CN109831609A - TOF depth camera and its Atomatic focusing method - Google Patents
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Abstract
A kind of TOF depth camera and its Atomatic focusing method, wherein the Atomatic focusing method includes: acquisition view field image；Focus object in the view field image is separated with background image, obtains focus object image；The object distance of focus object is obtained according to isolated focus object image；Initial focal distance corresponding with the object distance is calculated using focal length formula；Driving camera lens is moved to initial position corresponding with the initial focal distance；Driving camera lens moves back and forth in the initial position, the clarity of synchronous detection focus object image；Judge whether image definition reaches maximum value；Driving camera lens is moved at position corresponding with described image clarity maximum value.Method of the invention improves TOF camera and obtains the accurate depth information of mobile object or location information.
Description
Technical field
The present invention relates to TOF technical field more particularly to a kind of TOF depth cameras and its Atomatic focusing method.
Background technique
TOF (Time-Of-Flight) technology origin is longer, but in recent years, intellectual technology and virtual existing
The fast development and application of real technology, TOF technology and TOF mould group obtain tremendous expansion, become current technical field of imaging
One research hotspot has very high researching value and wide application prospect.
Camera based on TOF technology is a kind of novel, miniaturization three-dimensional imaging device, can capture dynamic object simultaneously
Gray level image and depth information, thus solve the conventional difficulties of field of machine vision easily, not only using these depth informations
The tradition application such as segmentation, label, identification, tracking of target image can be easily completed, and can be sent out in many emerging fields
Wave important role.
Using TOF camera during shooting, light source issues the near infrared light through ovennodulation, encounters object back reflection extremely
One photoinduction unit further calculates time difference or the phase difference of transmitting light and reception light by processor to calculate people
The depth information of body, and the imaging of object is obtained by the photosensitization of received light, depth is obtained in conjunction with depth information
Spend image information.
But existing TOF camera, when shooting mobile object, imaging effect can be deteriorated, so that mobile object cannot be obtained
Accurate depth information or location information.
Summary of the invention
The technical problem to be solved by the present invention is to how improve TOF camera obtain the accurate depth information of mobile object or
Location information.
The present invention provides a kind of Atomatic focusing methods of TOF depth camera, comprising:
Obtain view field image；
Focus object in the view field image is separated with background image, obtains focus object image；
The object distance of focus object is obtained according to isolated focus object image；
Initial focal distance corresponding with the object distance is calculated using focal length formula；
Driving camera lens is moved to initial position corresponding with the initial focal distance；
Driving camera lens moves back and forth in the initial position, the clarity of synchronous detection focus object image；
Judge whether image definition reaches maximum value；
Driving camera lens is moved at position corresponding with described image clarity maximum value.
Optionally, visual field when obtaining view field image using TOF depth camera includes focusing area and background area.
Optionally, the view field image includes depth image and gray level image.
Optionally, described to separate focus object with background image including by the depth image and gray level image of focus object
It separates simultaneously, obtains focus object depth image and focus object gray level image, and save respectively, the focus object depth map
Picture and focus object gray level image constitute focus object image.
Optionally, the acquisition process of the object distance are as follows: according to focus object depth image, extract the depth letter of focus object
Breath, depth information includes several depth Distribution values, the most point of same depth value in depth distribution is then looked for, with this depth
Value is used as object distance.
Optionally, all depth values have been transformed into vertical component, have found in all vertical components all by transformation
The most point of same depth value, uses this depth value as object distance.
Optionally, the method that driving camera lens uses closed loop cycle mobile in the mode that the initial position moves back and forth.
Optionally, the clarity of image is judged by sharpness evaluation function, the sharpness evaluation function uses
Laplace and Sobel joint operator judges whether image definition reaches maximum value.
