection module and the direction where collection module line) each sub-regions all have higher uniqueness.
It is corresponding collection module 105 be and the corresponding infrared camera of structured light projection module 104.Depth image tool is obtained using processor
Refer to after the speckle pattern for receiving and being collected by collection module, by calculating between speckle pattern and reference speckle pattern body
Deviation value further obtains depth image.Processor 102 is except for depth calculation, being additionally operable to control the fortune of all parts
Make, such as each module is opened with specific Frequency Synchronization.
Depth camera shown in Fig. 1 can be independent depth camera device or Embedded depth camera.It is deep
Degree camera also includes output interface (not shown), such as the interface such as USB, MIPI, output interface is connected with processor, use
In other modules being output to depth image in other host devices or same equipment.
Structured light projection module
Fig. 2 is a kind of embodiment of structured light projection module 104 in Fig. 1.Structured light projection module 104 include substrate 201,
Light source 202, lens 203 and speckle patterns maker 204.Substrate 201 is generally Semiconductor substrate, such as wafer, thereon
Multiple light sources 202 are arranged, substrate 201 together constitutes laser array, such as VCSEL array chip with light source 202.Light source 202
It is used to launch multiple beamlets comprising multiple sub-light sources, light source can be the laser lights such as visible ray, black light be for example infrared, ultraviolet
Source, the species of light source can be that edge-emitting laser can also be vertical cavity surface generating laser (VCSEL), in order that obtaining overall
Projection arrangement small volume, optimal scheme be selection vertical cavity surface arrangement of laser emitters (VCSEL array) as light source.
It is in addition, can also arrange different types of VCSEL array light source on same substrate, such as the shape of VCSEL array light source, big
Small, brightness can have difference.Illustrate for convenience in figure, 3 sub-light sources are only listed on one-dimensional, in fact VCSEL array
Light source be with fix two-dimensional pattern arrangement two-dimension light source.VCSEL array chip can be that nude film can also be after encapsulation
Chip, both differences are, nude film possesses smaller volume and thickness, and encapsulate chip then have more preferable stability and
More easily connect.
In order that the pattern launched of structured light projecting device 104 has the characteristic such as uniform, uncorrelated, it is desirable to VCSEL
The arrangement pattern of array chip be irregular pattern, i.e. light source not with regular array, but with certain irregular component
Case is arranged.In one embodiment, the overall size of VCSEL array chip is only in millimeter magnitude, such as 2mmX2mm sizes, above
Tens even up to a hundred light sources are arranged, the distance between each light source is in micron dimension, such as 30 μm.
Lens unit 203 is used to receive the light beam launched by VCSEL array light source 202, and light beam is converged, one
Plant in embodiment, by the beam collimation of the VCSEL array light source of diverging into collimated light beam, to ensure the spot energy launched more
Plus concentrate.In addition to single lens, microlens array (MLA), lenticule can also be used in another embodiment
The lenticule of each in array unit is corresponding with each light source 202, can also 202 pairs of a lenticule unit and multiple light sources
Should；It can also realize that light beam is converged using lens group in another embodiment.
Speckle patterns maker 204 is used to receiving lens light beam and outwards launched that the light beam of speckle patterns can be formed, one
Plant in embodiment, speckle patterns maker 204 is diffraction optical element (DOE), and DOE plays a part of beam splitting, such as works as light source
When 202 quantity are 100, i.e., it is that 100, DOE can be by lens light beam with a certain quantity via the light beam on lens transmission to DOE
The multiplying power of (such as 200) is expanded, and 20000 light beams are finally launched into space, ideally it will be appreciated that having 20000
Individual spot (having the overlapping situation of some spots in some cases, cause amount of speckle to reduce).In addition to DOE, also may be used
So that using other any the combination of the optical element of spot, such as MLA, grating or a variety of optical elements can be formed.
Lens unit 203 can be fabricated on same optics member in certain embodiments with speckle patterns maker 204
On part, to reach the effect for reducing volume.
