CN108592886A - Image capture device and image-pickup method - Google Patents
Image capture device and image-pickup method Download PDFInfo
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- CN108592886A CN108592886A CN201810403358.7A CN201810403358A CN108592886A CN 108592886 A CN108592886 A CN 108592886A CN 201810403358 A CN201810403358 A CN 201810403358A CN 108592886 A CN108592886 A CN 108592886A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
Abstract
A kind of image capture device and image-pickup method, depth information and chroma luminance information, image capture device for acquiring object include：Linear light generating unit for generating linear projection light, and is projected to subject；Imaging unit, including imaging sensor form the corresponding image of the subject for receiving the ambient light reflected from subject and linear projection light；Light path control unit, for controlling whether imaging sensor forms image；Timing control unit, the opening time for controlling light path control unit and linear light generating unit, to open light path control unit during the projection of linear projection light；Processing unit, image for receiving and processing imaging sensor generation and storage, and according to the signal of timing control unit, determine that image is First Kind Graph picture or the second class image, wherein, processing unit obtains the depth information of the subject of subject according to the second class image and First Kind Graph picture.
Description
Technical field
The present invention relates to Image Acquisition field more particularly to a kind of image capture devices and image-pickup method.
Background technology
In Image Acquisition field, the surface coloration luminance information of subject is obtained using the light of subject reflection
It has been tradition and common Image Acquisition means.Existing common taking pictures is to acquire and store the color on subject surface
Spend luminance information.
Fig. 1 show the basic principle of electronic imaging device.As shown in Figure 1, subject m reflects natural light, light
By being imaged on 30 ' surface of imaging sensor after the camera lens 10 ' of electronic imaging device 90 ', each picture of imaging sensor 30 '
Element experiences the light intensity of corresponding position, is converted into electric signal output to processing unit 40 '.In order to rationally control imaging sensor
30 ' time for exposure is usually provided with mechanically or electrically shutter 20 ', the opening and closing of shutter 20 ' on electronic imaging device 90
The break-make that the external world is sent to the light path of imaging sensor 30 ' can be controlled.
With the development of science and technology other than the chroma luminance information of acquisition body surface, the prior art can also be realized
Acquire the partial depth information of subject, the i.e. distance of some or certain points apart from camera lens.By partial depth information into
The calculating such as row splicing, obtain the three-dimensional profile information of subject.
Fig. 2 show the schematic diagram of the measurement method of partial depth information.As shown in Fig. 2, the acquisition of partial depth information
The projection lights such as laser are typically utilized, are projected on the surface of subject by triangulation.As shown in Fig. 2, where point A
Straight line represent laser plane, the distance of the plan range optical center line is d, the point A of imaging plane in this plane, warp
It crosses and is imaged as point a after camera lens on imaging plane, the distance of distance center line is x, and distance of camera lens imaging plane is f.
According to triangle geometry relationship, point A can be calculated with a distance from imaging plane using known information f, d and x
H, therefore when a part for subject is located at point A, this range Imaging plane of subject can be calculated
Distance h.After in the distance h for each the point range Imaging plane for acquiring subject, so that it may be taken with obtaining this
The three-dimensional information of object.
Currently, generally comprising monocular laser measurement using the main method of the depth information of laser measurement subject
Method, binocular laser mensuration and binocular structural light measurement method.
Monocular laser optical method is to obtain image information using an imaging sensor, and processing unit is recycled to be passed from image
Image information is obtained in sensor, and corresponding pixel point sequence after laser line imaging is detected according to the brightness of pixel, further according to
The location information of these pixels calculates the depth information of the corresponding pixel using the principle of triangulation.
Usually in actual use, laser selects infrared laser, image sensor lens to carry filter, filters visible light,
Pass through infrared light so that the image of imaging sensor, the pixel intensity in the position for having laser irradiation are significantly higher than no laser and shine
Penetrate the brightness of the pixel of position.Or in use, it is irradiated using the higher laser beam of brightness, reduces the exposure of imaging sensor
Time so that the image of imaging sensor, the pixel intensity in the position for having laser irradiation are significantly higher than no laser irradiating position
Pixel brightness.
Fig. 3 A show the schematic diagram of monocular laser measurement method.Fig. 3 B are shown measured by monocular laser measurement method
The schematic diagram of image.As shown in Figure 3A and Figure 3B, using line laser, each shot detection can obtain object table
The depth information of one line of face laser rays irradiation.Mobile object or follow shot equipment so that whole object that laser rays is inswept
Surface, you can obtain the depth information of body surface all the points, construct the three-dimensional data of body surface.
Fig. 3 C show the schematic diagram of the image measured by binocular laser measurement method.Fig. 3 D show binocular laser measurement
The schematic diagram of the left and right sensor imaging of method.On the basis of monocular laser measurement method, one group of camera lens and image are increased
Sensor.But the precision of monocular laser measurement method is relatively low, inefficiency, and binocular laser measurement method need respectively from
The corresponding position pixel in the same region is found in left images, limitation is larger, equally exists the relatively low problem of precision.
Structure light is to project textural characteristics on the surface of subject using the method for projection.The correlation of structure light
Content can refer to U.S. Patent application US8208719.Fig. 3 E show as the schematic diagram of binocular structural light measurement.Shown in Fig. 3 F
For the schematic diagram of the left and right sensor imaging of binocular structural light measurement.Binocular structural light measurement is the method using laser projection,
Textural characteristics are projected on the surface of subject, and need to use two image sensings in binocular structural light measurement method
Device, from different perspectives acquisition project the light on subject surface.The laser of laser transmitting is generated by camera lens and is tied
Structure light is irradiated to subject, recycles imaging sensor A and imaging sensor C acquisitions back to camera lens A's and camera lens C
Light, it is, for example, shown in Fig. 3 F to distinguish the image collected information by imaging sensor A and imaging sensor C.These images are believed
Breath is admitted to the correspondence and identification of processing unit two groups of image datas of progress, each point is calculated hence into processing unit
Depth information further calculates out the three-dimensional information of object being measured.