The present invention also provides a kind of TOF depth cameras, comprising:
Light source unit illuminates visual field for generating and emitting modulation light；
Photoinduction unit generates charge inducing for receiving reflection light；
Camera lens, the light focusing for that will reflect is in photoinduction unit；
Processing unit for calculating depth information according to the time difference or phase difference of transmitting light and reception light, and combines
The imaging that charge inducing obtains obtains view field image；
Separative unit obtains focus object figure for separating the focus object in the view field image with background image
Picture；
Object distance acquiring unit, for obtaining the object distance of focus object according to isolated focus object image；
Focal length acquiring unit, for calculating initial focal distance corresponding with the object distance using focal length formula；
Image definition comparing unit, for moving back and forth in camera lens in the initial position, synchronous detection focus object
The clarity of image, and judge whether image definition reaches maximum value；
Control unit, for driving the camera lens to move back and forth in the initial position, and drive camera lens be moved to
At the corresponding position of described image clarity maximum value.
Optionally, the visual field when processing unit acquisition view field image includes focusing area and background area.
Optionally, the view field image includes depth image and gray level image.
Optionally, the separative unit focus object is separated with background image including by the depth image of focus object and
Gray level image separates simultaneously, obtains focus object depth image and focus object gray level image, and save respectively, the focusing pair
As depth image and focus object gray level image constitute focus object image.
Optionally, the object distance acquiring unit extracts the depth information of focus object according to focus object depth image, deep
Spending information includes several depth Distribution values, then looks for the most point of same depth value in depth distribution, is made with this depth value
For object distance.
Optionally, all depth values have been transformed into vertical component, have found in all vertical components all by transformation
The most point of same depth value, uses this depth value as object distance.
Optionally, described control unit driving camera lens is moved in the mode that the initial position moves back and forth using closed loop cycle
Dynamic method.
Optionally, described image clarity comparing unit judges the clarity of image by sharpness evaluation function, described
Sharpness evaluation function is judged using Laplace and Sobel joint operator whether image definition reaches maximum value.
Compared with prior art, technical solution of the present invention has the advantage that
The Atomatic focusing method of TOF depth camera of the invention, comprising: obtain view field image；It will be in the view field image
Focus object separated with background image, obtain focus object image；Focus object is obtained according to isolated focus object image
Object distance；Initial focal distance corresponding with the object distance is calculated using focal length formula；Driving camera lens be moved to it is described just
The corresponding initial position of beginning focal distance；Driving camera lens moves back and forth in the initial position, synchronous detection focus object figure
The clarity of picture；Judge whether image definition reaches maximum value；Driving camera lens is moved to and described image clarity maximum value
At corresponding position.TOF depth camera can carry out auto-focusing to the present invention in shooting process in real time by aforementioned process, when
Mobile object in visual field is taken pictures or shot using TOF camera, clearly depth image can be obtained, improves mobile pair
As the accuracy of depth information and the accuracy of position.
It further, can simultaneously include depth image and gray level image by the view field image that a TOF camera obtains, so that
The structure of system is relatively simple, and subsequent focus object image can be easily separated (including isolated focus object depth map
Picture and focus object gray level image), calculation amount is small, and focus object depth image and focus object gray level image precision are high, improves
Efficiency and precision when auto-focusing.
Further, described to separate focus object with background image including by the depth image and gray level image of focus object
It separates simultaneously, obtains focus object depth image and focus object gray level image, and save respectively, the focus object depth map
Object distance as being used for subsequent determining focus object, the focus object gray scale figure can be used for the detection of image definition, just
Quickly and precisely obtain that image definition is best or best corresponding lens location in subsequent.
Detailed description of the invention
Fig. 1 is the flow diagram of the auto-focusing process of TOF depth camera；
Fig. 2 is the structural schematic diagram of TOF of embodiment of the present invention depth camera.
Specific embodiment
As described in the background art, when shooting mobile object, imaging effect can be deteriorated existing TOF depth camera, thus
The accurate depth information of mobile object or location information cannot be obtained.