Fig. 3 is the schematic diagram of the structured light projection module 104 according to further embodiment of this invention.Compared with Fig. 2, Fig. 3 will
More intuitively illustrate the principle of the present invention.Structured light projection module 104 is by VCSEL array light source 301 and diffraction optical element
304 compositions, usually, also include lens, for clarity, the lens not shown in figure, lens can be as shown in Fig. 2
It is placed between light source 301 and diffraction optical element 304, for collimated light source light beam；In addition, lens can also be placed on
Outside, the i.e. side positioned at the backlight 301 of diffraction optical element 304, now lens play projection, i.e., by DOE304 light
Beam is projected in object space.
In the present embodiment, VCSEL array light source 301 is by the way that multiple VCSEL light sources are arranged in irregular pattern
Formed in Semiconductor substrate.In addition, VCSEL array light source 301 is divided into subarray 302, another subarray 303, subarray
Between be separated in space, such as two subarrays are divided right and left in figure, and middle part shows separator bar in figure,
The separator bar is not necessarily existed in VCSEL array light source just to illustrate effect.In other embodiments, it can also gather around
Have more than the subarray of 2 quantity.Another subarray 303 possesses more, more crypto set for subarray 302
VCSEL light source, in addition, different subarrays can also in terms of wavelength, light source form, luminous power difference.
Diffraction optical element 304 is also made up of subelement 305, another subelement 306, and each subelement and subarray
Correspond, in the present embodiment subelement 305, another subelement 306 respectively with 303 pairs of subarray 302 and another subarray
Should, the light beam that corresponding subarray is launched is replicated (beam splitting) backward area of space with certain multiple respectively and projected by subelement.
One-to-one corresponding mentioned here refers to the correspondence between the light beam that subelement is launched with corresponding subarray, i.e. subelement
305 light beams that only sub-array 302 is launched are split, and the light beam that only sub-array 303 is launched of subelement 306 enters
Row beam splitting.In figure 3, similar with light source 301, subelement 305 is physically separated with another subelement 306 in left and right form,
In order to receive the light beam of subarray 302 and another subarray 303.However, it is not excluded that diffraction optical element 304 can be with
There are the physics of other forms or the arrangement mode of non-physical form.
In the alternative embodiments of the present embodiment, VCSEL array light source can have an a variety of irregular patterns arrangement combination and
Into every kind of pattern has separation between arranging；The subelement of diffraction optical element is arranged with every kind of light source and corresponded.Structure light is thrown
Covered in the view field 307 of shadow module 104 by speckle pattern 308 and another speckle pattern 309, in other words, subelement 305
Possessing intimate identical perspective view with another subelement 306 can be so that the speckle pattern projected be in view field 307
It is upper overlapping.Wherein, speckle pattern 308, another speckle pattern 309 are that subarray 302 and another subarray 303 are single via son respectively
What member 305 was formed with another subelement 306.In one embodiment, subarray 302 is irregular by 50 VCSEL light sources
Arrangement is formed, and the duplication multiple of corresponding diffraction optical element subelement 305 is 100 times, is so made up of 50 VCSEL light sources
Irregular alignment pattern be duplicated into 100 identical irregular alignment patterns, 100 irregular alignment patterns are according to spreading out
Penetrate optical element 304 performance can neighbouring or overlapping distribution to form speckle pattern 308, in principle will in speckle pattern 308
Containing 5000 speckle particles, but be not excluded for a few granules when irregular alignment pattern carries out overlapping distribution can overlap cause it is total
Number has a little reduction.Similarly, another subarray 303 is formed by 200 VCSEL light source irregular alignments, correspondence diffraction
The duplication multiple of the subelement 306 of optical element is 200 times, will be dissipated containing 40000 in the another speckle pattern 309 formed
Spot particle, being equally not excluded for a few granules when irregular alignment pattern carries out overlapping distribution can overlap and cause sum to have a little
Reduce.