In addition, there is also monocular structural light measurement methods corresponding with binocular structural light measurement method.Monocular structure flash ranging
Amount method and the difference of general laser measurement method are that laser is replaced with structure light.With the difference of binocular structural light measurement method
It is that binocular structured light technique acquires reflective information from the different location of left and right two, two images is formed, from same texture two
Position offset in width image calculates depth information；And monocular structured light technique then only acquires a sub-picture, according to structure light
The texture coding information of feature identifies each local grain, and according to its image space, calculates depth information.
Since above structure light technology needs the coding information according to structure light itself, each local grain is identified, so
The texture structure design requirement of the structure light used is higher.
With the appearance for the demand for obtaining depth information and chroma luminance information simultaneously, how more and more people leads to if exploring
It crosses a set of equipment while the depth information and chroma luminance information of object can be obtained.Industry mostly uses above-mentioned double at present at present
The scheme of mesh structural light measurement depth information adds common chroma luminance information measurement scheme.That is, as shown in Figure 3 G, aforementioned
On the basis of the scheme of binocular structural light measurement depth information, increase the RGB sensors of an acquisition chroma luminance information.Image
Sensors A and imaging sensor C are for acquiring infrared spectrum, and imaging sensor B is for acquiring subject m reflection natural lights
RGB information afterwards.Processing unit obtains depth information from binocular structure optical oomputing, and chroma luminance information is obtained from RGB sensors,
After calibration, contraposition, the chroma luminance information and three-dimensional information of each pixel are associated, object corresponding three is obtained
Tie up information and surface color information.
Same way, it is also possible to which the scheme using monocular structure light above-mentioned adds chroma luminance image sensor package.I.e. such as
Shown in Fig. 3 I and Fig. 3 J, on the basis of monocular structure light, increase the RGB sensors of an acquisition chroma luminance information, processing
Unit obtains depth information from monocular structure optical oomputing, and chroma luminance information is obtained from RGB sensors, using calibration, contraposition
Afterwards, the chroma luminance information and three-dimensional information of each pixel are associated, obtains the corresponding three-dimensional information of object and surface face
Color information.
But complicated with equipment using the scheme and monocular structure light of binocular structure light and RGB and the scheme of RGB,
The of high cost, accuracy of manufacture requires the high, chrominance information of object and depth information to be acquired respectively by different sensors and camera lens, needs
To pass through a large amount of mapping association relationships that calculates and just can determine that between chrominance information and depth information.
Invention content
There are different problems in view of existing measurement method, in order to solve the problems existing in the prior art, the present invention is real
It applies example and proposes a kind of image capture device and image-pickup method.The present invention proposes a kind of can acquire detected object simultaneously
Three-dimensional profile information and surface coloration/luminance information harvester, can be used to rebuild detected object threedimensional model and
Its surface texture has simple in structure, precision height, advantage at low cost compared to a variety of traditional technical solutions.
To solve the above problems, the embodiment of the present invention proposes a kind of image capture device, the depth for acquiring object is believed
Breath and chroma luminance information, described image collecting device include：
Projection light generating unit for generating projection light, and is projected to subject；
Imaging unit, including imaging sensor form the subject for receiving the light reflected from subject
The corresponding image of body；
Light path control unit, for controlling whether described image sensor forms image；
Timing control unit, signal is connected to the light path control unit and/or the projection light generating unit, for controlling
The opening time for making the light path control unit and/or the projection light generating unit, to be opened during the projection of projection light
The light path control unit；
Processing unit, signal is connected to the timing control unit and described image sensor, for receiving and processing
The image of imaging sensor generation and storage are stated, and according to the signal of the timing control unit, determines that described image is first
Class image or the second class image, the First Kind Graph picture are the first kind light that described image sensor receives subject reflection
The image that line is formed, the second class image are that the second lightlike line of described image sensor reception subject reflection is formed
Image；Second lightlike line includes first lightlike line and the projection light；
Wherein, the processing unit obtains the subject of the subject from the First Kind Graph picture
Chroma luminance information, and obtain according to the second class image and First Kind Graph picture the subject of the subject
Partial depth information.
To solve the above problems, the embodiment of the present invention proposes a kind of image capture device, the depth for acquiring object is believed
Breath and chroma luminance information, described image collecting device include：
Projection light generating unit for generating projection light, and is projected to subject；
Imaging unit, including imaging sensor form the subject for receiving the light reflected from subject
The corresponding image of body；
Light path control unit, for controlling whether described image sensor forms image；
Timing control unit, signal is connected to the light path control unit and/or the projection light generating unit, for controlling
The opening time for making the light path control unit and/or the projection light generating unit, to be opened during the projection of projection light
The light path control unit；
Processing unit, signal is connected to the timing control unit and described image sensor, for receiving and processing
The image of imaging sensor generation and storage are stated, and according to the signal of the timing control unit, determines that described image is first
Class image or the second class image, the First Kind Graph picture are the first kind light that described image sensor receives subject reflection
The image that line is formed, the second class image are that the first lightlike line of described image sensor reception subject reflection is formed
Image；Second lightlike line includes first lightlike line and the projection light；
Wherein, the processing unit obtains the subject of the subject from the First Kind Graph picture
Chroma luminance information, and the partial depth information of the subject according to the second class image acquisition subject,
The brightness of the wherein described projection light is the 2 times or more of the brightness of the ambient light.
