CN110058212A - Target and TOF camera demarcate integrated system - Google Patents
Target and TOF camera demarcate integrated system Download PDFInfo
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- CN110058212A CN110058212A CN201910405895.XA CN201910405895A CN110058212A CN 110058212 A CN110058212 A CN 110058212A CN 201910405895 A CN201910405895 A CN 201910405895A CN 110058212 A CN110058212 A CN 110058212A
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- 238000012937 correction Methods 0.000 claims abstract description 64
- 238000012360 testing method Methods 0.000 claims abstract description 49
- 239000000758 substrate Substances 0.000 claims abstract description 21
- 239000011850 water-based material Substances 0.000 claims abstract description 18
- 239000011521 glass Substances 0.000 claims description 11
- 238000002310 reflectometry Methods 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 8
- GWEVSGVZZGPLCZ-UHFFFAOYSA-N Titan oxide Chemical compound O=[Ti]=O GWEVSGVZZGPLCZ-UHFFFAOYSA-N 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000035945 sensitivity Effects 0.000 claims description 3
- 239000004408 titanium dioxide Substances 0.000 claims description 3
- 229920006243 acrylic copolymer Polymers 0.000 claims description 2
- 240000007594 Oryza sativa Species 0.000 claims 1
- 235000007164 Oryza sativa Nutrition 0.000 claims 1
- 235000009566 rice Nutrition 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000006872 improvement Effects 0.000 description 7
- 238000005259 measurement Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 229920001577 copolymer Polymers 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000002253 acid Substances 0.000 description 1
- 150000001336 alkenes Chemical class 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 150000002148 esters Chemical class 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- JRZJOMJEPLMPRA-UHFFFAOYSA-N olefin Natural products CCCCCCCC=C JRZJOMJEPLMPRA-UHFFFAOYSA-N 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- OGIDPMRJRNCKJF-UHFFFAOYSA-N titanium oxide Inorganic materials [Ti]=O OGIDPMRJRNCKJF-UHFFFAOYSA-N 0.000 description 1
- 239000005341 toughened glass Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
A kind of target and TOF camera demarcate integrated system, and the TOF camera demarcates integrated system, comprising: totally-enclosed test cabinet；The target in the one side wall of the totally-enclosed test cabinet, the target includes substrate；Positioned at the diffusing reflection water-based material layer of diffusing reflection rate >=94% of the substrate surface；Positioned at the totally-enclosed intracorporal folder bearing apparatus of test box, the folder bearing apparatus is used for clamping TOF camera, and the TOF camera obtains the depth information of the target in predetermined position；Mobile device, the folder bearing apparatus is located in mobile device, the mobile device is used to drive the folder bearing apparatus towards the target direction or the direction far from the target moves linearly, so that the TOF camera is located at the predetermined position in the front of the target, and obtain the real-time range of the TOF camera Yu the target.TOF camera calibration integrated system of the invention improves the precision of TOF camera correction.
Description
Technical field
The present invention relates to TOF technical fields more particularly to a kind of target and TOF camera to demarcate integrated system.
Background technique
With the development of optical measurement, the depth camera based on TOF (Time of Flight, flight time) technology is gradually
Maturation starts to apply in fields such as three-dimensional measurement, gesture control, robot navigation, security protection and monitoring.TOF depth camera
Basic principle be TOF depth camera active light source transmitting modulation light after extraterrestrial target reflects by the biography of TOF depth camera
Sensor receives, by calculating the time difference between light transmitting and reflection, it is final obtain TOF depth camera and extraterrestrial target away from
From.Since the light velocity is 300000km/s, the measurement of entire flight time is very short, and the distance resolution of Centimeter Level requires system tool
There is 30 picoseconds of time resolution.It is required that all pixels point keeps tens in tens measurement process per second on sensor
Picosecond time resolution there is difficulty, cause the range measurement error of camera to reach tens centimetres, thus to TOF depth phase
The correction of machine before application is particularly important.
Existing correction generally includes depth correction, visual field plane correction etc., but there are correction accuracies for existing correction
Not high problem.
Summary of the invention
The technical problem to be solved by the present invention is to how improve TOF camera correction precision.
The present invention provides a kind of targets for TOF camera correction test, comprising:
Substrate；
Positioned at the diffusing reflection water-based material layer of diffusing reflection rate >=94% of the substrate surface.
Optionally, the material of the diffusing reflection water-based material layer of diffusing reflection rate >=94% is acrylic copolymer and two
Titanium oxide, density 1.352g/cm3；The substrate is glass substrate.
Optionally, reflectivity >=95% of the diffusing reflection water-based material layer of diffusing reflection rate >=94% to infrared light, institute
The plane precision of diffusing reflection water-based material layer of diffusing reflection rate >=94% is stated less than 1 millimeter, with a thickness of 0.5~0.8mm.
