CN107369156A - Depth data detecting system and its infrared coding projection arrangement - Google Patents
Depth data detecting system and its infrared coding projection arrangement Download PDFInfo
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- CN107369156A CN107369156A CN201710717720.3A CN201710717720A CN107369156A CN 107369156 A CN107369156 A CN 107369156A CN 201710717720 A CN201710717720 A CN 201710717720A CN 107369156 A CN107369156 A CN 107369156A
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- 238000005070 sampling Methods 0.000 claims description 25
- 239000012634 fragment Substances 0.000 claims description 15
- 230000004927 fusion Effects 0.000 claims description 11
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- 238000012545 processing Methods 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 125000004122 cyclic group Chemical group 0.000 claims description 3
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- 230000008859 change Effects 0.000 abstract description 4
- 238000003384 imaging method Methods 0.000 description 8
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/529—Depth or shape recovery from texture
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
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- Engineering & Computer Science (AREA)
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- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of infrared coding projection arrangement and the depth data detecting system including the device.Infrared coding projection arrangement includes driving structure, and infrared beam can be projected at different angles with it.Binocular depth data detection system is equipped with the variable infrared coding projection arrangement of above-mentioned crevice projection angle, and the information of the multipair image by being shot during the small window above-mentioned angle change of matching, realizes the fine depth information detection to object to be measured.
Description
Technical field
The present invention relates to three-dimensional values technical field, more particularly, to depth data detecting system and its infrared coding is thrown
Image device.
Background technology
In recent years, 3 Dimension Image Technique is flourished.At present, a kind of binocular detection scheme based on structure light can
Three-dimensional measurement is carried out to body surface in real time.Briefly, the program carries coding information to the projection of natural body surface face first
Two-dimensional laser textured pattern, such as the speckle pattern of discretization, by relatively-stationary two image collecting devices in position to laser
Texture carries out continuous acquisition, and processing unit is carried out using sampling window to the two images that two image collecting devices gather simultaneously
Sampling, the laser texture pattern of matching in sampling window is determined, according to the difference between the textured pattern of matching, calculates projection
In the depth distance of each laser texture sequence fragment in natural body surface face, one step surveying of going forward side by side draws the three-dimensional on determinand surface
Data.
In matching treatment, sampling window is bigger, and the pattern-information amount included in unitary sampling is also bigger, therefore also more holds
Easily matched, but the depth image granularity that can cause to obtain is bigger.Correspondingly, sampling window is smaller, the granularity of image
It is finer, but error hiding rate is also bigger.
With the arrival in consumer level three-dimensional camera epoch, such as how more inexpensive, higher precision and smaller volume are realized
The accurate acquisition of three-dimensional information, especially depth information, turns into problem encountered in the industry.
The content of the invention
In order to solve above-mentioned at least one problem, the present invention proposes a kind of depth data detecting system and its infrared coding
Projection arrangement.Infrared coding projection arrangement realizes the change of infrared texture crevice projection angle, depth number by introducing driving structure
The image information obtained under different crevice projection angles can be merged according to detecting system, so that while ensuring to match confidence level, with
Smaller sampling window realizes the fine match of binocular image, is achieved in more fine depth image detection.
According to an aspect of the present invention, it is proposed that a kind of infrared coding projection arrangement, including：Laser generator, it is used for
Launch infrared laser；The diffraction optical element being arranged on the emitting light path of the laser, for generating textured infrared light
Beam；For fixing the fixed structure of the laser generator and the diffraction optical element；And it is connected to the fixed structure
Drive device, for changing the exit direction of the infrared beam.
Thus, the simple additional of drive device is passed through, it becomes possible to the multi-direction outgoing of infrared beam is realized, thus to be follow-up
Data Fusion provide may.
Preferably, drive device can be voice coil loudspeaker voice coil (VCM) motor, micromechanics (MEMS) motor or miniature stepper drive
(SMD) motor, to cause the drive shaft pendulum of the laser generator and the diffraction optical element along the drive device
It is dynamic, or stirred according to the drive gear of the drive device, or moved in a manner of other are appropriate.Thus in holding meanss
While miniaturization, it is ensured that the precision of driving.