To solve the above problems, the embodiment of the present invention proposes a kind of image capture device, the part for acquiring object is deep
Degree information and chroma luminance information, described image collecting device include：
More than two projection light generating units, for generating projection light respectively, and are projected to subject；
Imaging unit, including imaging sensor form the subject for receiving the light reflected from subject
The corresponding image of body；
Light path control unit, for controlling whether described image sensor forms image；
Timing control unit, signal is connected to the light path control unit and/or the projection light generating unit, for controlling
The opening time for making the light path control unit and the projection light generating unit, described in being opened during the projection of projection light
Light path control unit；
Processing unit, signal is connected to the timing control unit and described image sensor, for receiving and processing
The image of imaging sensor generation and storage are stated, and according to the signal of the timing control unit, determines that described image is first
Class image or the second class image, the First Kind Graph picture are the first kind light that described image sensor receives subject reflection
The image that line is formed, the second class image are that the first lightlike line of described image sensor reception subject reflection is formed
Image；Second lightlike line includes first lightlike line and the projection light；
Wherein, the processing unit obtains the chroma luminance information of the subject from the First Kind Graph picture,
And the partial depth information of the subject of subject is obtained according to the second class image and First Kind Graph picture.
To solve the above problems, the embodiment of the present invention proposes a kind of image-pickup method, including：
In first time period, First Kind Graph picture is acquired, the First Kind Graph picture is that imaging sensor receives subject
Reflect the image of the first lightlike line formation；
In second time period, projection light generating unit is opened, and acquire the second class image, the second class image is image
Sensor receives subject and reflects the image that the second lightlike line is formed；
According to the difference between First Kind Graph picture and the second class image, the partial-depth letter of the subject is calculated
Breath；
By the partial depth information and the chroma luminance information association by being acquired in the First Kind Graph picture；
Wherein described second lightlike line includes the first lightlike line and the projection light that is generated by projection light generation unit.
Image capture device is adopted in conclusion proposed by the present invention and image-pickup method solves existing technical solution and deposits
The problem of, there is simple system, at low cost, the accuracy of manufacture requires low advantage.The simple opticals such as line laser can be used in the present invention
Source, without designing complicated structure light.The present invention program is not easy by ambient light interference, the projection sources such as infrared, visible light wave range
All it can be used.In addition, chrominance information and depth information that the present invention acquires, have natural incidence relation, without by a large amount of
Calculate fusion coloration and depth information.
Description of the drawings
Fig. 1 show the basic principle schematic of electronic imaging device.
Fig. 2 show the schematic diagram of the measurement method of depth information.
Fig. 3 A show the schematic diagram of monocular laser measurement method.
Fig. 3 B show the schematic diagram of the image measured by monocular laser measurement method.
Fig. 3 C show the schematic diagram of the image measured by binocular laser measurement method.
Fig. 3 D show the schematic diagram of the left and right sensor imaging of binocular laser measurement method.
Fig. 3 E show as the schematic diagram of binocular structural light measurement.
Fig. 3 F show the schematic diagram of the left and right sensor imaging of binocular structural light measurement.
Fig. 3 G show the schematic diagram of binocular structural light measurement and the combined measurement system of ambient light shooting.
Fig. 3 H show the schematic diagram of the image obtained using the measuring system shooting of Fig. 3 G.
Fig. 3 I show the schematic diagram of monocular structural light measurement and the combined measurement system of ambient light shooting.
Fig. 3 J show the schematic diagram of the image obtained using the measuring system shooting of Fig. 3 I.
Fig. 4 show the schematic diagram of the image capture device of one embodiment of the invention.
Fig. 5 and Fig. 6 show the schematic diagram using the image capture device the image collected.
Fig. 7 show the schematic diagram for carrying out surrounding shooting using image capture device.
Fig. 8 and Fig. 9 is shown captured by the linear projection light using general brightness and the linear projection light using high brightness
To the schematic diagram of image.
Figure 10 is the schematic diagram using the image capture device of two groups of imaging units.
Specific implementation mode
Below by way of multiple embodiments, image capture device proposed by the present invention and method are illustrated.
First embodiment
The embodiment of the present invention proposes a kind of image capture device of three-dimensional information and chroma luminance.Fig. 4 show the image
The schematic diagram of collecting device.As shown in figure 4, the image capture device includes：Projection light generating unit 10, imaging unit 20, light
Road control unit 30, timing control unit 40 and processing unit 50.Wherein, imaging unit can with noncontinuity be received and is taken
The image of the summation of ambient light and projection light that object 100 reflects, the image of the only reflection environment light received with before or after
Comparison, the partial depth information of the subject is determined by difference.It illustrates in detail below.
In the present embodiment, the projection light light generating unit 10 of projection light is generated for example including projection source 11 and projection lens
First 12.Projection source 11 is for generating projection light；Projection lens 12 is used to the projection light that projection source 11 is sent out being converted into letter
List, well-regulated figure.
From the point of view of the shape of projection light, projection light is, for example, linear projection light or other shapes, such as dotted, wedge-shaped,
The light of the other shapes such as rectangle, trapezoidal.The shape of light can be determined by projection lens 12, belong to skill known in the industry
Art, details are not described herein.From the point of view of the attribute of projection light, projection light is, for example, laser, infrared light, ultraviolet light, blue light, structure light
Deng.
In one embodiment, described " linear " projection light refers to that length-width ratio is more than certain proportion --- such as 200：1
Projection light.It, can be easily with the projection photogenerated linear light that projection source 11 is sent out in the way of existing diffraction etc..
