CN109889799A - Monocular structure light depth perception method and device based on RGBIR camera - Google Patents
Monocular structure light depth perception method and device based on RGBIR camera Download PDFInfo
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Abstract
The monocular structure light depth perception method and device based on RGBIR camera that the present invention provides a kind of, infrared speckle image is projected using the infrared laser speckle encoding projector, or infrared image is irradiated using infrared floodlight source, then RGBIR RAW data are acquired by frame with RGBIR camera and is separated, image signal process is carried out to the RGB figure separated, depth perception is carried out to infrared speckle pattern to decode to obtain depth value or 3D point cloud, infrared image enhancement processing is carried out to infrared figure, output depth map finally may be selected, RGB figure, infrared figure, RGBD combines data or XYZRGB point cloud data, it gathers between the device of the invention structure, it can get a variety of image informations, including depth map, RGB figure, infrared figure or point cloud information, and without carrying out RGBD registration i.e. It can get one-to-one XYZRGB point cloud data.
Description
Technical field
The invention belongs to computer vision, human-computer interaction and technical field of integrated circuits, and in particular to one kind is based on RGBIR
The monocular structure light depth perception method and device of camera.
Background technique
The current virtual world is just infinitely close to real world, human-computer interaction technology will become connection virtually with reality
" bridge ".With the continuous promotion of computer performance, people are also constantly exploring simpler convenient and fast mode and machine friendship
Stream.Wherein visual perception be then the mankind observation, understanding, experience most directly be also most important means.
The available accurate depth information of depth perception technology based on structure light active vision, and not by environment
The influence of light, algorithm and hardware realization are relatively easy.But RGB camera and IR camera shooting in current structure light depth perception device
Head is separation, and RGB camera can obtain texture information, and IR camera can obtain infrared image and depth information, the two
It needs that one-to-one corresponding relationship could be established by synchronous and RGBD accuracy registration, referring to patent CN204481940U, binocular
Camera is taken pictures mobile terminal, is exactly using a RGB color camera, the dual camera configuration of an IR infrared camera carries out deep
Spend acquisition of information.But due to the influence of assembly precision, stated accuracy and use process, it is often difficult to realize far and near different distance
RGB image element can be corresponded with depth map or 3D point cloud.
Summary of the invention
In consideration of it, the present invention provides a kind of monocular structure light depth perception method and device based on RGBIR camera,
Infrared speckle image is projected using the infrared laser speckle encoding projector, or irradiates infrared image with infrared floodlight source, with list
One RGBIR camera acquisition RGBIR figure, depth perception decoder module separate the RGBIR RAW data of input, including
RGB figure, IR figure (infrared speckle pattern or infrared figure), wherein scheming to carry out traditional images signal processing (Image Signal to RGB
Processing, ISP), depth perception is carried out to infrared speckle pattern and decodes to obtain depth value or 3D point cloud, infrared figure is then carried out
Output depth map, RGB figure, infrared figure, RGBD joint data or XYZRGB point cloud number finally may be selected in infrared image enhancement processing
According to.
To realize above goal of the invention, the present invention provides a kind of monocular structure light sense of depth based on RGBIR camera
Perception method, specifically the following steps are included:
The projection of step 1:RGBIR image projects infrared speckle image or utilization using the infrared laser speckle encoding projector
Infrared floodlight source irradiates on infrared image to target object or projecting space；
Step 2:RGBIR Image Acquisition, the infrared speckle image for being issued step 1 using single RGBIR camera or
Infrared image and visible light RGB image acquire together, obtain RGBIR RAW data；
The collected RGBIR RAW data of step 2 are carried out image separation, form RGB by the separation of step 3:RGBIR image
Image, infrared speckle image or infrared image are ready for respective image procossing below；
Step 4: the RGB image separated is carried out normal signal and handles ISP, separated by image procossing after separation
Infrared image carry out infrared enhancing processing, the infrared speckle pattern separated then carries out depth perception decoding, treatment process
It include: pretreatment, image rotation, Block- matching, depth calculation, post-processing, three-dimensional point cloud generation；
Step 5: data selection output, by RGB image, infrared image, depth map or the point after image signal process
Cloud carries out the output of selectivity, and output depth map, RGB image, infrared image, RGBD data or XYZRGB point cloud number may be selected
According to.