If the power of VCSEL light source is identical, the multiple that diffraction optical element 304 is replicated is smaller, the speckle pattern formed
Brightness will be higher, and the duplication multiple of diffraction optical element subelement 305 is less than another subelement in the embodiment shown in Fig. 3
306 duplication multiple, therefore speckle pattern 308 will possess the brightness than another speckle pattern the last 309, in figure 3 with larger
Border circular areas represent high brightness.In a kind of preferred embodiment, the few subarray of quantity of light source is corresponding in VCSEL light source
The duplication multiple of DOE subelements is also less, can so make it that the density of speckle pattern 308 is small, brightness big, and in VCSEL light source
The density height of the speckle pattern 309 of subarray formation more than quantity of light source, brightness are small, and the reason for so handling is to work as density mistake
Gao Shi, if brightness is excessive will to influence the contrast of speckle pattern, so that influence depth computational accuracy.Further reason is can
With the matching primitives by multi-windows to improve depth calculation precision, this will be described below.In other embodiment
In, for the VCSEL light source more than quantity, it can also produce duplication times a few hours of corresponding DOE subelements that density is small, brightness is big
Speckle pattern.
In one embodiment, the luminous power of each VCSEL light source is more than in another subarray 303 respectively in subarray 302
The power of VCSEL light source, thus can also obtain high brightness speckle pattern 308 and low-light level speckle pattern 309.
VCSEL light source subarray 302, another subarray 303 individually or Synchronization Control can be beaten when subarray 302 is independent
When opening, the speckle pattern in view field 307 is as shown in Figure 4；When another subarray 303 is independent to be opened, in view field 307
Speckle pattern it is as shown in Figure 5；Mixing speckle pattern as shown in Figure 6 can be obtained when subarray 302 is synchronous with 303 to be opened
601。
From the description above, the structured light projection module 104 of the embodiment described in Fig. 3, can at least be entered with Three models
Row work, i.e., open two light source subarrays independently and simultaneously, can form high brightness but density is low, low-light level but close
Degree height and the speckle pattern of mixing.These three patterns can be respectively suitable in different applications, such as shown in Fig. 5
Speckle pattern or Fig. 6 shown in mixing speckle pattern, because its density is big, when carrying out depth calculation, can select smaller
Window 501 carry out matching primitives, so as to obtain high-precision and high-resolution depth image, but this depth calculation mode
The disadvantage is that, when carrying out matching primitives, each pixel will be by successive ignition to find best match, usually, window
The number of times of the smaller iteration of mouth is also more, and therefore, it is difficult to realize the depth image output of high frame per second；And for the speckle pattern shown in Fig. 4
For case, because particle is sparse, it is necessary to select sufficiently large window 401 just to can guarantee that the speckle sub-pattern in window possesses not phase
Guan Xing, the matching primitives now carried out are often simpler and quick, and the precision of resulting depth image is relatively low, differentiates sometimes
Rate can also decline.
Depth image is calculated
The various modes of module 104 are projected using said structure light, with reference to collection module 105, it is possible to achieve high-precision
Depth survey.It is described in detail below with reference to Fig. 7~Figure 15.
The control of a kind of structured light projection module 104 according to an embodiment of the invention and collection module 105 shown in Fig. 7
Timing diagram processed.Abscissa represents time T in figure, and K represents to gather the acquisition frame rate of module, and the frame per second can also be depth camera
Depth image output frame rate, the time required for each frame is 1/K.Such as K=30fps, then the cycle of each frame is 1/
30s.C Expo represent to gather the time for exposure of module, VCSEL1, VCSEL2 difference representative structure light projection module in ordinate
VCSEL light source subarray 302, another subarray 303 in 104, each self-corresponding lines represent each with the time control when
Sequence figure a, high position represents that camera exposure and VCSEL light source are opened, low level then represents to close.
Timing diagram according to Fig. 7, collection module 105 can all expose to gather a width figure within the cycle of every frame
Picture, the time usually exposed is less than the frame period, this be due within the cycle of every frame in addition to being exposed, in addition it is also necessary to
Schematically the time for exposure is located in the transmission of signal, figure the centre in each frame period, the time for exposure can also be located at it
His position.
Timing diagram according to Fig. 7, subarray 302 is synchronous within each frame period with another subarray 303 to be beaten
Open and (6 frame periods are only symbolically drawn in figure), therefore each frame of collection module 105 will all gather mixing as shown in Figure 6
Speckle pattern.In fact when there is object in object space, mixing speckle pattern by because object presence modulated (or
Say and be deformed), the mixing speckle pattern deformed being collected.
