CN109739027B - Light spot array projection module and depth camera - Google Patents
Light spot array projection module and depth camera Download PDFInfo
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- CN109739027B CN109739027B CN201910038363.7A CN201910038363A CN109739027B CN 109739027 B CN109739027 B CN 109739027B CN 201910038363 A CN201910038363 A CN 201910038363A CN 109739027 B CN109739027 B CN 109739027B
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Abstract
The invention discloses a light spot array projection module and a depth camera. The method comprises the following steps: a light source for providing a preset first speckle pattern; the collimating lens is arranged on the light emergent side of the light source and used for receiving the first speckle pattern and modulating the first speckle pattern into a collimated first speckle pattern; the Dammann grating is arranged on the light outlet side of the collimating lens to receive the collimated first speckle pattern and copy and expand the collimated first speckle pattern to obtain a second speckle pattern; and the projection lens is arranged on the light emergent side of the Dammann grating and used for receiving the second speckle pattern and projecting the second speckle pattern to a target scene to be measured according to a preset proportion. The adoption of the Dammann grating for dot matrix copying and expansion can ensure that the uniformity of the diffraction intensity of the light spot array projection module is better, so that the depth camera has more uniform depth measurement indexes, and provides higher degree of freedom and more accurate basic parameter values for subsequent application and development.
Description
Technical Field
The invention relates to the technical field of three-dimensional depth measurement, in particular to a light spot array projection module and a depth camera.
Background
The three-dimensional depth measurement technology can acquire depth coordinate information of scene targets and provide additional data processing freedom for back-end development. With the popularization of mobile terminal devices and intelligent interactive equipment, the three-dimensional depth measurement technology becomes a new generation of core technology of human-computer interaction more and more, and has wide application prospects in the aspects of industrial detection, security retail, somatosensory games, mobile payment, biomedicine and the like.
Speckle structured light technology is a widely used three-dimensional depth measurement scheme at present. The method comprises the steps of projecting spot light clusters which are randomly, pseudo-randomly or regularly arranged after being coded to a specific space scene, and calculating depth information of the scene by comparing deformation displacement of characteristic spots. The projection module projects a preset speckle mode to an actual scene, and is a hardware basis for measuring the optical depth of the speckle structure. Typically, the projection module includes a light source, a collimating lens, and a Diffractive Optical Element (DOE). The light source may be Edge-Emitting Laser (EEL) or Vertical Cavity Surface Emitting Laser (VCSEL), and the wavelength of the light source is selected from an infrared band, such as 940nm or other bands with high transmission efficiency. The collimating lens is used for shaping the light beam and can be realized by a single lens, a combined lens, a holographic lens, a micro-lens array or a Fresnel lens. The DOE is a diffraction grating with a certain period, and functions to receive an illumination beam of a light source and modulate the illumination beam into an array of spots, so as to form speckle structured light illumination covering an object of a scene.
The application of the current depth measurement technology is increasingly wide, so that the projection quality requirement on the optical dot matrix projection module is higher and higher, and the projection module with good intensity uniformity and high signal-to-noise ratio is an urgent research requirement in the industry. However, the intensity uniformity among the diffraction orders of the DOE in the currently common projection module is still insufficient, the intensity value difference between the central region and the edge region of the projected light spot is often large, the depth acquisition precision of the whole scene is influenced, especially when a long-distance object or a short-distance object is measured, the intensity non-uniformity influence is more prominent, and the development of the three-dimensional depth measurement technology is greatly restricted.
In summary, in the field of three-dimensional depth measurement, how to design a speckle projection module with good intensity uniformity and high signal-to-noise ratio is one of the currently urgent technical problems to be solved.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art and provides a light spot array projection module and a depth camera.
In order to achieve the above object, a first aspect of the present invention provides a light spot array projection module, including:
a light source for providing a preset first speckle pattern;
the collimating lens is arranged on the light emergent side of the light source to receive the first speckle pattern and modulate the first speckle pattern into a collimated first speckle pattern;
the Dammann grating is arranged on the light outlet side of the collimating lens to receive the collimated first speckle pattern and copy and expand the collimated first speckle pattern to obtain a second speckle pattern;
and the projection lens is arranged on the light emergent side of the Dammann grating and used for receiving the second speckle pattern and projecting the second speckle pattern to a target scene to be measured according to a preset proportion.
Optionally, the light source is a laser light source, the laser light source includes a plurality of sub laser light sources, and the plurality of sub laser light sources are arranged in an array.
Optionally, the dammann grating includes a plurality of layers of dammann sub-gratings sequentially stacked along the optical axis direction of the light spot array projection module, so as to implement a diffraction order distribution mode meeting a preset requirement.
Optionally, each of the dammann sub-gratings includes several diffraction orders, and adjacent diffraction orders of at least one of the dammann sub-gratings have a predetermined amount of dislocation in a direction perpendicular to the base line.