Linear projection light is not limited to one, can be it is a plurality of, these linear projection light can be formed parallel lines,
The various figures such as crosswise, latticed, radial, are projeced on subject 100.
In addition, including multiple projection sources 11 and in the case of multiple projection lens 12, linear projection light can be same
The light of one wavelength, light of different wave length etc..Such as a plurality of linear projection light can be multiple projection sources 11 and projecting mirror
First 12 send out infrared light, ultraviolet light, blue light, structure light etc., be not limited herein.
For example, the projection light that same projection light generating unit can be simultaneously emitted by three kinds of different wave lengths is (such as feux rouges, green
Light, blue light), this three is projected to respectively on subject 100, and the light that the pip of the object 100 is reflected is returned into
As unit, the reflected light of three kinds of different wave lengths can be acquired respectively by imaging unit, it is possible thereby to be acquired after primary projection
The different image of three width, carries out subsequent calculating, can improve the efficiency of acquisition and the precision of calculation processing.
In addition, above-mentioned structure light is content well known in the art, structure light is using the method for projection, in subject
The surface of body projects textural characteristics.The related content of structure light can refer to U.S. Patent application US8208719.Belong in the industry
Known technology, details are not described herein.
Imaging unit 20 is for example including imaging lens 21 and imaging sensor 22.Imaging lens 21 are used for subject
The ambient light and projection light of 100 surface reflections are by optical imagery in 22 image forming surface of imaging sensor.Imaging sensor
The image on surface is converted into digital electric signal by 22, forms digital picture.Imaging unit 20 can be one or more groups of, such as scheme
10 show the image capture device for including two groups of imaging units 20, and the effect of Image Acquisition can be improved using two groups of imaging units
Rate.
Light path control unit 30 is projected to the light of imaging sensor 22 for controlling the imaging lens 21 of imaging unit 20
Path opens or closes.Light path control unit 30 can be shutter, such as can be the mechanical shutter of entity, can also be integrated
Electronic shutter on imaging sensor 22, the present invention are not specially limited.Light path control unit 30 can also be provided in throwing
Penetrate the optical filter on light path or imaging optical path.When on imaging optical path, such as imaging lens 21 and imaging sensor
When between 22, when optical filter comes into force, projection light is filtered out, and projection light part can not be imaged；When optical filtering failure, light projection unit is divided into
Picture.Similarly, this optical filter can also be mounted on projecting light path, as between figure projection source 11 and projection lens 12, be used
In synchronously control projection source and imaging sensor.
The projection source 11 is controllable, is connected with timing control unit 40, and the control of timing control unit 40 is can receive
Signal is turned on and off according to control instruction；Light path control unit 30 is connected with timing control unit 40, receives timing control list
The control of member 40.
In one embodiment, 40 synchronous signal of timing control unit is connected to light path control unit 30 and occurs at projection light
Unit 10, for synchronously control linear light generating unit 10 and light path control unit 30 so that each Image Acquisition can be with
Alternately generate First Kind Graph picture and the second class image.
Above-mentioned " synchronously controlling projection light generating unit 10 and light path control unit 30 ", and it is single so that projection light occurs
Member 10 with light path control unit 30 " simultaneously " be turned on and off it is synchronous；And refer to that the second class image is being acquired by timing control
During linear light generating unit 10 projection source 11 open time in keep linear projection light can reflex to image
Sensor 22, i.e. light path control unit 30 are opened, the conducting light paths between imaging lens 21 and imaging sensor 22, or are clapped
Take the photograph conducting light paths between object 100 and imaging sensor 22, linear projection light being capable of normal propagation.Also, timing control list
During member 40 also ensures first kind Image Acquisition, linear light generating unit 10 is closed always, the linear projection light of no projection
Reflex to imaging sensor 22.
In another embodiment, timing control unit 40 can be only to light path control unit 30 or projection light generating unit
10 one of which are controlled, and can equally realize the solution of the present invention, detailed description below.
For example, timing control unit 40 only controls light path control unit Unit 30.It projects in this latter case
Light generating unit 10 can be continuously sent out over projection light, within the period for sending out projection light, can pass through timing control unit
40 control light path control units 30 are intermittently opened during projection light is sent out, and are enabled imaging sensor 22 collect and are taken
The projection light and ambient light of object reflection, and during light path control unit 30 is closed to filter out projection light, imaging sensor
22 can only collect the ambient light of subject reflection.
For another example timing control unit 40 only controls projection light generating unit 10 so that projection light generating unit
Projection light is intermittently sent out, within the period for sending out projection light, imaging sensor 22 is enabled to collect subject reflection
Projection light and ambient light, and do not sending out in the period of projection light, enabling imaging sensor 22 collect subject anti-
The ambient light penetrated.
It is worth noting that, above-mentioned " ambient light " refers to the light under the shooting conditions such as natural light or Routine Test Lab
Line.Refer only to the light under normal photographing state herein, to " projection light " relatively as directed.It is believed that in the present invention,
When imaging sensor 22 receives the projection light of subject reflection, the image received is the second lightlike line, is being received
When to projection light not comprising reflection, the image received is the first lightlike line, and second lightlike line is by the first kind light
Line increase the shape of projection light at.
Processing unit 50 is used to receive the digital picture of the formation of imaging sensor 22 and storage, and according to timing control unit
40 signal determines that such image is First Kind Graph picture or the second class image.The First Kind Graph picture is described image sensor
The image that the first lightlike line of subject reflection is formed is received, the second class image is that described image sensor receives quilt
Shoot the image that the second lightlike line of object reflection is formed；Second lightlike line increases the projection by first lightlike line
Light is formed；Second lightlike line may include projection light and ambient light in one embodiment, and the first lightlike line in one embodiment may be used
To include ambient light.