The study found that existing TOF depth camera makes photoinduction unit when carrying out shooting mobile object, because focal length is fixed
(Sensor) it is detached from as display effect is deteriorated caused by plane, or due to the lens optical characteristic changing caused by temperature-rise effect
Cause imaging effect that can be deteriorated, so that the accurate depth information of mobile object or location information cannot be obtained.
For this purpose, the present invention provides a kind of TOF depth camera and Atomatic focusing method, wherein the Atomatic focusing method
It include: acquisition view field image；Focus object in the view field image is separated with background image, obtains focus object image；
The object distance of focus object is obtained according to isolated focus object image；It is calculated using focal length formula corresponding with the object distance first
Beginning focal distance；Driving camera lens is moved to initial position corresponding with the initial focal distance；Drive camera lens described first
Beginning position moves back and forth, the clarity of synchronous detection focus object image；Judge whether image definition reaches maximum value；Driving
Camera lens is moved at position corresponding with described image clarity maximum value.TOF depth camera can by aforementioned process by the present invention
To carry out auto-focusing in shooting process in real time, mobile object in visual field is taken pictures or shot when using TOF camera, it can
To obtain clearly depth image, the accuracy of mobile object depth information and the accuracy of position are improved.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.When describing the embodiments of the present invention, for purposes of illustration only, schematic diagram can disobey general ratio
Example makees partial enlargement, and the schematic diagram is example, should not be limited the scope of the invention herein.In addition, in reality
It should include the three-dimensional space of length, width and depth in the production of border.
Fig. 1 is the flow diagram of the auto-focusing process of TOF of embodiment of the present invention depth camera；Fig. 2 is that the present invention is real
Apply a structural schematic diagram for TOF depth camera.
With reference to Fig. 1, the Atomatic focusing method of TOF depth camera, comprising steps of
Step S101 obtains view field image；
Step S102 separates the focus object in the view field image with background image, obtains focus object image；
Step S103 obtains the object distance of focus object according to isolated focus object image；
Step S104 calculates initial focal distance corresponding with the object distance using focal length formula；
Step S105, driving camera lens are moved to initial position corresponding with the initial focal distance；
Step S106, driving camera lens move back and forth in the initial position, the clarity of synchronous detection focus object image；
Step S107, judges whether image definition reaches maximum value；
Step S108, driving camera lens are moved at position corresponding with described image clarity maximum value.
Aforementioned process is described in detail below.
With reference to Fig. 1, step S101 is carried out, obtains view field image.
In the present embodiment, the image in visual field is obtained using TOF depth camera, the visual field includes focusing area and background
Region has focus object in focusing area, and background area has background corresponding with focus object, using TOF depth camera
When being shot, the background in focus object and background area in focusing area is imaged in TOF depth camera.
It include depth image and gray level image by the view field image that TOF depth camera obtains.Depth image includes depth
Information, the gray value of each pixel of depth image can be used for characterizing the distance of distance TOF depth camera in certain point in scene.
Gray level image includes grayscale information.Passing through the view field image that a TOF camera obtains in the application can include depth image simultaneously
And gray level image so that the structure of system is relatively simple, and subsequent focus object image can be easily separated it is (including isolated
Focus object depth image and focus object gray level image), calculation amount is small, focus object depth image and focus object grayscale image
As precision height, the efficiency and precision when auto-focusing are improved.
In the present embodiment, referring to FIG. 2, the TOF depth camera includes: light source unit 201, photoinduction unit 202, place
Unit 204 is managed, camera lens 203, separative unit 206, object distance acquiring unit 207, focal length acquiring unit 208, image definition compares
Unit 209, control unit 205.The light source unit 201 illuminates visual field for generating and emitting modulation light；The mirror
First 203 light focusing for that will reflect is produced in photoinduction unit 202, the photoinduction unit 202 for receiving reflection light
Raw charge inducing；The processing unit 204 is for obtaining view field image；The separative unit 206 is used for the view field image
In focus object separated with background image, obtain focus object image；The object distance acquiring unit 207 is used for according to separation
The object distance of focus object image acquisition focus object；The focal length acquiring unit 208 is used to calculate using focal length formula and institute
State the corresponding initial focal distance of object distance；Described image clarity comparing unit 209 is used for detection image clarity, and judges to scheme
Whether image sharpness reaches maximum value；Described control unit 205 is used to that the camera lens to be driven to move back and forth in the initial position,
And camera lens is driven to be moved at position corresponding with described image clarity maximum value.