In addition, the present invention also provides a kind of monocular structure light depth perception device based on RGBIR camera, specific to wrap
It includes: RGBIR image generating module, RGBIR image capture module, RGBIR image separation module, RGBIR image processing module, and
Select output module:
RGBIR image generating module is arrived for projecting infrared speckle image by the infrared laser speckle encoding projector
Target object or projecting space, or infrared image is irradiated using infrared floodlight source；
RGBIR image capture module, for being projected the infrared laser speckle encoding projector using single RGBIR camera
The infrared speckle image or the infrared image that irradiates of infrared floodlight source and visible light RGB image acquire together into
Come, obtains RGBIR RAW data；RGBIR image separation module, for collected RGBIR RAW data to be carried out image point
From forming RGB image, infrared speckle image or infrared image, RGB image, infrared speckle image or infrared image after separation
It can carry out storing or giving subsequent module respectively being handled；
RGBIR image processing module, for being handled respectively RGB image and infrared speckle image or infrared image；
Output module is selected, for selecting RGB image, infrared image, depth map or point cloud after treatment
Property output, output depth map, RGB image, infrared image, RGBD data or XYZRGB point cloud data may be selected.
Uniformly acquire image present invention employs monocular RGBIR camera, and image separated, finally to separation after
RGB image and IR image (infrared speckle image or infrared image) handle merge registration again respectively, in the prior art compared to other
Binocular camera structure light depth perception device, monocular structure light depth perception device of the invention can reduce assembly essence
The influence of degree, stated accuracy and use process, and the RGB image element and depth map or 3D point of far and near different distance may be implemented
Cloud corresponds.
In addition, the present invention uses improved infrared image enhancing method to the infrared image after separation, it can be to infrared
The noise of image is removed, and protects the edge of image, the details such as profile well.The infrared speckle image after to separation
When processing, the present invention can also carry out rotation process to image, so that image be made easily to read and store, solve real
When camera in the use of border is rotated because of the needs of people, data are read out by the short side of image, can destroy image
Data structure the problem of.Above-mentioned multiple beneficial effects will specifically be embodied by the elaboration of following embodiment.
Detailed description of the invention
Fig. 1 is the monocular structure light depth perception apparatus structure frame diagram based on RGBIR camera；
Fig. 2 is the monocular structure light depth perception method flow diagram based on RGBIR camera；
Fig. 3 is the image signal process ISP flow chart of RGB image；
Fig. 4 is the depth perception decoding frame diagram of infrared speckle pattern；
Fig. 5 is novel flake correction module frame diagram；
Fig. 6 (a) and Fig. 6 (b) is image rotation with reference to figure.
Specific embodiment
The present invention is further described in detail by 1-6 with reference to the accompanying drawing.
Fig. 1 is a kind of structural framing figure of monocular structure light depth perception device based on RGBIR camera, the sense of depth
Know that device includes RGBIR image generating module, RGBIR image capture module, RGBIR image separation module, RGBIR image procossing
Module, and selection output module.
RGBIR image generating module is to project infrared speckle image using the infrared laser speckle encoding projector or utilize red
Outer floodlight source irradiates infrared image, and projects visible light RGB image using RGBIR camera.
RGBIR image capture module is projected the infrared laser speckle encoding projector using single RGBIR camera
The infrared image and visible light RGB image that infrared speckle image or infrared floodlight source irradiate acquire together, obtain
RGBIR RAW data.RGBIR camera, the infrared laser speckle encoding projector or the infrared floodlight source is in same base
It is arranged on line, horizontally arranged or vertical arrangement.
RGBIR image separation module is that collected RGBIR RAW data are carried out image separation, specifically, Ke Yili
With existing apparatus such as optical filters by RGBIR RAW data separating, RGB image, infrared speckle image or infrared image, separation are formed
RGB image, infrared speckle image or infrared image afterwards can carry out storing and/or giving subsequent module respectively being handled.
RGBIR image processing module is the RGB image for isolating RGBIR image separation module, infrared speckle image/or
Infrared image separately carries out image procossing.Wherein, it carries out traditional image signal process ISP to RGB image to handle, to infrared figure
As carrying out infrared image enhancement processing, the processing to infrared speckle image then includes: pretreatment, image rotation, Block- matching, depth
It calculates, post-processing, the processing operations such as three-dimensional point cloud generation.Infrared image enhancement processing specific method and to infrared speckle image
Processing concrete operations see below detailed description.
Selection output module be will by ISP processing RGB image, by infrared image enhancement handle infrared image,
And by pretreatment, image rotation, Block- matching, depth calculation, post-processing, the infrared speckle image progress that three-dimensional point cloud generates
Selection output.The RGB color figure that RGB image can be worked well after ISP is handled, at the same time infrared speckle image
By pretreatment, image rotation, Block- matching obtains image depth values D by structure light monocular calculation formula again later, in conjunction with depth
Angle value D and internal and external cameras calibrating parameters three-dimensional reconstruction obtain XYZ data.And RGB image can be used to point cloud registering or into
Row selection output.It selects output module according to different needs and output depth map, RGB image, infrared image, RGBD number may be selected
According to or XYZRGB data.