Optionally, the dammann grating includes a first layer of dammann sub-grating and a second layer of dammann sub-grating, which are sequentially stacked, and a preset dislocation amount exists between adjacent diffraction orders of the first layer of dammann sub-grating in a direction perpendicular to the baseline.
Optionally, the diffraction order of the first layer of dammann sub-gratings is mxn, the diffraction order of the second layer of dammann sub-gratings is P × Q, and the total diffraction order of the dammann gratings is mxn × P × Q, where M, N, P and Q are both positive integers.
Optionally, the shift amount ranges from 1/8 cycles to 1/4 cycles.
Optionally, the collimating lens is any one or more of a single lens, a combined lens, a holographic lens, a micro-lens array or a fresnel lens.
In a second aspect of the present invention, a depth camera is provided, which includes the light spot array projection module described above.
Optionally, the depth camera further includes an RGB color camera, an infrared camera, and a data processing unit, and the light spot array projection module, the RGB color camera, and the infrared camera are all electrically connected to the data processing unit.
The invention relates to a light spot array projection module and a depth camera, which comprise a light source, a collimating lens, a Dammann grating and a projection lens which are arranged in sequence. The Dammann grating is adopted for dot matrix replication and expansion, and compared with a conventional Diffraction Optical Element (DOE), the uniformity of diffraction intensity of the light dot matrix projection module is better, so that a depth camera applying the light dot matrix projection module has a more uniform depth measurement index, and higher degree of freedom and more accurate basic parameter values are provided for subsequent application and development.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of a light spot array projection module according to a first embodiment of the present invention;
FIG. 2 is a diagram showing the diffraction pattern of a first layer of Dammann sub-gratings (4 × 3 order) according to a second embodiment of the present invention;
FIG. 3 is a diagram showing the diffraction pattern of a second layer of Dammann sub-gratings (3 × 3 order) according to a third embodiment of the present invention;
FIG. 4 is a diagram illustrating a diffraction pattern of a first Dammann sub-grating layer and a second Dammann sub-grating layer after being superimposed according to a fourth embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a dot matrix effect of projection light according to a fifth embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a depth camera according to a sixth embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1, a first aspect of the present invention relates to a light spot array projection module, which includes a light source 11, a collimating lens 13, a dammann grating 14, and a projection lens 15. Wherein the light source 11 may provide a predetermined first speckle pattern 12. The collimating lens 13 is disposed on the light emitting side of the light source 11 to receive the first speckle pattern 12 and modulate the first speckle pattern 12 into a collimated first speckle pattern, and the collimating lens 13 may preferably be implemented by a single lens, a combined lens, a holographic lens, a micro-lens array, or a fresnel lens. The dammann grating 14 is arranged on the light-emitting side of the collimating lens 13 to receive the collimated first spot pattern and copy and expand the collimated first spot pattern to obtain a second spot pattern, and the dammann grating 14 is a phase grating which is optimally designed and distributed in two steps or higher, and fully restricts the light intensity uniformity of diffraction orders in the optimal design. The projection lens 15 is disposed on the light emitting side of the dammann grating 14 to receive the second speckle pattern and project the second speckle pattern to a target scene to be measured according to a predetermined ratio.
The light spot array projection module of the present embodiment includes a light source 11, a collimating lens 13, a dammann grating 14, and a projection lens 15, which are sequentially disposed. In the embodiment, the dammann grating 14 is used for dot matrix replication and expansion, and the dammann grating 14 is a two-step or higher-step distributed phase grating after optimization design, and the light intensity uniformity of diffraction orders is fully restricted in the optimization design. Therefore, compared with a conventional Diffractive Optical Element (DOE), the uniformity of the diffraction intensity of the spot array projection module of the embodiment is better, so that a depth camera applying the spot array projection module has a more uniform depth measurement index, and a higher degree of freedom and a more accurate basic parameter value are provided for subsequent application and development.
The light source 11 may preferably adopt a laser light source, which includes a plurality of sub-laser light sources, and the plurality of sub-laser light sources may be arranged in an array, for example, the laser light source may adopt a VCSEL laser, and dozens, hundreds, or even more light emitting points (each light emitting point corresponds to one sub-laser light source) may be set according to the specific depth measurement requirement, so that the laser light source may provide the preset first speckle pattern 12. In addition, in this embodiment, the VCSEL laser may select a wavelength of 940nm, or other wavelength window with high transmission efficiency. Of course, the present invention is not limited to this, and those skilled in the art can select other light source structures according to actual needs.