Preferably, fixed structure can be surrounded at least part of the laser generator and enable the infrared beam
The housing being enough emitted, drive motor then can correspondingly include the coil both sides of the coil and arrangement around the housing
Magnet, shooting angle is precisely controlled so as to be realized in the form of more compact.Said structure can be included in the lump to be stayed
In the shell for having the opening that the infrared beam is emitted, the projection arrangement with angulation change function is realized to facilitate
Integration.
Laser generator can be laser diode, and correspondingly, diffraction optical element, which can have, passes through optics micro Process
The surface micro-structure of technological maheup, for causing incident laser that diffraction occurs and making it be modulated into specific pro-jection rule
Discrete light spot.As replacement, laser generator can be the vertical cavity surface emitting laser for launching multiple spot laser array
(VCSEL), and diffraction optical element has and replicates the incident multiple spot laser array to obtain the table of cyclic dispersion hot spot
Face structure.
According to another aspect of the present invention, a kind of depth data detecting system is disclosed, including：As above described in any one
Infrared coding projection arrangement, there is multiple-working mode, driven under each mode of operation with the drive device different
Crevice projection angle projected to detected space with textured infrared beam, with formed in the examined object in detected space with
The infrared texture of machine distribution；Two Infrared image sensors positioned at the infrared coding projection arrangement both sides, it is described two
There is predetermined relative tertiary location relation between Infrared image sensors, it is described two infrared for each mode of operation
Optical image sensor is imaged to the detected space respectively, so as to form two infrared texture images；Processor, for obtaining not
With the two infrared texture images obtained under mode of operation using described two Infrared image sensors, according to described two red
Predetermined relative tertiary location relation between outer optical image sensor, based on same texture fragment in the infrared texture in institute
The position difference of the texture segment image accordingly formed in two infrared texture images is stated, determines institute under each mode of operation
State depth data of the infrared texture relative to described two Infrared image sensors, the depth that will be determined under multiple-working mode
Data fusion, new depth data is obtained, the ultimate depth data as examined object.
Thus, the depth data of the infrared texture in examined object determined under multiple-working mode includes to be detected
More multipoint depth information on object, therefore, it will be obtained after identified depth data under fusion multiple-working mode new
Depth data of the depth data as examined object, can more accurately reflect the depth information of examined object.
Preferably, the system can also include：Controller, respectively with infrared coding projection arrangement and two infrared light images
Sensor connects, for controlling two Infrared image sensors sync pulse jammings, and it is each in two Infrared image sensors
After exposed frame terminates, infrared coding projection arrangement is switched to subsequent work pattern.
As a result, two Infrared image sensors can collect the figure of the examined object under different working modes
Picture.
Preferably, controller can be by sending trigger signal to trigger to two Infrared image sensors in the system
Two infrared image sensors are imaged, and controller can be by sending switching signal to switch to infrared coding projection arrangement
The mode of operation of infrared coding projection arrangement, wherein, trigger signal is synchronous with switching signal.
Thus, can be two with Synchronization Control when switching the mode of operation of infrared coding projection arrangement by controller
Infrared image sensors start to capture the image of examined object again.
Preferably, it is described to determine that the infrared texture senses relative to described two infrared light images under each mode of operation
The depth data of device includes：Under each mode of operation, the sampling window of identical size is chosen to two infrared texture images
Window match is carried out, and wherein, it is described to include the depth data determined under multiple-working mode fusion：According to each work
Window match result under operation mode, it is determined that final matching result.
Thus, due to that can obtain the abundant information (compared to single-mode) under multiple-working mode, therefore can be with
Smaller sampling window realizes the matching confidence level of identical even more high, thus lifts the fine degree of the depth image of acquisition.
Preferably, the sampling window for choosing identical size carries out Window match to two infrared texture images includes：
Ask for the similarity difference of each image pixel of two infrared texture images in same sampling window；Each mode of operation
Under, each pixel similarity difference in window is summed；Similarity difference under each mode of operation is summed, to obtain
Corresponding cost values, wherein, the Window match result according under each mode of operation, it is determined that final matching result bag
Include：Cost peak values are found in each possible matched position, choose the maximum position of peak value as final matching result.By
This, can be matched by simple peak value and also realize data fusion, thus realize high accuracy depth with extremely low calculation cost
Data Detection.
The depth data detecting system of the present invention, can by being simply additional to the driving structure of infrared coding projection arrangement
Easily obtain the depth data of more opening position in examined object so that the depth data finally given can be more comprehensive
Ground reflects the depth information of examined object.