Fig. 2 is the flow chart of the monocular structure light depth perception method of the invention based on RGBIR camera, in order to more
This method is clearly explained in detail, describes this method below in conjunction with Fig. 2-6.
Step 1: powering on and power drives is allowed to work normally, the infrared laser speckle encoding projector is made to issue feux rouges.Into
One step, the infrared laser speckle encoding projector projects the laser beam after collimation, is carried out by diffractive-optical element (DOE) scattered
It penetrates, and then obtains required infrared speckle pattern.In another embodiment, it also can use infrared floodlight source and irradiate infrared figure
Picture.RGBIR camera is driven simultaneously, RGBIR camera is made to project RGB color figure.
Step 2: the infrared speckle image or infrared for being projected the infrared laser speckle encoding projector using RGBIR camera
The infrared image that floodlight source irradiates, and the RGB color figure projected by RGBIR camera are acquired by frame, obtain RGBIR RAW
Data.
Step 3: image separation will be carried out by the collected RGBIR RAW data of step 2, to the infrared speckle after separation
Image or infrared image and RGB color figure, which separate, to be read and stores.RGB color figure, infrared speckle image or infrared image
After being separated, it is ready for subsequent image procossing.
Step 4: figure will be carried out respectively by the isolated RGB color figure of image and infrared speckle image or infrared image
As processing.
(1) image signal process ISP processing is carried out to RGB color figure.Specific processing mode is as shown in Figure 3.By right
The signal of front-end image sensor output does post-processing, carries out the work that linearity rectification, noise remove, bad point remove to image
With thus the RGB color figure to be worked well.
(2) image processing operations of following steps are carried out to infrared speckle image, as shown in Figure 4:
Pretreatment.The present invention uses the method for flake correction the distortion of input, and image is corrected.As shown in figure 5, sharp
With the external storage function of DDR, QPI Flash, store the shift differences of fault image coordinate and ideal image coordinate, then with
Real-time image coordinates synchronize operation, achieve the purpose that flake distortion correction, meet real-time processing requirement well.Fish will be passed through
Color image is converted to grayscale image using mean value method by the image of eye correction, is then turned grayscale image using threshold value converting algorithm
Artwork master is turned to, is then more clear image convenient for analysis using Grads Sharp method.
Image rotation.Being read out in the prior art to image is the long side for being read out by row, that is, pressing image
Be read out, and camera is often rotated with the needs of people in practical operation, if at this time image without
Rotation will be read out by the short side of image, to destroy the data structure of image.Image rotation is in order to more easily
Carry out the reading and storage of image.In the present invention when camera rotates, at this time imaging sensor can be to image at
Otherwise reason one signal of module does not rotate to carry out image rotation when image procossing.Fig. 6 (a) and Fig. 6 (b) is figure
As rotary reference figure, the reading manner of existing image information is to start to read from the first row 1,2,3,4 and store, such as Fig. 6 (a)
It is shown.Fig. 6 (b) is the reading manner of Fig. 6 (a) image after rotating clockwise 90 degree, and image is opened from the first row 9,5,1 at this time
Begin to read and store.
Block- matching.It inputs infrared speckle image and cured reference speckle image carries out block-based motion estimation, pass through
Block- matching similarity-rough set calculates, and obtains inputting each pixel in infrared speckle image by image block mode and refers to speckle
The offset between blocks and optimal matching blocks central point in image, i.e. motion estimation vectors.Wherein, the reference speckle image is
As reference benchmark, projects in advance and acquire and pass through in the plane vertical with the optical axis of infrared speckle encoding pattern projector
Identical pretreatment obtains, and the vertical reference distance d from the projector is known.
Depth calculation.The corresponding depth of the infrared each pixel of speckle image is obtained according to structure light monocular depth calculation formula
Angle value information, calculation formula are as follows:Wherein f is the focal length of video camera, and s is baseline, and d is reference distance,
Δ x is offset, and μ is pixel size, and dis is depth value.
Post-processing.The depth image obtained by depth calculation is post-processed.Depth image is denoised, is put down
It is sliding, and cavity repairing.Denoising smooth: reducing error hiding, edge cavity bring noise, space-time 3D denoising can be used or using cunning
The mode of dynamic window denoising smooth, interpolation.Cavity repairing: empty repairing is carried out using two-sided filter, as a kind of nonlinear filtering
Wave device can take into account space length, can not only remove noise, moreover it is possible to the edge of image is kept, meanwhile, its depth to missing
Angle value also can be carried out filling.