Optionally, the dammann grating 14 includes a plurality of layers of dammann sub-gratings sequentially stacked along the optical axis direction of the light spot array projection module, so as to implement a diffraction order distribution mode meeting a preset requirement. It should be understood that the effective diffraction order number of the dammann grating 14 is designed according to a specific emission Field of view (FOV), VCSEL light emitting area size, and collimating lens 13 focal length.
Optionally, each of the dammann sub-gratings includes several diffraction orders, wherein at least one of the dammann sub-gratings has a predetermined amount of dislocation between adjacent diffraction orders in a direction perpendicular to a base line (a horizontal direction as shown in fig. 1).
Specifically, the dammann grating 14 includes a first layer of dammann sub-grating and a second layer of dammann sub-grating, which are sequentially stacked, as shown in fig. 2, the first layer of dammann sub-grating has a diffraction order of M × N (where M is 4 and N is 3), as shown in fig. 3, the second layer of dammann sub-grating has a diffraction order of P × Q (P is 3 and Q is 3), and the total diffraction order of the dammann grating 14 is M × N × P × Q (4 × 3 × 3), as shown in fig. 4, where M, N, P and Q are both positive integers. And as shown in fig. 2, adjacent diffraction orders of the first layer of dammann sub-gratings have a preset dislocation amount in a direction perpendicular to the baseline.
The inventor of the present invention has found through experimental studies that depth measurement based on speckle structure light generally requires that a projection lattice has a large non-correlation along a baseline direction (e.g. a horizontal direction) so as to determine a deformation amount of a characteristic lattice region, thereby performing specific depth information calculation, and therefore, in the present embodiment, in a direction perpendicular to the baseline direction, adjacent diffraction orders of the first layer of the dammann sub-grating have a preset dislocation amount, that is, as shown in a left diagram in fig. 2, the first layer of the dammann sub-grating is not regularly distributed in an axisymmetric manner. In order to meet the requirement of non-correlation, as shown in the right diagram in fig. 2, the diffraction orders of the first layer of dammann sub-gratings in this embodiment are subjected to misalignment optimization, so that the diffraction orders are misaligned between 1/8 cycles and 1/4 cycles (preferably, 1/4 cycles are misaligned) in the direction perpendicular to the baseline direction between adjacent orders, that is, the first layer of dammann sub-gratings are misaligned between 1/8 cycles and 1/4 cycles in the vertical direction between adjacent orders, and of course, those skilled in the art may select other specific misalignment amount values according to actual needs.
Specifically, the left diagram in fig. 2 illustrates a conventional axisymmetrically distributed dammann grating having diffraction order periods d in the horizontal and vertical directions, respectivelyxAnd dyThe diffraction order is M × N (M ═ 4, N ═ 3) distribution. The right diagram of fig. 2 is the first layer of dammann sub-grating with the distribution pattern of dislocated diffraction orders after the optimized design of the present invention. Its period, t, of dislocation 1/4 between diffraction orders in the vertical directionxAnd tyThe diffraction periods in the vertical and horizontal directions, respectively, and δ is the dislocation angle, which in this embodiment is:
as shown in FIG. 3, this embodimentThe second layer of the dammann sub-grating of the example is a conventional axisymmetric diffraction order distribution mode. As shown in fig. 3, the diffraction orders are P × Q (P is 3, Q is 3) distribution, and the diffraction periods in the horizontal and vertical directions are T, respectivelyxAnd TyAnd satisfies the following conditions:
thus, the total diffraction order number after the two dammann sub-gratings are superimposed is M × N × P × Q (i.e., 9 × 12), and as shown in fig. 4, adjacent diffraction orders all have a dislocation amount of δ ≈ 14 ° in the vertical direction.
Note that the diffraction period value (t) of the two Dammann sub-gratingsx，ty，TxAnd Ty) The optimal design needs to be matched according to the field angle of a specific application scene, the size of a light emitting area of the VCSEL and the focal length of the projection lens, and a preset dot matrix projection illumination mode is achieved.
FIG. 5 is a schematic diagram showing the projection light lattice effect of the whole light lattice projection module, wherein FxAnd FyFor effective angles of view in the horizontal and vertical directions, respectively, the laser source may provide a first speckle pattern 12, which after collimated projection, dammann grating and projection lens, ultimately forms a second speckle pattern 17.
In a second aspect of the present invention, as shown in fig. 6, a depth camera 21 is provided, which includes a light spot array projection module 22, where the light spot array projection module 22 may adopt the light spot array projection module described above, and it can refer to the related description above, which is not repeated herein.
The depth camera of the present embodiment employs the spot array projection module described above, which includes the light source 11, the collimator lens 13, the dammann grating 14, and the projection lens 15, which are sequentially disposed. In the embodiment, the dammann grating 14 is used for dot matrix replication and expansion, and the dammann grating 14 is a two-step or higher-step distributed phase grating after optimization design, and the light intensity uniformity of diffraction orders is fully restricted in the optimization design. Therefore, compared with a conventional Diffraction Optical Element (DOE), the uniformity of diffraction intensity of the spot array projection module of the embodiment is better, so that the depth camera has a more uniform depth measurement index, and provides a higher degree of freedom and a more accurate basic parameter value for subsequent application and development.