Brief description of the drawings
Disclosure illustrative embodiments are described in more detail in conjunction with the accompanying drawings, the disclosure above-mentioned and its
Its purpose, feature and advantage will be apparent, wherein, in disclosure illustrative embodiments, identical reference number
Typically represent same parts.
Figures 1 and 2 show that the perspective view of infrared coding projection arrangement according to an embodiment of the invention.
Fig. 3 A and 3B show the perspective of the infrared coding projection arrangement according to an embodiment of the invention with shell
Figure.
Fig. 4 shows the schematic block diagram of depth data detecting system according to an embodiment of the invention.
Fig. 5 shows the schematic block diagram of depth data detecting system in accordance with another embodiment of the present invention.
Fig. 6 A and 6B show prior art and the depth number obtained using the depth data detecting system of the principle of the invention
According to comparison diagram.
Embodiment
The preferred embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in accompanying drawing
Preferred embodiment, however, it is to be appreciated that may be realized in various forms the disclosure without the embodiment party that should be illustrated here
Formula is limited.On the contrary, these embodiments are provided so that the disclosure is more thorough and complete, and can be by the disclosure
Scope is intactly communicated to those skilled in the art.
Traditional image capturing method can only obtain the two-dimensional signal of object, can not obtain the spatial depth information of object,
And the method that depth survey is carried out using structure light and imaging device (for example, imaging lens) is highly effective.Counted needed for this method
Calculation amount is smaller, and precision is higher and can be used for the less place of brightness.Therefore, increasing three-dimensional measurement Scheme Choice structure
Light, especially textured infrared beam combination binocular imaging apparatus realize the measurement to target depth information.
In the depth survey scheme using infrared texture binocular imaging, two image collectors being fixed by relative position
Put and continuous acquisition, two width that processing unit is gathered simultaneously using sampling window to two image collecting devices are carried out to laser texture
Image is sampled, and determines the laser texture pattern of matching in sampling window, according to the difference between matched textured pattern,
The depth distance for each laser texture sequence fragment for being incident upon nature body surface face is calculated, one step surveying of going forward side by side draws determinand
The three-dimensional data on surface.In matching treatment, sampling window is bigger, and the pattern-information amount included in unitary sampling is also bigger, because
This is also more easily matched, but the depth image granularity that can cause to obtain is bigger.Correspondingly, sampling window is smaller, image
Granularity it is finer, but error hiding rate is also bigger.
In order to solve the contradiction between image granularity and matching rate, the present invention for an equal amount of window by providing more
More information content ensures the high matching confidence level of wicket sampling.Can be red to being projected from diverse location or different angle
Outer texture carries out repeating shooting, to repeat shooting including more multipoint depth information in examined object, then fusion
Image information asks for the depth data of examined object, the depth thus, it is possible to reproduce examined object with finer granularity
Spend (three-dimensional) image.Further, projected compared to multiple infrared units are arranged from diverse location, using single infrared
Projecting cell is projected in same position with different angle, is more conformed to the miniaturization of current depth detecting system and is needed
Ask, for example, portable set is incorporated to, such as smart mobile phone.
Thus, present invention firstly relates to it is a kind of suitable for wicket sampling, multi-angle ability can be provided it is infrared
Coding projection device.Fig. 1 shows the perspective view of projection arrangement according to an embodiment of the invention.As shown in figure 1, infrared volume
Code projection arrangement 1 can include laser generator (not shown), diffraction optical element 10, fixed structure 20 and at least partly connect
It is connected to the drive device 30 of the fixed structure.
Laser generator preferably can be laser diode, for launching infrared laser.Diffraction optical element 10 is arranged
On the emitting light path of laser, for generating textured infrared beam.Fixed structure 20 is then used for fixed laser generator
With diffraction optical element 10.
Although in the example in the figures, fixed structure is to surround the laser generator and infrared beam is emitted
Housing 20, and laser generator be enclosed in it is invisible in housing 20 but it will be understood by those skilled in the art that solid
Determining structure 20 can also be by other means so that laser generator and diffraction optical element 10 keeps being relatively fixed, as long as it is sharp
The power supply of optical generator and the outgoing of infrared beam leave opening.