The modulation light is infrared light, and the modulation light can be laser in the particular embodiment, in one embodiment,
The modulation light that the light source unit 201 generates is the pulsed light of 100~150MHz.In one embodiment, the light source unit 201
Including light source and the driving circuit being connect with light source, the light source for generating light, the light source include Light-Emitting Diode or
Person's vertical cavity surface emitting laser (Vertical Cavity Surface Emitting Laser, VCSEL).The driving electricity
Road generates modulation light for driving the light source working.The driving circuit can drive the light source to generate and emit constant
The modulation light of power or different capacity.
The modulation system of the modulation light is divided into pulse light modulation and continuous wave modulates two kinds.Wherein lead to when pulse light modulation
The flight time of directly measurement light is spent to obtain range information.Continuous wave is by incident optical signal and reference signal when modulating be in terms of
Calculate object, by sampling and the methods of convolution, obtain the displacement of continuous modulation wave signal, so obtain camera to target away from
From.
The photoinduction unit 202 generates charge inducing, the photoinduction unit 202 is usually for incuding reflection light
Including picture element matrix array.The processing unit 204 is connect with light source unit 201 and photoinduction unit 202, the processing unit
204 calculate depth information, and the imaging obtained in conjunction with charge inducing according to the time difference or phase difference of transmitting light and reception light,
Obtain view field image.The view field image includes depth image and gray level image.
In one embodiment, by photoinduction unit after the modulation light of the sending of light source unit 201 is reflected by target object
202 captures or induction, the processing unit 204 are calculated according to modulation light by being issued to this period or the phase difference of capture
Target object obtains the depth information of target object at a distance from TOF camera, and the processing unit 204 is obtaining target object
While depth information, the grayscale information of target object is obtained also according to charge inducing.
The light focusing that the camera lens 203 is used to reflect is in photoinduction unit 202.The camera lens 203 is also used to filter
Fall the light different from the modulating light frequency and wavelength that light source unit 201 emits.
The TOF depth camera includes control unit 205, and described control unit 205 drives the camera lens 203 mobile.Tool
Body, when the object distance acquiring unit 207 is according to the object distance of isolated focus object image acquisition focus object, the focal length is obtained
After taking unit 207 to calculate initial focal distance corresponding with the object distance using focal length formula, described control unit 205 is driven
Camera lens is moved to initial position corresponding with the initial focal distance；Described control unit 205 can also drive camera lens to exist
The initial position moves back and forth, and in one embodiment, described control unit 205 drives camera lens to move back in the initial position
The method that dynamic mode uses closed loop cycle mobile；When image definition comparing unit 209 judges whether image definition reaches
Maximum value, described control unit 205 can also drive camera lens to be moved at position corresponding with described image clarity maximum value
The separative unit 206 is focused for separating the focus object in the view field image with background image
Object images.The separative unit 206 separates focus object with background image including by the depth image and ash of focus object
Degree image separates simultaneously, obtains focus object depth image and focus object gray level image, and save respectively, the focus object
Depth image and focus object gray level image constitute focus object image.
The object distance acquiring unit 207 obtains the object distance of focus object according to isolated focus object image.Implement one
In example, the object distance acquiring unit 207 extracts the depth information of focus object, depth information according to focus object depth image
Including several depth Distribution values, the most point of same depth value in depth distribution is then looked for, uses this depth value as object distance.