The present invention also provides a kind of TOF cameras to demarcate integrated system, comprising:
Totally-enclosed test cabinet；
Target in the one side wall of the totally-enclosed test cabinet as described in aforementioned；
Positioned at the totally-enclosed intracorporal folder bearing apparatus of test box, the folder bearing apparatus is used for clamping TOF camera, described
TOF camera obtains the depth information of the target in predetermined position；
Mobile device, the folder bearing apparatus are located in mobile device, and the mobile device is for driving the folder bearing apparatus
Towards the target direction or the direction far from the target moves linearly, so that the TOF camera is located at the target
The predetermined position in front, and obtain the real-time range of the TOF camera Yu the target.
Optionally, the TOF camera includes camera lens, and the folder bearing apparatus has the breasting face parallel with the target, institute
It states TOF camera to be clamped on the breasting face of the folder bearing apparatus, so that the camera lens is towards target.
It optionally, further include rotating device, the rotating device is located in the mobile device, and the folder bearing apparatus is located at
On the rotating device, the rotating device is used to that the folder bearing apparatus to be driven to rotate on the direction perpendicular to target surface,
Adjust the depth of parallelism between the breasting face and the target.
Optionally, there is collimator, the collimator is for determining that it is a certain pre- that folder bearing apparatus is located on the folder bearing apparatus
It is whether parallel between the breasting face and the target when positioning is set, when not parallel between the breasting face and the target,
The rotating device drives the folder bearing apparatus to rotate on the direction perpendicular to target surface, until the collimator determines institute
It is parallel between the breasting face of stating and the target.
Optionally, the mobile device includes linear motor and displacement sensor, and institute's displacement sensors are for obtaining folder
The moving distance of bearing apparatus, the moving distance for the folder bearing apparatus that the mobile device is obtained according to displacement sensor obtain folder and install
The real-time range of the TOF camera and the target set.
Optionally, further includes: correction unit, the depth information that the correction unit is obtained according to the TOF camera
With the difference of the real-time range, the TOF camera is corrected.
Optionally, further includes: the correction includes dark noise correction, sensitivity correction, visual field plane correction, depth correction
Or temperature correction.
Optionally, there is target slot, the target is mounted in target slot, the full envelope on the totally-enclosed test wall box
The side wall of test cabinet is closed as the side wall by the black processing of matt.
Optionally, the totally-enclosed test cabinet with having infrared light compensating lamp on the opposite side wall of target, it is described
Infrared light compensating lamp is used to illuminate the target when the TOF camera obtains the depth information of target.
Optionally, the preset distance is 1 meter or less than 1 meter, and the horizontal view angle of the TOF camera is 120 degree, the mark
The length of target is 3.5 meters, and the height of the target is 1.5 meters.
Compared with prior art, technical solution of the present invention has the advantage that
Target for TOF camera correction test of the invention, the diffusing reflection water-based material layer that the substrate surface is formed
202 diffusing reflection rate >=94%, by the target of the application be used for TOF camera correction test when, the target is to TOF camera
The reflectivity of the modulation light (infrared light) of transmitting is higher, so that the precision improvement for the depth information that TOF camera obtains, so that
The precision improvement for testing the difference value of the depth information and actual range that obtain, carries out school to TOF camera according to the difference value
Timing, so that the precision of correction is promoted accordingly.
Further, the material product group of the diffusing reflection water-based material layer 202 of diffusing reflection rate >=94% becomes acrylic acid
Analog copolymer and titanium dioxide, density 1.352g/cm3, 202 pairs of the diffusing reflection water-based material layer of diffusing reflection rate >=94%
Reflectivity >=95% of infrared light (wavelength is 850 nanometers or 940nm), the diffusing reflection water-based material of diffusing reflection rate >=94%
The plane precision of layer 202 is less than 1 millimeter, with a thickness of 0.5~0.8mm, so that the modulation that the target 200 emits TOF camera
The reflectivity of light (infrared light) further increases, so that the precision for the depth information that TOF camera obtains further is promoted.
TOF camera of the invention demarcates integrated system, comprising: totally-enclosed test cabinet；Positioned at the totally-enclosed test box
Target in the one side wall of body as described in aforementioned；Positioned at the totally-enclosed intracorporal folder bearing apparatus of test box, the folder bearing apparatus
For clamping TOF camera, the TOF camera obtains the depth information of the target in predetermined position；Mobile device, the folder are held
Device is located in mobile device, and the mobile device is for driving the folder bearing apparatus towards the target direction or far from institute
The direction linear movement of target is stated, so that the TOF camera is located at the predetermined position in the front of the target, and described in acquisition
The real-time range of TOF camera and the target.In the timing for carrying out TOF camera, reduced using totally-enclosed test cabinet external
Influence of the environment to correction course, and the aforementioned target is used, the modulation light (infrared light) that target emits TOF camera
Reflectivity is higher, so that the precision improvement for the depth information that TOF camera obtains, and since folder bearing apparatus is at a distance from target
It is controlled by mobile device, the accurate real-time range of the camera Yu the target can be obtained according to mobile device, thus
The application is in the timing for carrying out TOF camera, and the precision for obtaining depth information and actual range is to improve, so that depth is believed
The difference value of breath and actual range keeps higher precision, and the precision when being corrected according to the difference value to TOF camera mentions
It rises.