Diffraction optical element 10 can be diffraction optical element surface, for example, the cover plate that can be open located immediately at housing 20
Outside.In one embodiment, laser generator can be laser diode.The single beam laser of laser diode transmitting can be with
Collimated incident diffraction optical element surface, the surface can have the micro- knot in surface being made up of optics micro-processing technology
Structure, for causing incident laser that diffraction occurs and making it be modulated into the discrete light spot with specific pro-jection rule.Thus not
The accurate control to projecting texture is realized while extra increase projection arrangement volume and design difficulty.In another embodiment
In, laser generator can be and the diffraction optics for launching the vertical cavity surface emitting laser of multiple spot laser array (VCSEL)
Element 10, which can then have, replicates the incident multiple spot laser array to obtain the surface texture of cyclic dispersion hot spot.
Collimator apparatus can also be alternatively arranged between laser generator and diffraction optical element 10, such as collimation is thoroughly
Mirror, the emergent light for collimation laser generator.Can also alternatively cloth between laser generator and diffraction optical element 10
Put direction and change structure, such as right-angle prism, for changing the direction of laser generator shoot laser, to meet specific arrangement
Need.
In the example depicted in figure 1, drive device is voice coil loudspeaker voice coil (VCM) motor 30.The voice coil motor 30 includes surrounding housing
20 coil 31, the magnet 32 of the coil both sides of arrangement and the spring 33 for promoting the housing motion.Specifically used
In, coil (for example, copper coil) 31 can be powered, and the size according to electric current in coil applies with direction to spring 33
Torque size and Orientation to housing 20 is controlled.Four flat springs 33 are shown in figure, its side is respectively connecting to two magnetic
The upper and lower side of body 32, opposite side are connected to housing.It can be powered so that magnet 32 produces thrust F (z-axis sides as shown by arrows
To), above-mentioned thrust is transmitted by spring 33 to be rotated with housing 20 around axial A (x-axis direction), is achieved in infrared beam and is existed
Angular transformation outgoing in the yz planes vertical with x-axis, such as be emitted in the range of angle of oscillation α.
The concrete operating principle of voice coil motor is well known in the art, be will not be repeated here.Although voice coil motor can be with
Extremely low power consumption and relatively easy compact structure realize the accurate control to direction of rotation, but it is poor toward renaturation, therefore
Here other micro motors well known in the art can also be used to drive the angle of infrared projection device in a manner of identical or different
Degree conversion.Drive device 30 can for example cause laser generator and diffraction optical element 10 (as a result, the laser line of outgoing
Reason) swung along the drive shaft of drive device 30, follow the stirring for drive gear of drive device and swing, or otherwise
The shooting angle of transform infrared texture.Drive device 30 can also be other micro motors, such as micromechanics (MEMS) motor,
Or miniature stepper drive (SMD, Stepping Motor Driver) motor.
According to the difference of specific implementation, the conversion of shooting angle can be continuous, such as the situation shown in Fig. 1, also may be used
Be it is fixed, such as gear driving situation.The transformation range of shooting angle also depends on the specific setting of drive device.
In the case of shown in Fig. 1, the angle of oscillation α of infrared coding projection arrangement for example can be 30 °, i.e. the swing model of each 15 ° of left and right
Enclose.
The perspective view of infrared coding projection arrangement according to an embodiment of the invention is shown above in conjunction with Fig. 1, show and
It is clear to, all kinds of modifications that the present invention discloses scope can be carried out to said structure, such as Fig. 2 is shown and dress shown in Fig. 1
Similar gray-scale map is put, difference is that Fig. 2 also includes being used for what is powered to the laser generator inside housing 20
(soft) winding displacement 40.The winding displacement, magnet and spring of one side of something are omitted in order to clearly show that, in Fig. 2.In addition, for integrality and peace
The consideration of convenience is filled, said apparatus can also include at least part for surrounding laser generator and drive device and cause
The shell 50 that infrared beam can be emitted.Fig. 3 A and 3B respectively illustrate band shell according to an embodiment of the invention and tool
There are the perspective view and sectional view of the infrared coding projection arrangement of soft arranging wire.For the purposes of clearly showing that, one side of something is omitted in Fig. 3 B
Winding displacement, magnet, spring and housing.
It can be further used for depth above in conjunction with Fig. 1-3 infrared coding projection arrangements that can convert shooting angle described
Data detection system, it can obtain the depth of more opening position in examined object by being projected to the multi-angle of infrared texture
Degrees of data, so that the depth letter of examined object can be reflected more fully hereinafter based on the depth data that the present invention obtains
Breath.