Processing unit 50 is additionally operable to extract subject from First Kind Graph picture or in the first kind and the second class image
The chroma luminance information on surface.
Processing unit 50 is also sequentially adjacent or similar or as the first kind continuous in time by the reduced time
The difference of image and the second class image, identification the shape of projection light at pattern, and count subject part calculate depth information.This
In " part " refer to the part of subject that projection light is projected to, i.e., receiving on subject and reflecting projection light
Part.Such as when projection light is linear light, which is projected on subject, illuminates a certain line of projection object
Property region, then this region is above-mentioned " part " of subject.
Above-mentioned Time Continuous includes the front and back First Kind Graph picture and the second class image shot.Such as shoot every second
Picture is 24 frames, then situation continuous in time or adjacent include 1/24 second beats first frame, 2/24 second beats taken the photograph take the photograph the second frame,
The 4th frame such case that third frame that 3/24 second beats is taken the photograph, 4/24 second beats are taken the photograph.Similarly, further include 1/24 second beats take the photograph first
The case where four frame that frame, 4/24 second beats are taken the photograph, even if that is, intermediate skip several frames, as long as the image of acquisition is that have rule on the time
Rule, also belong to the scope of the present invention.
In an alternative embodiment, the image capture device can also include movement and Attitude estimation unit 60, movement and
Attitude estimation unit 60 obtains image sequence from processing unit 50, passes through the difference between reduced time upper adjacent or similar image
Different, whether identification image has a variations such as translation, scaling, rotation, and detect and calculate according to this filming apparatus and subject it
Between the postures such as relative bearing, angle variation, current shooting posture and movement tendency are estimated；Movement and Attitude estimation list
The posture information for calculating gained is transmitted to processing unit 50 by member 60；
Accordingly, angle, direction when processing unit 50 is additionally operable to receive the shooting that movement is transmitted with Attitude estimation unit 60
Equal posture informations.Thereafter, processing unit 50 is by chroma luminance information, partial depth information, the posture on subject surface
Information association；Processing unit 50 is to same subject 100, the chroma luminance information that shoots from different perspectives, part
Depth information, posture information merged, Optimization Solution, obtains the complete three-dimensional information of body surface and its associated coloration is bright
Spend information.The mode that depth information is calculated according to the image information obtained has been introduced in background technology part, herein no longer
It repeats.
Timing control unit 40, movement can be mutually independent with processing unit 50 with Attitude estimation unit 60, also may be used
To be integrated, it is located at same circuit board, or in same component.The present invention is not specially limited.
Fig. 5 and Fig. 6 show collected First Kind Graph picture and the second class image schematic diagram.According to the side of the present invention
Case is acquired, and can obtain the image sequence that a serial First Kind Graph picture and the second class image interlock.Described herein
Staggeredly, it can be interlock one by one (such as Fig. 5), can also be to be alternately arranged (such as Fig. 6) by other rules.According to the image sequence,
Processing unit can obtain laser projection imaging by comparing the difference between adjacent First Kind Graph picture and the second class image
Location information can calculate the partial depth information of the pixel of laser projection position further according to triangulation.
Lasting shooting and mobile object or follow shot equipment so that the surface of inswept whole object, you can obtain object
The depth information of surface all the points constructs the three-dimensional data of body surface.As shown in Figure 7.In one embodiment, projection light is
Linear light, the surface of the linear light is from top to bottom inswept subject, or by a left side and rightlyly inswept subject
Surface can utilize the difference of the First Kind Graph picture and the second class image that shoot each time, acquisition to be projected on object in the later stage
That a part of corresponding depth information for being projected linear light, be as projected the partial depth information of object.
In an alternative embodiment, image capture device of the invention can also include internal attitude transducer 80, posture
Sensor is usually a kind of or several combination such as accelerometer, gyroscope, magnetometer；Attitude transducer 80 and movement and appearance
State estimation unit 60 is connected, movement and Attitude estimation unit combination attitude transducer information, can be more accurately to current pose
It is estimated.
Optionally, apparatus of the present invention can be connected with external sensor 70, for example, apparatus of the present invention are securable to circular rail
Road is shot around subject, and track can provide alignment sensor, is clapped for more accurately determining the opposite of each moment
Take the photograph orientation.The result that external sensor 70 is sensed is obtained by processing unit 50, for being clapped according to the determination of opposite shooting orientation
The current posture etc. of object 100 is taken the photograph, for more accurately estimating current pose.
In image processing equipment proposed by the present invention because the chroma luminance information of subject and utilize projection light
It is, therefore the coloration of pixel collected by same optical path by the same imaging sensor to project obtained partial depth information
Information and partial depth information have natural relevance, without carrying out Corresponding matching again as the prior art.Usually figure
As acquisition rate can reach tens per second to frames up to a hundred, between the adjacent image acquired twice, object movement changes very little, and
This movement can be calculated according to image sequence, therefore relatively low to the required precision of equipment production, without carrying out school
The processes such as fiducial mark is fixed.The precision of acquisition is improved while saving cost.
Second embodiment
Second embodiment of the invention proposes a kind of image capture device, the depth information for acquiring object and chroma luminance
Information, described image collecting device include：
Projection light generating unit for generating projection light, and is projected to subject；
Imaging unit, including imaging sensor form the subject for receiving the light reflected from subject
The corresponding image of body；
Light path control unit, for controlling whether described image sensor forms image；
Timing control unit, signal is connected to the light path control unit and/or the projection light generating unit, for controlling
The opening time for making the light path control unit and/or the projection light generating unit, to be opened during the projection of projection light
The light path control unit；
Processing unit, signal is connected to the timing control unit and described image sensor, for receiving and processing
The image of imaging sensor generation and storage are stated, and according to the signal of the timing control unit, determines that described image is first
Class image or the second class image, the First Kind Graph picture are the first kind light that described image sensor receives subject reflection
The image that line is formed, the second class image are that the first lightlike line of described image sensor reception subject reflection is formed
Image；Second lightlike line includes first lightlike line and the projection light；
Wherein, the processing unit obtains the chroma luminance information of the subject from the First Kind Graph picture,
And the partial depth information of subject is obtained according to the second class image, wherein the brightness of the projection light is the ring
The 2 times or more of the brightness of border light.