In the timing diagram shown in Fig. 7, subarray 302 belongs to continuous illumination with another subarray 303, but actually only
Need to open within the time for exposure of collection module 105, thus just there is another control situation, i.e. pulsed illumination.Such as Fig. 8
It is shown, the control sequential figure of another structured light projection module and collection module of the embodiment of the present invention.Within each frame period,
Subarray 302 is synchronous with 303 to send the pulse consistent with the time for exposure, when the duration of two subarray pulses should be not less than exposure
Between, different subarray pulse durations can be the same or different.Lighted in the impulsive synchronization shown in Fig. 8 under situation, collection
What each frame of module 105 was collected is also mixing speckle pattern as shown in Figure 6.
Pulsed illumination has obvious advantage compared with continuous illumination, on the one hand in the case of light source power identical, pulse
Luminous power consumption is lower；If in the case of identical power consumption, pulsed illumination can have bigger power to cause the distance of illumination
It is longer, be conducive to improving measurement accuracy and distance.In embodiment below, all it will be illustrated by taking pulsed illumination as an example, can be with
Understand, each situation is equally applicable to continuous illumination situation.
Shown in Fig. 9 is a kind of depth image obtaining step of embodiments of the invention, is deep in the case of shown in Fig. 8
Spend the obtaining step of image.It is understood that each step is all that processor 102 sends corresponding control in depth camera
Signal is direct by processor receives the program of preservation in memory come what is performed, and processor will be omitted in following elaboration
Related description.
The sparse and intensive subarray 302 and 303 in VCSEL array light source is synchronously opened in step 901, now structure light
Projection module 104 projects speckle pattern 308 and another speckle pattern 309 into view field 307.Synchronization mentioned here refers to
Subarray 302 in the time for exposure of each frame of module 105 is gathered to be opened with 303.It is understood that unfolding mode can be with
It is that pulsed illumination can also continuous illumination.
Mix the collected module 105 of speckle pattern in step 902 to gather, usually, the image collected is by target
The mixing speckle image of the modulated deformation of object.
According to the mixing speckle image collected in step 903, and carried out using the big window 401 (MxM pixels) in Fig. 6
Matching primitives, matching primitives mentioned here refer to carrying out matching meter by mixing speckle pattern and hybrid reference speckle pattern
Calculate, to obtain the rough deviation value of each pixel or partial pixel.
According to the mixing speckle image collected in step 904, the wicket 501 (NxN pixels) in Fig. 6 is further utilized
And directly using rough deviation value as matching primitives search initial value, to obtain the fine deviation of each pixel or partial pixel
Value, high accuracy depth value is gone out finally according to fine deviation value combination trigonometric calculations.The depth value of some or all pixels is
Depth image is constituted, will be illustrated for convenience with depth image below.
In the step of the above, the matching speed of step 903 is very fast, and obtained deviation value is inaccurate, and then by step
Further matching primitives are carried out in 904 and obtain high-precision deviation value, so as to obtain high accuracy depth image.This method
Calculating speed can not only be accelerated relative to directly being calculated using wicket, computational accuracy will obtain bigger guarantee, this
It is on the one hand because speckle pattern 308 ensure that the height irrelevance of big window, so that matching primitives are fast and accurately.
The rough deviation value obtained in previous step is directly based upon as initial value, matching now during further wicket matching primitives
Calculating can obtain Fast Convergent, so as to realize high precision computation.
On the other hand, if the direct intensive speckle pattern for brightness uniformity, such as another speckle pattern 309, also with
The depth calculation scheme of first big window wicket again is then difficult to.Main reason is that, when speckle particle is more close in pattern
During collection, the irrelevance of big window can be reduced, so as to cause to be difficult to reach efficiently when using big window matching primitives, easily be gone out
The problem of existing error hiding.And utilize and mix speckle pattern and can then realize that efficiently and high-acruracy survey, this is due to big in Fig. 6
High brightness speckle particle in window 401 ensure that the height irrelevance of big window.
In addition, the power consumption in order to further reduce structured light projection module 105, the invention provides another control sequential
Figure, subarray 302,303 is switched with certain frequency interval.As shown in Figure 10, it is the yet another construction of the embodiment of the present invention
Light projects the control sequential figure of module and collection module.Within first frame period of collection module 105, subarray 302 is exposing
Send pulse (can also within the cycle continuous illumination) in light time, therefore it will be as shown in Figure 4 dilute that this frame, which collects,
Dredge structured light patterns 308；Within next frame period, another subarray 303 sends pulse within the time for exposure, at this moment collects
It is close packed structure light pattern 309 as shown in Figure 5.