Further, the TOF camera demarcates integrated system, further includes: rotating device, the rotating device are located at the shifting
On dynamic device, the folder bearing apparatus is located on the rotating device, and the rotating device is for driving the folder bearing apparatus hanging down
It is directly rotated on the direction of target surface, adjusts the depth of parallelism between the breasting face and the target.On the folder bearing apparatus
Also there is collimator, when the collimator is for determining that folder bearing apparatus is located at a certain predetermined position, the breasting face and the mark
Whether parallel between target, when not parallel between the breasting face and the target, the rotating device drives the folder to install
It sets and is rotated on the direction perpendicular to target surface, until the collimator determines to put down between the breasting face and the target
Row, since TOF camera is mounted on breasting face, TOF camera (camera lens) and breasting face keeping parallelism, thus pass through rotating device
It can make in entire correction course with collimator, the TOF camera remains parallel with target, to improve TOF phase
The precision for the depth information that machine obtains, further improves the precision of correction.
Detailed description of the invention
Fig. 1 is the structural schematic diagram in one embodiment of the invention for the target of TOF camera correction test；
Fig. 2-3 is the structural schematic diagram that TOF camera demarcates integrated system in another embodiment of the present invention.
Specific embodiment
As described in the background art, existing correction has that correction accuracy is not high.
The study found that it is existing when being corrected to TOF camera, generally use target of the white wall as timing, TOF camera
TOF camera is obtained the actual range between depth information and TOF camera and white wall and compared by the depth information for obtaining white wall
Compared with the difference value of acquisition depth information and actual range is corrected TOF camera according to difference value, due to the surface of white wall
Out-of-flatness and reflectivity is not high, so that the precision that TOF obtains depth information is limited, thus the difference of depth information and actual range
The precision of different value is also limited, so that precision when being corrected according to difference value to TOF camera is also limited.
For this purpose, the present invention provides a kind of targets for TOF camera correction test and TOF camera to demarcate integrated system,
The TOF camera calibration integrated system includes: totally-enclosed test cabinet；In the one side wall of the totally-enclosed test cabinet such as
The aforementioned target；Positioned at the totally-enclosed intracorporal folder bearing apparatus of test box, the folder bearing apparatus is used for clamping TOF phase
Machine, the TOF camera obtain the depth information of the target in predetermined position；Mobile device, the folder bearing apparatus are located at movement
On device, the mobile device is used to drive the folder bearing apparatus towards the target direction or far from the direction of the target
Linear movement so that the TOF camera is located at the predetermined position in the front of the target, and obtain the TOF camera with it is described
The real-time range of target.In the timing for carrying out TOF camera, external environment is reduced to correction course using totally-enclosed test cabinet
Influence, and use the aforementioned target, the reflectivity for the modulation light (infrared light) that target emits TOF camera is higher, makes
The precision improvement for the depth information that TOF camera obtains is obtained, and since folder bearing apparatus is to pass through mobile device at a distance from target
Control, the accurate real-time range of the camera Yu the target can be obtained according to mobile device, thus the application is carrying out
The timing of TOF camera, the precision for obtaining depth information and actual range is to improve, so that depth information and actual range
Difference value keep higher precision, the precision improvement when being corrected according to the difference value to TOF camera.
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.
One embodiment of the invention provides a kind of target for TOF camera correction test, referring to FIG. 1, the target
200 include:
Substrate 201；
Positioned at the diffusing reflection water-based material layer 202 of diffusing reflection rate >=94% on 201 surface of substrate.
In one embodiment, the 201 of the substrate are glass substrate, and the surface of glass substrate itself has very high
Flatness, also, diffusing reflection water-based material layer is coated on 201 surface of glass substrate, so that the diffuse-reflective material layer and glass that are formed
201 surface of glass substrate has good adhesiveness, and the diffusing reflection water-based material layer formed on glass substrate 201 is with very high
The thickness uniformity and surface flatness and very high diffusing reflection rate.In a specific embodiment, glass substrate uses
The tempered glass of 15mm thickness, stability is high, is unlikely to deform, can satisfy TOF camera alignment requirements.