Above-mentioned image capture device is similar with the image capture device of first embodiment, the present embodiment only to difference into
Row explanation, related content this can refer to first embodiment.
In one embodiment, the projection light hair is one or more linear projection light.
In one embodiment, the processing unit reduced time upper continuous or adjacent First Kind Graph picture and the second class image
Between difference, the partial depth information of the subject is calculated according to triangulation.
In one embodiment, the linear projection light is a plurality of, and a plurality of linear projection light has identical or different
Wavelength.
In one embodiment, chroma luminance information drawn game of the processing unit also according to the subject of multi collect
Portion's depth information calculates the three-dimensional information and chroma luminance information for obtaining subject surface.In this embodiment, with it is preceding
It states in the same manner, processing unit is spliced to form subject in the way of splicing using the partial depth information of multi collect
The three-dimensional information and chroma luminance information on surface.
In one embodiment, described image collecting device further includes：
Movement and Attitude estimation unit, for providing athletic posture information to processing unit；
The processing unit is according to the athletic posture information, and the repeatedly chroma luminance information of shooting acquisition and part
Depth information calculates the three-dimensional information for obtaining the subject surface and its associated chroma luminance information.
In one embodiment, the projection light is laser, can also be infrared light, ultraviolet light, blue light one of which.
In the present embodiment, projection light is by comparing two width adjacent images to identify, therefore is reflected by object itself
Ambient light influence very little, the projected light of various wavelength can be used to do light source.As special case, in the scene of part, can be used
The higher projection source of brightness is projected so that the projection luminous intensity of object reflection is strong much larger than the ambient light of object reflection
Degree, in this case, even if can recognize that reflecting linear projection light imaging if comparison without adjacent image.Fig. 8 and
Fig. 9 is shown captured by the image captured by the linear projection light using normal brightness and the linear projection light using high intensity
Image.Such as the displays that compare of Fig. 8 and 9, due to projection light intensity much larger than reflection ambient light intensity, it is possible to be easy
Identify image formed by reflecting linear projection light in ground.In one embodiment, the brightness of linear projection light is the ambient light
2 times, 10 times, 20 times, 50 times or more etc. of brightness.
3rd embodiment
Third embodiment of the invention proposes a kind of image capture device, the depth information for acquiring object and chroma luminance
Information, described image collecting device include：
More than two projection light generating units, for generating projection light respectively, and are projected to subject；
Imaging unit, including imaging sensor form the subject for receiving the light reflected from subject
The corresponding image of body；
Light path control unit, for controlling whether described image sensor forms image；
Timing control unit, signal is connected to the light path control unit and/or the projection light generating unit, for controlling
The opening time for making the light path control unit and the projection light generating unit, described in being opened during the projection of projection light
Light path control unit；
Processing unit, signal is connected to the timing control unit and described image sensor, for receiving and processing
The image of imaging sensor generation and storage are stated, and according to the signal of the timing control unit, determines that described image is first
Class image or the second class image, the First Kind Graph picture are the first kind light that described image sensor receives subject reflection
The image that line is formed, the second class image are that the first lightlike line of described image sensor reception subject reflection is formed
Image；Second lightlike line includes first lightlike line and the projection light；
Wherein, the processing unit obtains the chroma luminance information of the subject from the First Kind Graph picture,
And the partial depth information of the subject of subject is obtained according to the second class image and First Kind Graph picture.
3rd embodiment is similar with first or second embodiment, is only illustrated herein with regard to difference.
In the present embodiment, projection light generating unit be two or more, and one of them or more than one do not limit
To send out linear projection light.In one embodiment, projection light generating unit is two, is respectively used to generate linear projection light and knot
Structure light.Imaging unit can be to receive First Kind Graph picture that ambient light formed, receive ambient light and linear respectively at three classes image
The third class image that the second class image, reception ambient light and the structure light that projection light generates generate.Processing unit receives two respectively
A projection light generating unit is incident upon the reflection light that the pip of subject generates, according to generated three classes image,
Determine the partial depth information of subject.
Above-mentioned two projection light generating unit can be simultaneously closed off first, generate First Kind Graph picture by imaging unit, then in turn
It opens, the second class image and third class image is generated by imaging unit, do not limited herein.
In another embodiment, projection light generating unit can project the light of different wave length, such as project respectively infrared
Light, purple light, blue light etc..Processing unit is handled for different light, can calculate the partial-depth of subject
Information.
In one embodiment, the projection light generating unit is two, is respectively used to generate linear projection light and structure light.
In one embodiment, the projection light generating unit is two, and described two projection light generating units are for generating
The linear projection light of different wave length.
In one embodiment, the projection light generating unit is simultaneously or alternately opened.
In one embodiment, the second class image includes the first subclass image and the second subclass image, first son
Class image receives one of projection light generating unit by described image sensor and sends out to the projection light of subject and ring
The reflection photogenerated of border light；The second subclass image receives other in which projection light generating unit by described image sensor
Send out the reflection photogenerated to the projection light of subject and ambient light.