Fig. 4 shows the schematic block diagram of depth data detecting system according to an embodiment of the invention.Such as Fig. 4 institutes
Show, it is infrared that depth data detecting system of the invention includes infrared coding projection arrangement 1, the first infrared image sensor 2, second
Imaging sensor 3 and processor 4.
As described above, infrared coding projection arrangement 1 can be projected with textured red to detected space at different angles
Outer light beam, to form the infrared light texture of random distribution in the examined object in detected space.Wherein, infrared coding projects
The texture entrained by infrared beam that device 1 projects can be random speckle texture or use De Bruijn (De Bu
Shandong is because of sequence) the striped encoding texture of sequence, other shapes of texture is can also be certainly.
Infrared coding projection arrangement 1 has multiple-working mode, in the case where not planting mode of operation infrared coding projection arrangement 1 with
Different crevice projection angles is projected with textured infrared beam to detected space, to cause under different mode of operations, is tested
The textured pattern with different distributions can be formed in examined object in space, i.e., under different working modes, is incident upon and treats
Multiple texture fragments in detection object are distributed in position different in examined object.Due to the diffraction of diffraction optical element 10
Structure and the relative position between laser generator keep constant, therefore infrared coding projection arrangement 1 is in different operating mould
The texture information entrained by infrared beam projected under formula is identical.
Infrared coding projection arrangement 1 is between two infrared image sensors, for example, in two sensorses line
Point on.Between the infrared image sensor 3 of first infrared image sensor 2 and second there is predetermined relative tertiary location to close
System, for each mode of operation residing for infrared coding projection arrangement 1, the first infrared image sensor 2 and the second infrared figure
As sensor 3 can be shot to detected space, to obtain under different working modes examined object in detected space
Image.Wherein, the first infrared image sensor 2 and image acquired in the second infrared image sensor 3 are by with textured
Infrared beam projects the infrared texture image formed in examined object.Because under different working modes, infrared coding is thrown
Image device 1 projects infrared beam with different crevice projection angles so that has different distributions in the examined object in detected space
Textured pattern, therefore, under different working modes, what the first infrared image sensor 2 and the second infrared image sensor 3 obtained
The distribution of texture fragment in the infrared texture image of examined object is different.
Processor 4 is connected with the first infrared image sensor 2 and the second infrared image sensor 3 respectively, can obtain
Infrared texture image under the multiple-working mode that one infrared image sensor 2 and the shooting of the second infrared image sensor 3 obtain,
The depth data of each texture fragment in the infrared texture image under different working modes is drawn by processing.
For each mode of operation, processor 4 is according to predetermined relative between two Infrared image sensors
Spatial relation, based on same texture fragment in infrared texture in examined object in two infrared texture images it is relative
Answer the position difference of the texture segment image of ground formation, it may be determined that the depth data of the texture fragment.Thus, processor 4 can
To determine the depth data of multiple texture fragments in examined object, that is, determine the infrared texture in examined object relative to two
The depth data of individual Infrared image sensors.Thus, processor can not be planted each in examined object under mode of operation
The depth data of individual texture fragment.Because the distribution of the texture fragment under different working modes in examined object is different, therefore
Processor 4 can merge the depth data for not planting each texture fragment under mode of operation in identified examined object, will
Depth data of the depth data as examined object after fusion.
Specifically, can be obtained than single projection single shot more horn of plenty due to projecting repeatedly shooting by multi-angle
Depth information, therefore processor 4 can lift the fine degree of depth image by reducing the size of sampling window.
In the case where single projects, processor 4 needs to use the window of such as 21x21 pixels, could be with sufficiently high
Confidence level come match the first infrared image sensor 2 and the second infrared image sensor 3 and meanwhile shooting for example left and right two width figures
Pattern as in.Then, then the position difference between matched image pixel, the depth data of the texture fragment is determined.
The infrared coding projection arrangement 1 of above-mentioned convertible crevice projection angle can be used to carry out multi-angle projection.It is for example, infrared
Coding projection device 1 can corresponding to the exit facet perpendicular to the depth data detecting system and left and right respectively 15 ° of skew this
It is operated under three kinds of mode of operations of three kinds of angles.Processor can carry out continuous three times clap to same object to be detected
Take the photograph, shooting every time corresponds to an angle of infrared coding projection arrangement 1, and the six width images that this is shot to obtain three times are carried out
Fusion treatment, the fine more depth datas for handling to obtain with the two images obtained than single shot.