Under the control sequential shown in Figure 10, as shown in figure 11, Figure 11 is this to the step of depth camera obtains depth image
Another depth image obtaining step of inventive embodiments.The control to light source subarray is actually also related in step to open
Close, but this has clearly been illustrated in control sequential figure, therefore omitted for clarity here.
As shown in figure 11, it is, in the case where subarray 302 is individually luminous, a frame to be gathered using module 105 is gathered in step 1101
By the sparsity structure light pattern 308 of the modulated deformation of target object.
Matching primitives are carried out according to sparsity structure light pattern 308 and with reference to sparse speckle image in step 1102, are chosen
Subwindow MxM carries out matching search, can obtain rough pixel deviation value, can also further be gone out according to trigonometric calculations
Rough depth map picture (trigonometric calculations principle is prior art, herein without being discussed in detail).The step in due to being dilute
Dredge speckle pattern, the speckle particle shape in window is less, therefore the precision of matching primitives is relatively low, but the step for possess non-
Often high calculating speed.
In step 1103, in the case where subarray 303 is individually luminous, adjusted using one frame of collection of module 105 is gathered by target object
The close packed structure light pattern 309 for the deformation made.
In step 1104 matching primitives, choosing are carried out according to close packed structure light pattern 309 and with reference to close packed structure light pattern
Take subwindow NxN carry out matching search, and directly using the rough deviation value obtained in step 1102 as matching primitives search
Initial value, to obtain the fine deviation value of each pixel or partial pixel, finally according to fine deviation value combination trigonometry meter
Calculate high-precision fine depth value.
In embodiment according to Figure 11, what is obtained in step 1102 is rough depth map picture, in step 1104
What is obtained is fine depth image, compared with the embodiment shown in Fig. 9, under the premise of collection module frame per second identical, fine deep
The frame per second of degree image have dropped one times.
Figure 12 is the control sequential figure of the 4th kind of structured light projection module and collection module of the embodiment of the present invention.With Figure 10
Compare, sparse subarray 302 pulsed illumination (continuous illumination) within each frame period of collection module, and intensive subarray
303 are the one frame period pulsed illuminations (continuous illumination) in interval.Thus within the first frame period, collection module 105 is collected
Will be sparsity structure light pattern 308, within next frame period, module 106 collects will be sparsity structure light pattern for collection
The 308 mixed structure light patterns constituted with close packed structure light pattern 309.
Under the control sequential shown in Figure 12, as shown in figure 13, Figure 13 is this to the step of depth camera obtains depth image
Another depth image obtaining step of the embodiment of invention.
It is, in the case where subarray 302 is individually luminous, to be adjusted using one frame of collection of module 105 is gathered by target object in step 1301
The sparsity structure light pattern 308 for the deformation made.
Matching primitives are carried out according to sparsity structure light pattern 308 and with reference to sparse speckle image in step 1302, are chosen
Subwindow MxM carries out matching search, can obtain rough pixel deviation value, can also further be gone out according to trigonometric calculations
Rough depth map picture.
In step 1303, under subarray 302 and the another synchronous light-emitting of subarray 303, one is gathered using module 105 is gathered
Frame is by the mixed structure light pattern of the modulated deformation of target object.
Matching primitives are carried out according to mixed structure light pattern and with reference to mixed structure light pattern in step 1304, son is chosen
Window NxN carries out matching search, and directly that the search of the rough deviation value as the matching primitives that are obtained in step 1302 is initial
Value, to obtain the fine deviation value of each pixel or partial pixel, goes out finally according to fine deviation value combination trigonometric calculations
High-precision fine depth value.
Figure 14 is the control sequential figure of the 5th kind of structured light projection module and collection module of the embodiment of the present invention.Intensive son
The pulsed illumination (continuous illumination) within each frame period of collection module of array 303, and sparse subarray 302 is then interval one
Individual frame period pulsed illumination (continuous illumination).Thus within the first frame period, what collection module 105 was collected will be mixed structure
Light pattern, within next frame period, what collection module 106 was collected will be close packed structure light pattern 309.