Point Yun Shengcheng.Three-dimensional point cloud generation is that the pixel coordinate of depth map is transformed into space coordinate.In conjunction with Pd=dis
Ind-1·pdWherein pd=[id, jd, l]TIndicate the homogeneous coordinates of depth image vegetarian refreshments, IndIndicate depth perception device Depth
The internal reference matrix of Sensor, dis indicate each point to the distance value of camera.
(3) infrared image enhancement processing is carried out to infrared image.
If cannot be removed well to the noise of infrared image using traditional infrared image enhancement technology, and
And the edge of image can not be protected well, the details such as profile cannot realize the effect to infrared image enhancement very well.The present invention
Other than it can apply traditional infrared image enhancement processing, a kind of improved histogram equalization algorithm is also provided, to compared with existing
There is the image enhancement technique of technology, the contrast of image can be made to be greatly improved, and is relatively good to target, back
Scape, the signals such as noise are adjusted, and highlight the gray level of target, improve target gray space, protect a large amount of details, make
Infrared figure obtains good reinforcing effect.
Specific step is as follows:
Step s1: analysis weighted histogram rejects zero location, and remaining unit keeps front-rear position relationship constant, constitutes
One set { N (i) | 1≤i≤K }, K are non-zero unit number.
Step s2: the maximum and maximum value of set are found out.Specifically, M (i-1)<M (i) and M (i)>M are first determined whether
(i+1) when, (2≤i≤K-1) obtains maximum, then analyzes M (1) and M (K) again.
Value in previous step s2: being constituted another set by step s3, and N (i) | 1≤i≤L }, L is that the set is very big
The number of value.
Step s4: then carrying out maximizing and maximum value to set { N (i) | | 1≤i≤L } obtained in step s3 again,
It obtains a new set { Z (j) | 1≤j≤S }, S is the number of this new set, and S < L.
Step s5: the intermediate value of set that step s4 obtains { Z (j) | 1≤j≤S } is found outPlatform threshold value
Step s6: new weighted histogram is calculated:
Wherein PtIt (k) is new weighted histogram, PrIt (k) is original histogram.Gray value of image is in section [0,255], and 0
Indicate black, 255 indicate white, nkIndicate the number that the gray level k of digital picture occurs, wherein
Pr(k)=nkK=0,1,2 ... 255
Step s7: it calculates accumulation histogram and obtains grey scale mapping.
Accumulation histogram calculation formula are as follows:
Wherein FTIt (k) is accumulation histogram.
Grey scale mapping calculation formula are as follows:RTIt (k) is the corresponding new gray level of original k gray level.
By the improvement to algorithm of histogram equalization, the contrast of image can be made to be greatly improved, and compared
Preferably to target, background, the signals such as noise are adjusted, highlight the gray level of target, improve target gray space, protect
A large amount of details have been protected, infrared image is made to obtain good reinforcing effect.
Step 5: by the RGB image after image procossing, infrared speckle image or infrared image carry out the defeated of selectivity
Out, output depth map, RGB image, infrared image, RGBD data or XYZRGB data may be selected.
The present invention not only supports the structure optical mode that laser source of the same race does not generate, such as infrared, visible light, ultraviolet light, can not
It is light-exposed etc., it is possible to use the projection scheme of different shape light-emitting component, such as round point shape, bulk, crosswise, striated.Cause
And modification without departing from the spirit and scope of the present invention and perfect, it should be included in above-mentioned scope of the claims.
Claims (10)
1. a kind of monocular structure light depth perception device based on RGBIR camera, it is characterised in that:
The depth perception device includes:
RGBIR image generating module, for projecting infrared speckle image by the infrared laser speckle encoding projector or utilizing red
Outer floodlight source irradiates infrared image, and projects visible light RGB image by RGBIR camera；
RGBIR image capture module, for passing through single RGBIR camera for the infrared speckle image or the infrared figure
Picture and the visible light RGB image acquire together, obtain RGBIR RAW data；
RGBIR image separation module, by collected RGBIR RAW data carry out image separation, isolated RGB image,
Infrared speckle image or infrared image；
RGBIR image processing module, the RGB image that RGBIR image separation module is isolated, infrared speckle image or infrared figure
As separately carrying out image procossing；
Selection output module is will be by RGBIR image processing module treated RGB image, infrared speckle image or infrared figure
Picture carries out selection output.