All depth values all by transformation, have been transformed into vertical component, it is most that same depth value are found in all vertical components
Point, use this depth value as object distance.
The focal length acquiring unit 208 calculates initial focal distance corresponding with the object distance using focal length formula.
209 detection image clarity of described image clarity comparing unit, and judge whether image definition reaches maximum
Value.In one embodiment, described image clarity comparing unit 209 judges the clarity of image by sharpness evaluation function,
The sharpness evaluation function is sentenced using Laplace and Sobel joint operator to whether image definition reaches maximum value
It is disconnected.
It continues to refer to figure 1, carries out step S102, the focus object in the view field image is separated with background image, is obtained
Obtain focus object image.
In the present embodiment, the focus object is the target image for needing to shoot, and background image is shooting focusing accordingly
Corresponding background image when figure.
By in view field image focus object and background image separation can use existing image separation method.
In one embodiment, described to separate focus object with background image including by the depth image and ash of focus object
Degree image separates simultaneously, obtains focus object depth image and focus object gray level image, and save respectively, the focus object
Depth image and focus object gray level image constitute focus object image.The focus object depth image includes focus object
Depth information, the focus object gray level image include the grayscale information of focus object.
The focus object depth image is used for the object distance of subsequent determining focus object, and the focus object gray scale figure can
With the detection for image definition, it is convenient for subsequent quickly and precisely acquisition image definition best or best corresponding camera lens position
It sets.
Step S103 is carried out, the object distance of focus object is obtained according to isolated focus object image.
In one embodiment, the acquisition process of the object distance are as follows: according to focus object depth image, extract focus object
Depth information, depth information include several depth Distribution values, then look for the most point of same depth value in depth distribution, use this
A depth value is as object distance.
In one embodiment, all depth values have been transformed into vertical component, in all vertical components all by transformation
It is middle to find the most point of same depth value, it uses this depth value as object distance, arrives point all in the plane parallel with camera lens
Camera lens is equidistant.
Step S104 is carried out, calculates initial focal distance corresponding with the object distance using focal length formula.
According to the object distance of the focus object of acquisition, calculated using focal length formula available corresponding with the object distance initial
Focal distance.
In one embodiment, the focal length formula are as follows: 1/u+1/v=1/f, wherein u is object distance, and v is image distance, and f is lens
Focal length.
It is simple and convenient by way of aforementioned acquisition object distance and initial focal distance in the application, it calculates simply, is conducive to
Improve the efficiency and precision when TOF depth camera auto-focusing.
Step S105 is carried out, driving camera lens is moved to initial position corresponding with the initial focal distance.
After obtaining initial focal distance, driving camera lens is moved to initial position corresponding with the initial focal distance.
In one embodiment, the camera lens is driven to carry out by control unit, described control unit includes voice coil motor.It drives
It includes: that can set before camera lens do not focus that index glass head, which is moved to the mode of initial position corresponding with the initial focal distance,
Positional distance optical center distance be m, initial focal distance is the image distance V obtained by focal length formula, and moving distance is V-m.
Step S106 is carried out, driving camera lens moves back and forth in the initial position, synchronous to detect the clear of focus object image
Clear degree.
After camera lens reaches corresponding initial position, driving camera lens moves back and forth in the initial position, synchronous detection pair
The clarity of burnt object images, the purpose is to: by the detection of clarity can know camera lens when being moved to which position,
It is best or best to obtain image definition, and is that camera lens is first moved to initial position in the application, is then carrying out back and forth
It is mobile, as camera lens be moved in advance with image definition is best or best corresponding position similar in position, only need to be to camera lens
Carry out it is small move back and forth, can obtain that image definition is best or best corresponding lens location, thus camera lens is mobile
Back-and-forth distance can improve efficiency when auto-focusing with very little.
In one embodiment, driving camera lens is in the side that the mode that the initial position moves back and forth uses closed loop cycle mobile
Method.