Under the control sequential shown in Figure 14, as shown in figure 15, Figure 15 is this to the step of depth camera obtains depth image
4th kind of depth image obtaining step of inventive embodiments.
It is that under the synchronous light-emitting of subarray 302 and 303, a frame is gathered by target using module 105 is gathered in step 1501
The mixed structure light pattern of the modulated deformation of object.
Matching primitives are carried out according to mixed structure light pattern and with reference to mixed structure light pattern in step 1502, son is chosen
Window MxM carries out matching search, can obtain rough pixel deviation value, can also further be gone out slightly according to trigonometric calculations
Omit depth image.
In step 1503, in the case where subarray 303 is individually luminous, adjusted using one frame of collection of module 105 is gathered by target object
The close packed structure light pattern 309 for the deformation made.
Matching primitives are carried out according to close packed structure light pattern and with reference to close packed structure light pattern in step 1504, son is chosen
Window NxN carries out matching search, and directly that the search of the rough deviation value as the matching primitives that are obtained in step 1502 is initial
Value, to obtain the fine deviation value of each pixel or partial pixel, goes out finally according to fine deviation value combination trigonometric calculations
High-precision fine depth value.
In embodiment shown in Figure 10~Figure 15, adjacent two frame is respectively used to calculate rough deviation value and fine deviation
Value, constantly circulation, the frame number ratio for calculating rough deviation value and fine deviation value is 1：1.If in fact, acquisition frame rate is sufficiently high
When, the frame number of fine deviation value can be improved, such as first gathering a frame is used to calculate rough deviation value, in ensuing 2 frame very
The structured light patterns collected into more multiframe, when carrying out matching primitives with the rough deviation value as search initial value.
Figure 16 is the control sequential figure of the 6th kind of structured light projection module and collection module of the embodiment of the present invention, with the reality shown in Figure 10
Apply example to compare, the frame number ratio of rough deviation value and fine deviation value is 1：2.
Various embodiments above respectively has advantage, it is adaptable to a variety of applications.Such as to obtain high accuracy, the depth map of high frame per second
Picture, is applicable using the embodiment shown in Fig. 8 and Fig. 9.And work as less demanding to frame per second, but want to reach that low-power consumption can just take figure
Embodiment shown in 10~Figure 15, wherein when the sparse brightness with intensive subarray has big difference, utilizing mixed structure light figure
When case carries out matching primitives, the extensive part information in pattern is covered by sparse part luma, then suitably using Figure 10 and figure
Embodiment shown in 11, and when being more or less the same, using the embodiment shown in Figure 12~Figure 15.It is in fact possible to according to
Different applications can be estimated to each embodiment, to find optimum scheme.
It is noted herein that, in the embodiment described in Fig. 7~Figure 15, in order to improve the speed that rough deviation value is obtained
Degree, can be realized by reducing resolution ratio, i.e., suitably reduce resolution ratio when calculating rough deviation value/depth image.Separately
Outside, it can not be calculated at the marginal position of region 307 because window chooses larger when calculating rough deviation value and obtain deviation value.Cause
This,, can be by inserting when void value in some pixels subsequently when utilizing rough deviation value during calculating fine deviation value
Value mode is obtained, and interpolation method has a variety of, such as intermediate value, average, spline interpolation etc..
The reference configuration light pattern described in explanation is one flat board of placement on distance to a declared goal above, and by depth camera
Middle structured light projection module 104 is projected out structured light patterns, and the structured light patterns collected with collection module 105 are with reference to knot
Structure light pattern.The reference sparsity structure light pattern mentioned in text, with reference to close packed structure light pattern and refer to mixed structure light figure
Case is obtained by the method, is in the projection sparsity structure of structured light projection module 104 light pattern, close packed structure light figure
Utilized under case and mixed structure light pattern and gather what module 105 was obtained respectively.These reference configuration light patterns are typically saved
In the memory of depth camera, called when calculating by processor.