2. monocular structure light depth perception device as described in claim 1, it is characterised in that: it is preferred,
The image procossing that the infrared speckle image carries out is to pre-process, image rotation, Block- matching, depth calculation, post-processing, three
Tie up point Yun Shengcheng.
3. monocular structure light depth perception device as described in claim 1, it is characterised in that:
The selection output of the selection output module, further selection exports depth map, RGBD data or XYZRGB data.
4. monocular structure light depth perception device as claimed in claim 2, it is characterised in that:
Described image rotation is specially when camera is rotated, and imaging sensor is transmitted to the RGBIR image procossing
Otherwise one signal of module does not rotate so that image is rotated when image procossing.
5. monocular structure light depth perception device as described in claim 1, it is characterised in that:
The image procossing carried out to infrared image is infrared image enhancement operation, specifically:
Weighted histogram is analyzed, zero location is rejected, remaining unit keeps front-rear position relationship constant, constitutes a set { N
(i) | 1≤i≤K }, K is non-zero unit number；
Find out the maximum and maximum value of set N (i)；
Value in previous step is constituted into another set, and N (i) | 1≤i≤L }, L is the number of the set maximum；
Then maximum and maximum value calculation are carried out again to set { N (i) | 1≤i≤L }, obtain a new set Z (j) | 1
≤ j≤S }, S is the number of this new set, and S < L；
Find out the intermediate value of set { Z (j) | 1≤j≤S }Platform threshold value
Calculate new weighted histogram:
Wherein PtIt (k) is new histogram, PrIt (k) is original histogram, the number that the gray level k of digital picture occurs is nk
Pr(k)=nkK=0,1,2 ... 255
It calculates accumulation histogram and obtains grey scale mapping；
Accumulation histogram calculation formula are as follows:
Grey scale mapping calculation formula are as follows:RTIt (k) is the corresponding new gray level of original k gray level.
6. a kind of monocular structure light depth perception method based on RGBIR camera, it is characterised in that:
The monocular structure light depth perception method includes:
Step 1: powering on and power drives is allowed to work normally, the infrared laser speckle encoding projector is made to project infrared speckle pattern
Picture irradiates infrared image using infrared floodlight source, and drives RGBIR camera simultaneously, and RGBIR camera is made to project RGB
Cromogram；
Step 2: being pressed the infrared speckle image or the infrared image and the RGB color figure using a RGBIR camera
Frame acquisition, obtains RGBIR RAW data；
Step 3: image separation will be carried out by the collected RGBIR RAW data of step 2；
Step 4: by the RGB color figure isolated by image, infrared speckle image or infrared image carry out at image respectively
Reason；
Step 5: by the RGB color figure after image procossing, infrared speckle image or infrared image carry out selective output.
7. monocular structure light depth perception method as claimed in claim 6, it is characterised in that:
In step 5 selectivity output, further selection output depth map, RGBD data or
XYZRGB data.
8. monocular structure light depth perception method as claimed in claim 6, it is characterised in that:
The image procossing carried out to infrared speckle image in step 4 is pretreatment, image rotation, Block- matching, depth gauge
It calculates, post-processing, three-dimensional point cloud generates.
9. monocular structure light depth perception method as claimed in claim 8, it is characterised in that:
Described image rotation is specially when camera is rotated, and imaging sensor is transmitted to image processing module one letter
Number, so that image is rotated when image procossing, otherwise do not rotate.
10. monocular structure light depth perception method as claimed in claim 6, it is characterised in that:
The image procossing carried out to infrared image in step 4 is infrared image enhancement operation, specifically:
Step s1: analysis weighted histogram rejects zero location, and remaining unit keeps front-rear position relationship constant, constitutes one
Set N (i) | and 1≤i≤K }, K is non-zero unit number；
Step s2: the maximum and maximum value of set are found out；
Value in previous step s2: being constituted another set by step s3, and N (i) | 1≤i≤L }, L is the set maximum
Number；
Step s4: then carrying out maximizing and maximum value to { N (i) | 1≤i≤L } again, obtain a new set Z (j) | 1
≤ j≤S }, S is the number of this new set, and S < L；
Step s5: the intermediate value of set { Z (j) | 1≤j≤S } is found outPlatform threshold value
Step s6: new weighted histogram is calculated:
Wherein PtIt (k) is new histogram, PrIt (k) is original histogram, nkIndicate the number that the gray level k of digital picture occurs,
Wherein Pr(k)=nkK=0,1,2 ... 255
Step s7: it calculates accumulation histogram and obtains grey scale mapping；
Accumulation histogram calculation formula are as follows:
Grey scale mapping calculation formula are as follows:RTIt (k) is the corresponding new gray level of original k gray level.
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