Optionally, as shown in fig. 6, the depth camera 21 further includes an RGB color camera 23, an infrared camera 24, and a data processing unit 25, and the light spot array projection module 22, the RGB color camera 23, and the infrared camera 24 are all electrically connected to the data processing unit 25. Wherein the RGB color camera 23 is used to capture a conventional color image of the scene. The infrared camera 24 is used to capture scene speckle images. The data processing unit 25 is arranged to analyze the processed data and synthesize a depth map.
Specifically, the depth calculation based on the speckle structured light generally performs matching comparison operation on a scene speckle image acquired by the infrared camera 24 and a reference plane speckle image which is calibrated and stored in advance, the data processing unit 25 analyzes and processes the scene speckle image and the reference plane speckle image to obtain the deformation amount of a corresponding characteristic pixel point between the scene speckle image and the reference plane speckle image, the depth information of the object point in an actual scene is derived according to the deformation amount, the depth values of a plurality of pixel points are combined into point cloud data, and the point cloud data is further processed to form a depth image of a scene object.
The RGB color camera 23 collects a visible light color image of a scene and texture information of an object, and may be rendered and output as a three-dimensional image of the scene by the data processing unit after matching with the depth image.
Filters that only allow light of the respective wavelengths to pass (e.g., 940nm for VCSEL source wavelengths) and polarizers may be included in the infrared camera 24 to improve the quality of the captured speckle images of the scene.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (11)
1. A spot array projection module, comprising:
a light source for providing a preset first speckle pattern;
the collimating lens is arranged on the light emergent side of the light source to receive the first speckle pattern and modulate the first speckle pattern into a collimated first speckle pattern;
the Dammann grating is arranged on the light outlet side of the collimating lens to receive the collimated first speckle pattern and copy and expand the collimated first speckle pattern to obtain a second speckle pattern; the Dammann grating comprises a plurality of layers of Dammann sub-gratings which are sequentially stacked along the optical axis direction of the light spot array projection module so as to realize a diffraction order distribution mode meeting preset requirements; each layer of Dammann sub-grating comprises a plurality of diffraction orders, and a preset dislocation amount is formed between adjacent diffraction orders of at least one layer of Dammann sub-grating in the direction perpendicular to the base line;
and the projection lens is arranged on the light emergent side of the Dammann grating and used for receiving the second speckle pattern and projecting the second speckle pattern to a target scene to be measured according to a preset proportion.
2. The light spot array projection module of claim 1, wherein the light source is a laser light source, and the laser light source comprises a plurality of sub laser light sources, and the plurality of sub laser light sources are arranged in an array.
3. The light spot array projection module of claim 1, wherein the dammann grating comprises a first layer of dammann sub-grating and a second layer of dammann sub-grating stacked in sequence, and a predetermined amount of misalignment exists between adjacent diffraction orders of the first layer of dammann sub-grating in a direction perpendicular to the base line.
4. The optical spot array projection module as claimed in claim 3, wherein the first layer of Dammann sub-gratings has a diffraction order of MxN, the second layer of Dammann sub-gratings has a diffraction order of PxQ, and the Dammann sub-gratings have a total diffraction order of MxNxPxQ, wherein M, N, P and Q are positive integers.
5. The light spot array projection module as claimed in claim 1, wherein the displacement is in the range of 1/8 cycles-1/4 cycles.
6. The light spot array projection module as claimed in any one of claims 1 to 5, wherein the collimating lens is a single lens or a combination lens.
7. The light spot array projection module as claimed in any one of claims 1 to 5, wherein the collimating lens is a holographic lens.
8. The light spot array projection module of any one of claims 1-5, wherein the collimating lens is a micro lens array.
9. The light spot array projection module of any one of claims 1 to 5, wherein the collimating lens is a Fresnel lens.
10. A depth camera comprising the light spot array projection module of any one of claims 1 to 9.
11. The depth camera of claim 10, further comprising an RGB color camera, an infrared camera, and a data processing unit, wherein the spot array projection module, the RGB color camera, and the infrared camera are all electrically connected to the data processing unit.
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| CN112859223A (en) * | 2021-01-25 | 2021-05-28 | 上海交通大学 | Surface-corrugated mechanical composite grating system and tuning method |
| CN113791397B (en) * | 2021-08-06 | 2024-04-26 | Oppo广东移动通信有限公司 | Light emission module, depth camera and terminal |
| CN116559986B (en) * | 2023-05-15 | 2024-05-10 | 暨南大学 | Dot matrix projector device and preparation method thereof |
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