In one embodiment, processor 4 can using smaller sampling window (for example, 3x3 pixels) come to this three times
Shoot three pairs of obtained images to be matched three times respectively, and consider this matching result matched three times by overall, with foot
Enough high confidence levels realize more fine wicket matching.In other words, processor 4 can under each mode of operation,
The sampling window for choosing identical size carries out Window match to two infrared texture images, and according under each mode of operation
Window match result, it is determined that final matching result.Fig. 6 A and 6B respectively illustrate in the prior art using single project with
And big window matches obtained depth image and according to embodiments of the present invention using multi-angle projection and accordingly accordingly
Wicket matches to obtain the example of depth image.Visible fineness is obviously improved in figure.
In a preferred embodiment, the wicket of above-mentioned high confidence level can be realized by peak-data matching
Match somebody with somebody.Specifically, image pixel of two infrared texture images in same sampling window can be asked for (for example, by gray value table
Sign) difference, difference represents similarity.Under each mode of operation, each pixel similarity of window is summed, and to each
Similarity summation under mode of operation, can obtain a cost value.Cost peak values, peak are found in each possible matched position
The maximum position of value is believed that the match is successful.Similarity difference can be absolute difference, either squared difference or some other
Pixel similarity appraisal procedure.Thereby, it is possible to also realize data fusion by the matching of simple peak value, thus with extremely low calculating
Cost realizes high accuracy depth Data Detection.
During handling data, can using the line at the optical imagery center of two imaging sensors as
Base direction, now, under every kind of mode of operation, same texture fragment phase in two infrared texture images in examined object
The position difference for the texture segment image being correspondingly formed is on base direction.
Fig. 5 shows the schematic block diagram of depth data detecting system according to another embodiment of the present invention.Such as Fig. 5 institutes
Show, depth data detecting system of the invention in addition to entire infrastructure, can also alternatively include controller 5 in including Fig. 1.
(the first infrared light image passes controller 5 with infrared coding projection arrangement 1 and two Infrared image sensors respectively
Sensor 2, the second Infrared image sensors 3) connection, two Infrared image sensors sync pulse jammings can be controlled, and control
Device 5 processed can switch the mode of operation of infrared coding projection arrangement 1 so that two each exposed frames of Infrared image sensors
After the completion of (shooting), infrared coding projection arrangement 1 can be switched to subsequent work pattern.
Specifically, controller 5 can be by sending trigger signal to trigger two to two Infrared image sensors
Infrared image sensor synchronous imaging, and thrown by sending switching signal to infrared coding projection arrangement 1 to switch infrared coding
The mode of operation of image device 1, wherein, trigger signal can synchronously be sent with switching signal.
So, infrared coding projection arrangement 1 can be switched to next mode of operation in response to switching signal, and first is red
The triggering that the outer Infrared image sensors 3 of optical image sensor 2 and second can be sent in response to receiving controller 5 simultaneously is believed
Number, the detected space under next mode of operation is imaged.
Further, the glow frequency (pulse frequency of transmitting infrared light of the laser generator in infrared coding projection arrangement 1
Rate) can be infrared image sensor frame frequency integral multiple, be that infrared light generator and infrared image sensor are synchronous so
Work provides the foundation.Further, the glow frequency of laser generator can be arranged to a higher numerical value (such as can be big
In 100HZ), so, the light that laser generator is sent is substantially constant for imaging sensor.
Above it is described in detail by reference to accompanying drawing and dress is projected according to the variable infrared coding of the projection angle of the present invention
Put and the depth data detecting system with the use of the device.
It is described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.The selection of term used herein, purport
The principle of each embodiment, practical application or improvement to the technology in market are best being explained, or is making the art
Other those of ordinary skill are understood that each embodiment disclosed herein.
Claims (14)
1. a kind of infrared coding projection arrangement, including：
Laser generator, for launching infrared laser；
The diffraction optical element being arranged on the emitting light path of the laser, for generating textured infrared beam；
For fixing the fixed structure of the laser generator and the diffraction optical element；And
The drive device of the fixed structure is at least partly connected to, for changing the exit direction of the infrared beam.