It is to be illustrated exemplified by containing two subarrays in VCSEL array light source, in other realities in above example
It can also be 3 or more than 3 to apply a neutron array number of columns, and now corresponding DOE subelements can also have multiple, and structure light is thrown
The species of the mode of operation of shadow module can be more, but can be formed by the form extension of 2 subarrays, thus all by comprising
Within the scope of the invention.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For those skilled in the art, do not taking off
On the premise of from present inventive concept, some equivalent substitutes or obvious modification can also be made, and performance or purposes are identical, all should
When being considered as belonging to protection scope of the present invention.
Claims (13)
1. a kind of depth camera based on VCSEL array light source, it is characterised in that including：
Structured light projection module, including VCSEL array light source, for the emitting structural light pattern into space；The structure light figure
Case includes sparsity structure light pattern, one kind in close packed structure light pattern or combination；
Module is gathered, for gathering the structured light patterns reflected by target；
Processor, for calculating depth image according to the structured light patterns.
2. the depth camera as claimed in claim 1 based on VCSEL array light source, it is characterised in that the processor is utilized
The structured light patterns comprising sparsity structure light pattern with first window carry out matching primitives, obtain rough deviation value and/or
Rough depth map picture；The structured light patterns comprising close packed structure light pattern are recycled to carry out matching primitives with the second window,
Obtain fine deviation value and/or fine depth image.
3. the depth camera as claimed in claim 1 based on VCSEL array light source, it is characterised in that the structured light patterns
Including the mixed structure light pattern being made up of sparsity structure light pattern and close packed structure light pattern.
4. the depth camera as claimed in claim 3 based on VCSEL array light source, it is characterised in that
The processor is using the mixed structure light pattern and carries out matching primitives with first window, obtains rough deviation value
And/or rough depth map picture；
The processor recycles the mixed structure light pattern and carries out matching primitives with the second window, obtains fine deviation value
And/or fine depth image.
5. the depth camera as claimed in claim 1 based on VCSEL array light source, it is characterised in that the structured light patterns
Including sparsity structure light pattern and close packed structure light pattern.
6. the depth camera as claimed in claim 5 based on VCSEL array light source, it is characterised in that
The processor according to the sparsity structure light pattern and carries out matching primitives with first window, obtains rough deviation value
And/or rough depth map picture；
The processor recycles the close packed structure light pattern and carries out matching primitives with the second window, obtains fine deviation value
And/or fine depth image.
7. the depth camera as claimed in claim 1 based on VCSEL array light source, it is characterised in that the structured light patterns
The mixed structure light pattern constituted including sparsity structure light pattern and by sparsity structure light pattern and close packed structure light pattern.
8. the depth camera as claimed in claim 7 based on VCSEL array light source, it is characterised in that
The processor using the sparsity structure light pattern and carries out matching primitives with first window, obtains rough deviation value
And/or rough depth map picture；
The processor recycles the mixed structure light pattern, and carries out matching primitives with the second window, is finely deviateed
Value and/or fine depth image.
9. the depth camera as claimed in claim 1 based on VCSEL array light source, it is characterised in that the structured light patterns
Including the mixed structure light pattern and close packed structure light pattern being made up of sparsity structure light pattern and close packed structure light pattern.
10. the depth camera as claimed in claim 9 based on VCSEL array light source, it is characterised in that
The processor utilizes the mixed structure light pattern, and carries out matching primitives with first window, obtains rough deviation value
And/or rough depth map picture；
The processor recycles the mixed structure light pattern of the close packed structure light pattern composition, and with the progress of the second window
With calculating, fine deviation value and/or fine depth image are obtained.
11. the depth camera as claimed in claim 1 based on VCSEL array light source, it is characterised in that the sparsity structure light
The brightness of pattern unit is more than the brightness of pattern unit in the close packed structure light pattern in pattern.
12. the depth camera based on VCSEL array light source as described in claim 2,4,6,8 or 10 are any, it is characterised in that
The first window is more than the second window.
13. the depth camera based on VCSEL array light source as described in claim 2,4,6,8 or 10 are any, it is characterised in that
The fine deviation value and fine depth image are to be entered with the second window with reference to the rough deviation value or rough depth map picture
Row matching primitives are obtained.
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| WO2018209988A1 (en) | 2018-11-22 |
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