Step S107 is carried out, judges whether image definition reaches maximum value.
In the present embodiment, the clarity of image is judged by sharpness evaluation function.In one embodiment, described clear
Degree evaluation function is judged using Laplace and Sobel joint operator whether image definition reaches maximum value.
Step S108 is carried out, driving camera lens is moved at position corresponding with described image clarity maximum value.
Driving camera lens is moved at position corresponding with described image clarity maximum value and driving camera lens is moved to and institute
The mode for stating the corresponding initial position of initial focal distance is similar.
The present invention by aforementioned process (or each step) TOF depth camera can carry out in shooting process in real time it is automatic right
Coke is taken pictures or is shot to mobile object in visual field when using TOF camera, can obtained clearly depth image, improve
The accuracy of mobile object depth information and the accuracy of position.
Although the invention has been described by way of example and in terms of the preferred embodiments, but it is not for limiting the present invention, any this field
Technical staff without departing from the spirit and scope of the present invention, may be by the methods and technical content of the disclosure above to this hair
Bright technical solution makes possible variation and modification, therefore, anything that does not depart from the technical scheme of the invention, and according to the present invention
Technical spirit any simple modifications, equivalents, and modifications to the above embodiments, belong to technical solution of the present invention
Protection scope.
Claims (16)
1. a kind of Atomatic focusing method of TOF depth camera characterized by comprising
Obtain view field image；
Focus object in the view field image is separated with background image, obtains focus object image；
The object distance of focus object is obtained according to isolated focus object image；
Initial focal distance corresponding with the object distance is calculated using focal length formula；
Driving camera lens is moved to initial position corresponding with the initial focal distance；
Driving camera lens moves back and forth in the initial position, the clarity of synchronous detection focus object image；
Judge whether image definition reaches maximum value；
Driving camera lens is moved at position corresponding with described image clarity maximum value.
2. the Atomatic focusing method of TOF depth camera as described in claim 1, which is characterized in that it is characterized in that, utilizing
Visual field when TOF depth camera acquisition view field image includes focusing area and background area.
3. the Atomatic focusing method of TOF depth camera as described in claim 1, which is characterized in that according to transmitting light and reception
Time difference of light or phase difference calculate depth information, and the imaging obtained in conjunction with charge inducing, obtain view field image, the view
Field picture includes depth image and gray level image.
4. the Atomatic focusing method of TOF depth camera as claimed in claim 3, which is characterized in that it is described by focus object with
Background image separation include by the depth image of focus object and gray level image while separating, obtain focus object depth image with
Focus object gray level image, and save respectively, the focus object depth image and focus object gray level image constitute focusing pair
As image.
5. the Atomatic focusing method of TOF depth camera as claimed in claim 4, which is characterized in that the acquisition of the object distance
Journey are as follows: according to focus object depth image, the depth information of focus object is extracted, depth information includes several depth Distribution values,
The most point of same depth value in depth distribution is then looked for, uses this depth value as object distance.
6. the Atomatic focusing method of TOF depth camera as claimed in claim 5, which is characterized in that all depth values all pass through
Transformation is crossed, vertical component has been transformed into, the most point of same depth value is found in all vertical components, with this depth value
As object distance.
7. the Atomatic focusing method of TOF depth camera as described in claim 1, which is characterized in that driving camera lens is described first
The method that the mode that beginning position moves back and forth uses closed loop cycle mobile.
8. the Atomatic focusing method of TOF depth camera as described in claim 1, which is characterized in that evaluate letter by clarity
Number judges the clarity of image, and the sharpness evaluation function is to image definition using Laplace and Sobel joint operator
The no maximum value that reaches is judged.