In the present embodiment, projection light generating unit includes two or more, and for example one of projection light occurs single
Member is for projecting infrared light, another projection light generating unit is for projecting ultraviolet light.Then, imaging sensor could be provided as elder generation
Three kinds of reflected lights are received afterwards：First lightlike line for no infrared light and ultraviolet light reflection light (such as only ambient light), second
Lightlike line is the light (such as having ambient light and infrared light) for having infrared light reflection, and third lightlike line is the light for having ultraviolet light reflection
Line (such as having ambient light and ultraviolet light), these three light generate image in the image sensor respectively, and First Kind Graph picture is anti-
The image of ambient light is penetrated, the first subclass image of the second class image is the image of reflection environment light and infrared light；Second class image
The second subclass image be reflection environment light and ultraviolet light image.Pass through the difference of the second class image and First Kind Graph picture after imaging
Different (including the first subclass image and the second subclass image are respectively at difference of First Kind Graph picture), which calculates, obtains partial depth information.
The triangulation algorithm that partial depth information is obtained by image information has been described in the background technology,
This is repeated no more.
In this embodiment it is possible to disposably acquire by the pictorial informations of a variety of projection photogenerateds, using multi-pronged
Mode improves the efficiency for the 3 D surface shape for obtaining partial depth information and testee.
Fourth embodiment
Fourth embodiment of the invention proposes a kind of image-pickup method, includes the following steps：
S401 acquires First Kind Graph picture in first time period, and the First Kind Graph picture is that imaging sensor reception is taken
Object reflects the image that the first lightlike line is formed；
In this step, the imaging sensor 22 included by the imaging unit 20 of previous embodiment can acquire the first kind
Image, First Kind Graph picture are, for example, the ambient light shape that imaging sensor 22 receives the subject reflection of subject 100
At image.
S402 opens projection light generating unit, and acquire the second class image, the second class image in second time period
Subject, which is received, for imaging sensor reflects the image that the second lightlike line is formed；
In this step, second time period is, for example, continuous in time or adjacent with first time period, including
At the time of being spaced adjacent, projection light generating unit is opened at the moment, acquires the second class image.The projection light is, for example, linear sharp
Light, therefore the second class image is the image that imaging sensor receives the projection light of subject reflection and ambient light is formed.By
It is above-mentioned it is recognized that while ambient light can be a variety of different light or photo environment, but second lightlike line wraps always
The projection light for including the first lightlike line and being generated by projection light generation unit.
S403, according to the difference between First Kind Graph picture and the second class image, the part for calculating the subject is deep
Spend information；
In this step, processing unit 50 above-mentioned utilizes the difference of the first kind and the second class image, such as passes through phase
The method subtracted can obtain differential image information, can according to triangle calculating method above-mentioned using this differential image information
Partial depth information is obtained to obtain the subject.
S404, by the partial depth information and the chroma luminance information association by being acquired in the First Kind Graph picture；
In this step, processing unit 50 above-mentioned can will calculate the partial depth information obtained and believe with chroma luminance
Breath corresponds to.
The details for the method that the embodiment proposes and the image collecting device of previous embodiment are same or similar, herein no longer
It repeats.
In one embodiment, the projection light is linear light.
In one embodiment, the projection light is a variety of, including linear light, structure light etc..
In one embodiment, the projection light is a plurality of linear light with identical or different wavelength.
In one embodiment, the method further includes：
S405 obtains the partial depth information and chroma luminance information of the subject that multiple shooting, collecting arrives, calculates
The three-dimensional information on the subject surface and its associated chroma luminance information.
In this step, the partial-depth for the subject that processing unit 50 above-mentioned is arrived according to multiple shooting, collecting
Information and chroma luminance information obtain the whole three-dimensional information of subject, and corresponding with associated chroma luminance information.
In image processing method proposed by the present invention because the chroma luminance information of subject and utilize projection light
It is, therefore the coloration of pixel collected by same optical path by the same imaging sensor to project obtained partial depth information
Information and partial depth information have natural relevance, without carrying out Corresponding matching again as the prior art.Usually figure
As acquisition rate can reach tens per second to frames up to a hundred, between the adjacent image acquired twice, object movement changes very little, and
This movement can be calculated according to image sequence, therefore relatively low to the required precision of equipment production, without carrying out school
The processes such as fiducial mark is fixed.The precision of acquisition is improved while saving cost.
Above to a kind of image capture device provided herein and method, it is described in detail, it is used herein
The principle and implementation of this application are described for specific case, and the explanation of above example is only intended to help to understand
The present processes and its core concept；Meanwhile for those of ordinary skill in the art, according to the thought of the application, having
There will be changes in body embodiment and application range, in conclusion the content of the present specification should not be construed as to the application
Limitation.
Claims (16)
1. a kind of image capture device, the depth information for acquiring object and chroma luminance information, which is characterized in that the figure
As collecting device includes：
Projection light generating unit for generating projection light, and is projected to subject；
Imaging unit, including imaging sensor form the subject pair for receiving the light reflected from subject
The image answered；
Light path control unit, for controlling whether described image sensor forms image；
Timing control unit, signal is connected to the light path control unit and/or the projection light generating unit, for controlling
The opening time for stating light path control unit and/or the projection light generating unit, described in being opened during the projection of projection light
Light path control unit；
Processing unit, signal are connected to the timing control unit and described image sensor, for receiving and processing the figure
The image generated as sensor and storage, and according to the signal of the timing control unit, determine that described image is First Kind Graph
Picture or the second class image, the First Kind Graph picture are the first lightlike line shape that described image sensor receives subject reflection
At image, the second class image be described image sensor receive subject reflection the second lightlike line formed figure
Picture；Second lightlike line includes first lightlike line and the projection light；
Wherein, the processing unit obtains the chroma luminance information of the subject, and root from the First Kind Graph picture
The partial depth information of the subject is obtained according to the second class image and First Kind Graph picture.