2. infrared coding projection arrangement as claimed in claim 1, wherein, the drive device cause the laser generator and
Drive shaft of the diffraction optical element along the drive device swings or followed the drive gear of the drive device to dial
Move and swing.
3. infrared coding projection arrangement as claimed in claim 1, wherein, the drive device is voice coil loudspeaker voice coil (VCM) motor, microcomputer
Tool (MEMS) motor or miniature stepper drive (SMD) motor.
4. infrared coding projection arrangement as claimed in claim 1, wherein, the fixed structure is to surround the laser generator
At least part and housing that the infrared beam is emitted.
5. infrared coding projection arrangement as claimed in claim 4, wherein, the drive device is including surrounding the housing
Coil, the magnet for the coil both sides arranged and the voice coil motor for promoting the housing motion.
6. infrared coding projection arrangement as claimed in claim 1, in addition to：
For surrounding at least part of the laser generator and the drive device and enabling the infrared beam to be emitted
Shell.
7. infrared coding projection arrangement as claimed in claim 1, wherein, the laser generator is laser diode, and
The diffraction optical element has the surface micro-structure being made up of optics micro-processing technology, for causing incident laser to spread out
Penetrate and it is modulated into the discrete light spot with specific pro-jection rule.
8. infrared coding projection arrangement as claimed in claim 1, wherein, the laser generator is to be used to launch more dot lasers
The vertical cavity surface emitting laser (VCSEL) of array, and there is the diffraction optical element multiple spot for replicating incidence to swash
Optical arrays are to obtain the surface texture of cyclic dispersion hot spot.
9. a kind of depth data detecting system, including：
Infrared coding projection arrangement as any one of claim 1-8, there is multiple-working mode, in each work
Different crevice projection angles is driven to be projected to detected space with textured infrared beam with drive device under pattern, with tested sky
Between in examined object on formed random distribution infrared texture；
Two Infrared image sensors positioned at the infrared coding projection arrangement both sides, described two infrared light image sensings
There is predetermined relative tertiary location relation between device, for each mode of operation, described two Infrared image sensors point
It is other that the detected space is imaged, so as to form two infrared texture images；
Processor, for obtaining the two infrared lines obtained under different working modes using described two Infrared image sensors
Image is managed, according to the predetermined relative tertiary location relation between described two Infrared image sensors, based on the infrared line
The alternate position spike for the texture segment image that same texture fragment is accordingly formed in described two infrared texture images in reason
It is different, determine that the infrared texture, will relative to the depth data of described two Infrared image sensors under each mode of operation
The depth data fusion determined under multiple-working mode, obtains new depth data, the ultimate depth number as examined object
According to.
10. depth data detecting system according to claim 9, in addition to：
Controller, it is connected respectively with the infrared coding projection arrangement and described two Infrared image sensors, for controlling
Described two Infrared image sensors sync pulse jammings, and terminate in each exposed frame of described two Infrared image sensors
Afterwards, the infrared coding projection arrangement is switched to subsequent work pattern.
11. depth data detecting system according to claim 10, wherein,
The controller to described two Infrared image sensors by sending trigger signal to trigger described two infrared figures
As sensor is imaged,
The controller switches the infrared coding projection dress by sending switching signal to the infrared coding projection arrangement
The mode of operation put,
Wherein, the trigger signal is synchronous with the switching signal.
12. depth data detecting system according to claim 9, wherein,
It is described to determine that the infrared texture is relative to the depth number of described two Infrared image sensors under each mode of operation
According to including：
Under each mode of operation, the sampling window for choosing identical size carries out Window match to two infrared texture images,
And wherein,
It is described to include the depth data determined under multiple-working mode fusion：
According to the Window match result under each mode of operation, it is determined that final matching result.
13. depth data detecting system according to claim 12, wherein,
The sampling window for choosing identical size carries out Window match to two infrared texture images to be included：
Ask for the similarity difference of each image pixel of two infrared texture images in same sampling window；
Under each mode of operation, each pixel similarity difference in window is summed；
Similarity difference under each mode of operation is summed, to obtain corresponding cost values,
Wherein, the Window match result according under each mode of operation, it is determined that final matching result includes：
Cost peak values are found in each possible matched position, choose the maximum position of peak value as final matching result.
14. depth data detecting system according to claim 13, wherein, the similarity difference is image pixel gray level
Absolute difference or squared difference.
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