9. a kind of TOF depth camera characterized by comprising
Light source unit illuminates visual field for generating and emitting modulation light；
Photoinduction unit generates charge inducing for receiving reflection light；
Camera lens, the light focusing for that will reflect is in photoinduction unit；
Processing unit, for obtaining view field image；
Separative unit obtains focus object image for separating the focus object in the view field image with background image；
Object distance acquiring unit, for obtaining the object distance of focus object according to isolated focus object image；
Focal length acquiring unit, for calculating initial focal distance corresponding with the object distance using focal length formula；
Image definition comparing unit, for moving back and forth in camera lens in the initial position, synchronous detection focus object image
Clarity, and judge whether image definition reaches maximum value；
Control unit, for driving the camera lens to move back and forth in the initial position, and drive camera lens be moved to it is described
At the corresponding position of image definition maximum value.
10. TOF depth camera as claimed in claim 9, which is characterized in that it is characterized in that, the processing unit obtains view
Visual field when field picture includes focusing area and background area.
11. TOF depth camera as claimed in claim 10, which is characterized in that the processing unit is according to transmitting light and reception
Time difference of light or phase difference calculate depth information, and the imaging obtained in conjunction with charge inducing, obtain view field image, the view
Field picture includes depth image and gray level image.
12. TOF depth camera as claimed in claim 11, which is characterized in that the separative unit is by focus object and background
Image separation includes by the depth image of focus object and gray level image while separating, and obtains focus object depth image and focusing
Object grey scale image, and save respectively, the focus object depth image and focus object gray level image constitute focus object figure
Picture.
13. TOF depth camera as claimed in claim 12, which is characterized in that the object distance acquiring unit is according to focus object
Depth image extracts the depth information of focus object, and depth information includes several depth Distribution values, then looks in depth distribution
The most point of same depth value, uses this depth value as object distance.
14. TOF depth camera as claimed in claim 13, which is characterized in that all depth values all by transformation, are transformed into
Vertical component, the most point of same depth value is found in all vertical components, uses this depth value as object distance.
15. TOF depth camera as claimed in claim 9, which is characterized in that described control unit drives camera lens described initial
The method that the mode that position moves back and forth uses closed loop cycle mobile.
16. TOF depth camera as claimed in claim 9, which is characterized in that it is clear that described image clarity comparing unit passes through
Degree evaluation function judges the clarity of image, and the sharpness evaluation function is using Laplace and Sobel joint operator to image
Whether clarity, which reaches maximum value, is judged.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110418068A (en) * | 2019-07-24 | 2019-11-05 | 浙江大华技术股份有限公司 | A kind of focus method, device, electronic equipment and storage medium |
| CN110460771A (en) * | 2019-07-25 | 2019-11-15 | 南京诺源医疗器械有限公司 | Focusing method, device and focus apparatus |
| CN110488481A (en) * | 2019-09-19 | 2019-11-22 | 广东工业大学 | A kind of microscope focusing method, microscope and relevant device |
| CN111526282A (en) * | 2020-03-26 | 2020-08-11 | 香港光云科技有限公司 | Method and device for shooting with adjustable depth of field based on flight time |