2. image capture device according to claim 1, which is characterized in that the processing unit reduced time it is upper continuous or
Difference between adjacent First Kind Graph picture and the second class image, the part of the subject is calculated according to triangulation
Depth information.
3. image capture device according to claim 1, which is characterized in that the light path control unit includes shutter, is used
Control whether described image sensor receives light in the break-make by controlling the light path in imaging unit.
4. image capture device according to claim 1, which is characterized in that the light path control unit includes optical filter,
Control whether described image sensor receives light for the break-make by controlling the light path in projection light generating unit.
5. image capture device according to claim 1, which is characterized in that the projection light generating unit includes projection light
Source and projection lens, the projection source are used for the projection photogenerated is linear for generating projection light, the projection lens
Projection light.
6. image capture device according to claim 1, which is characterized in that the projection light is one or one or more line
Property projection light.
7. image capture device according to claim 6, which is characterized in that the linear projection light be it is a plurality of, it is described more
Linear projection light is directional light, crosswise, latticed or radial.
8. image capture device according to claim 6, which is characterized in that the linear projection light be it is a plurality of, it is described more
Linear projection light has identical or different wavelength.
9. image capture device according to claim 1, which is characterized in that the processing unit is obtained also according to multiple shooting
Subject chroma luminance information and partial depth information, calculate the three-dimensional information for obtaining subject surface and
Chroma luminance information.
10. image capture device according to claim 1, which is characterized in that described image collecting device further includes：
Movement and Attitude estimation unit, signal are connected to the processing unit, for providing athletic posture information to processing unit；
The processing unit is according to the athletic posture information, and the repeatedly chroma luminance letter of the subject of shooting acquisition
Breath and partial depth information, obtain the three-dimensional information and chroma luminance information on the subject surface.
11. image capture device according to claim 1, which is characterized in that the movement and Attitude estimation unit include
One or more combination in accelerometer, gyroscope, magnetometer.
12. image capture device according to claim 1, which is characterized in that the projection light is laser.
13. image capture device according to claim 1, which is characterized in that described image collecting device further includes outside
Sensor, the external sensor signal are connected to the movement and Attitude estimation unit, for determining that described image acquisition is set
It is standby to shoot orientation in the opposite of different moments.
14. a kind of image capture device, the depth information for acquiring object and chroma luminance information, which is characterized in that described
Image capture device includes：
Projection light generating unit for generating projection light, and is projected to subject；
Imaging unit, including imaging sensor form the subject pair for receiving the light reflected from subject
The image answered；
Light path control unit, for controlling whether described image sensor forms image；
Timing control unit, signal is connected to the light path control unit and/or the projection light generating unit, for controlling
The opening time for stating light path control unit and/or the projection light generating unit, described in being opened during the projection of projection light
Light path control unit；
Processing unit, signal are connected to the timing control unit and described image sensor, for receiving and processing the figure
The image generated as sensor and storage, and according to the signal of the timing control unit, determine that described image is First Kind Graph
Picture or the second class image, the First Kind Graph picture are the first lightlike line shape that described image sensor receives subject reflection
At image, the second class image be described image sensor receive subject reflection the first lightlike line formed figure
Picture；Second lightlike line includes first lightlike line and the projection light；
Wherein, the processing unit obtains the chroma luminance information of the subject, and root from the First Kind Graph picture
The partial depth information of subject is obtained according to the second class image, wherein the brightness of the projection light is the ambient light
Brightness 2 times or more.
15. a kind of image capture device, the depth information for acquiring object and chroma luminance information, which is characterized in that described
Image capture device includes：
More than two projection light generating units, for generating projection light respectively, and are projected to subject；
Imaging unit, including imaging sensor form the subject pair for receiving the light reflected from subject
The image answered；
Light path control unit, for controlling whether described image sensor forms image；
Timing control unit, signal is connected to the light path control unit and/or the projection light generating unit, for controlling
The opening time for stating light path control unit and the projection light generating unit, to open the light path during the projection of projection light
Control unit；
Processing unit, signal are connected to the timing control unit and described image sensor, for receiving and processing the figure
The image generated as sensor and storage, and according to the signal of the timing control unit, determine that described image is First Kind Graph
Picture or the second class image, the First Kind Graph picture are the first lightlike line shape that described image sensor receives subject reflection
At image, the second class image be described image sensor receive subject reflection the first lightlike line formed figure
Picture；Second lightlike line includes first lightlike line and the projection light；
Wherein, the processing unit obtains the chroma luminance information of the subject, and root from the First Kind Graph picture
The partial depth information of subject is obtained according to the second class image and First Kind Graph picture.
16. a kind of image-pickup method, which is characterized in that including：
In first time period, First Kind Graph picture is acquired, the First Kind Graph picture is that imaging sensor receives subject reflection
The image that first lightlike line is formed；
In second time period, projection light generating unit is opened, and acquire the second class image, the second class image is image sensing
Device receives subject and reflects the image that the second lightlike line is formed；
According to the difference between First Kind Graph picture and the second class image, the partial depth information of the subject is calculated；
By the partial depth information and the chroma luminance information association by being acquired in the First Kind Graph picture；
Wherein described second lightlike line includes the first lightlike line and the projection light that is generated by projection light generation unit.
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| CN201810403358.7A CN108592886B (en) | 2018-04-28 | Image acquisition apparatus and image acquisition method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810403358.7A CN108592886B (en) | 2018-04-28 | Image acquisition apparatus and image acquisition method |
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| CN108592886B CN108592886B (en) | 2024-04-26 |
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