| CN111818261A (en) * | 2020-07-07 | 2020-10-23 | 深圳市中江天华科技有限公司 | Automatic focusing method and system based on flight time |
| CN112203012A (en) * | 2020-08-25 | 2021-01-08 | 武汉高德智感科技有限公司 | Image definition calculation method, automatic focusing method and system |
| CN112532864A (en) * | 2019-09-19 | 2021-03-19 | 上海锐瞻智能科技有限公司 | Automatic focusing system and automatic focusing method |
| CN112752026A (en) * | 2020-12-31 | 2021-05-04 | 深圳市汇顶科技股份有限公司 | Automatic focusing method, automatic focusing device, electronic equipment and computer readable storage medium |
| CN112834173A (en) * | 2019-11-22 | 2021-05-25 | 耀鸿(嘉兴)电子科技有限公司 | Focal length correction method for vehicle lens module |
| CN113484868A (en) * | 2021-06-30 | 2021-10-08 | 青岛维感科技有限公司 | Focusing method and device for TOF camera, control equipment and focusing equipment |
| CN114845050A (en) * | 2022-04-15 | 2022-08-02 | 深圳市道通智能航空技术股份有限公司 | Focusing method, camera device, unmanned aerial vehicle and storage medium |
| CN115037880A (en) * | 2022-07-13 | 2022-09-09 | 山西工程职业学院 | Quick focusing method for airborne camera |
| CN116233394A (en) * | 2022-11-30 | 2023-06-06 | 武汉极动智能科技有限公司 | Focusing method and device of imaging device, computer device and storage medium |
| CN117880630A (en) * | 2024-03-13 | 2024-04-12 | 杭州星犀科技有限公司 | Focusing depth acquisition method, focusing depth acquisition system and terminal |
| CN118612547A (en) * | 2024-08-07 | 2024-09-06 | 云南云路工程检测有限公司 | Depth estimation-based automatic focusing method for camera |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110418068A (en) * | 2019-07-24 | 2019-11-05 | 浙江大华技术股份有限公司 | A kind of focus method, device, electronic equipment and storage medium |
| CN110460771A (en) * | 2019-07-25 | 2019-11-15 | 南京诺源医疗器械有限公司 | Focusing method, device and focus apparatus |
| CN112532864A (en) * | 2019-09-19 | 2021-03-19 | 上海锐瞻智能科技有限公司 | Automatic focusing system and automatic focusing method |
| CN110488481A (en) * | 2019-09-19 | 2019-11-22 | 广东工业大学 | A kind of microscope focusing method, microscope and relevant device |
| CN112834173A (en) * | 2019-11-22 | 2021-05-25 | 耀鸿(嘉兴)电子科技有限公司 | Focal length correction method for vehicle lens module |
| CN111526282A (en) * | 2020-03-26 | 2020-08-11 | 香港光云科技有限公司 | Method and device for shooting with adjustable depth of field based on flight time |
| CN111818261A (en) * | 2020-07-07 | 2020-10-23 | 深圳市中江天华科技有限公司 | Automatic focusing method and system based on flight time |
| CN112203012A (en) * | 2020-08-25 | 2021-01-08 | 武汉高德智感科技有限公司 | Image definition calculation method, automatic focusing method and system |
| CN112752026A (en) * | 2020-12-31 | 2021-05-04 | 深圳市汇顶科技股份有限公司 | Automatic focusing method, automatic focusing device, electronic equipment and computer readable storage medium |
| CN113484868A (en) * | 2021-06-30 | 2021-10-08 | 青岛维感科技有限公司 | Focusing method and device for TOF camera, control equipment and focusing equipment |
| CN114845050A (en) * | 2022-04-15 | 2022-08-02 | 深圳市道通智能航空技术股份有限公司 | Focusing method, camera device, unmanned aerial vehicle and storage medium |
| CN115037880A (en) * | 2022-07-13 | 2022-09-09 | 山西工程职业学院 | Quick focusing method for airborne camera |
| CN116233394A (en) * | 2022-11-30 | 2023-06-06 | 武汉极动智能科技有限公司 | Focusing method and device of imaging device, computer device and storage medium |
| CN116233394B (en) * | 2022-11-30 | 2023-11-07 | 武汉极动智能科技有限公司 | Focusing method and device of imaging device, computer device and storage medium |
| CN117880630A (en) * | 2024-03-13 | 2024-04-12 | 杭州星犀科技有限公司 | Focusing depth acquisition method, focusing depth acquisition system and terminal |
| CN117880630B (en) * | 2024-03-13 | 2024-06-07 | 杭州星犀科技有限公司 | Focusing depth acquisition method, focusing depth acquisition system and terminal |
| CN118612547A (en) * | 2024-08-07 | 2024-09-06 | 云南云路工程检测有限公司 | Depth estimation-based automatic focusing method for camera |
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