Diffusing reflection rate >=94% for the diffusing reflection water-based material layer 202 that 201 surface of glass substrate is formed, specifically,
The diffusing reflection water-based material layer 202 can be formed in glass baseplate surface by way of spraying.By the target of the application
For TOF camera correction test when, the target 200 is higher to the reflectivity for the modulation light (infrared light) that TOF camera emits,
So that the precision improvement for the depth information that TOF camera obtains, so that the difference of depth information and actual range that test obtains
The precision improvement of different value, when being corrected according to the difference value to TOF camera, so that the precision of correction is promoted accordingly.
In one embodiment, the material composition of the diffusing reflection water-based material layer 202 of diffusing reflection rate >=94% includes third
Olefin(e) acid (ester) analog copolymer and titanium dioxide, density 1.352g/cm3, the aqueous material of the diffusing reflection of diffusing reflection rate >=94%
The bed of material 202 to reflectivity >=95% of infrared light (wavelength be 850 nanometers or 940nm), diffusing reflection rate >=94% it is unrestrained anti-
The plane precision of jetting material layer 202 is less than 1 millimeter, with a thickness of 0.5~0.8mm, so that the target 200 is to TOF camera
The reflectivity of the modulation light (infrared light) of transmitting further increases, so that the precision for the depth information that TOF camera obtains is further
It is promoted.
A kind of TOF camera calibration integrated system is additionally provided in another embodiment of the present invention, please refers to Fig. 2 and Fig. 3, Fig. 3
Diagrammatic cross-section for the part-structure obtained in Fig. 2 along the direction for being parallel to y-axis, comprising:
Totally-enclosed test cabinet 100；
Target 200 in the one side wall of the totally-enclosed test cabinet 100 as described in aforementioned；
Folder bearing apparatus 130 in the totally-enclosed test cabinet 100, the folder bearing apparatus 130 are used for clamping TOF phase
Machine 140, the TOF camera 140 obtain the depth information of the target 200 in predetermined position；
Mobile device 120, the folder bearing apparatus 130 are located in mobile device 120, and the mobile device 120 is for driving
The folder bearing apparatus 130 is towards 200 direction of target or the direction far from the target 200 moves linearly, so that described
TOF camera 140 is located at the predetermined position in the front of the target 200, and obtains the TOF camera 140 and the target 200
Real-time range.
Specifically, the totally-enclosed test cabinet 100 refers to the cavity that bottom wall and roof and surrounding side wall are closed,
In totally-enclosed test cabinet 100 can temperature and humidity to environment and environmental light intensity regulate and control so as to totally-enclosed
When testing the correction test in cabinet 100 to TOF camera, influence of the external environment to correction course, totally-enclosed test box are reduced
Body 100 is at least used to dispose the aforementioned target 200 with one side wall.In the present embodiment, the totally-enclosed test cabinet 100
For cube, the cube can be cuboid or square, the totally-enclosed test cabinet 100 include opposite bottom wall and
Roof and four side walls positioned at bottom wall and roof.
In one embodiment, totally-enclosed 100 bottom wall of test cabinet, roof and surrounding side wall are by the black place of matt
Reason improves the precision of correction so that generating in cabinet without any mirror-reflection and light source, and the specific black processing of matt can
Think metal surface anode processing technique.
The aforementioned target is installed on a side wall of totally-enclosed test cabinet 100, in the present embodiment, the target
200 length are 3.5 meters (size along the x-axis direction), and the height of the target is 1.5 meters (size along the z-axis direction), to meet
At particular predetermined locations (TOF camera 140 apart from target 200 be 1 meter or when less than 1 meter), carry out horizontal view angle is TOF camera
120 degree of visual field plane correction.
In one embodiment, there is target slot, the target 200 is mounted on target on totally-enclosed 100 side wall of test cabinet
In slot, in order to the installation and fixation of various sizes of target.
The folder bearing apparatus 130 is used for clamping TOF camera 140, so that the TOF camera 140 is located at the target 200
The predetermined position in front.The folder bearing apparatus 130 has and the 200 parallel breasting face 131 of target, the TOF camera 140
It is clamped on the breasting face 131 of the folder bearing apparatus 130, the TOF camera 140 includes camera lens, when the TOF camera 140 fills
When being sandwiched on the breasting face 131 of the folder bearing apparatus 130, so that the camera lens is towards target 200.
In the present embodiment, the breasting face 131 is a side for pressing from both sides bearing apparatus, and TOF camera 140 is mounted on breasting face
When on 131, the modulation light and the received reflected light of photoinduction unit of the light source unit transmitting of TOF camera 140 not will receive folder
The blocking or interference of bearing apparatus 130, and convenient for the height of the levelness of control TOF camera 140 and installation.
In one embodiment, the TOF depth camera may include: light source unit, photoinduction unit, processing unit, mirror
Head, control unit.The light source unit illuminates visual field for generating and emitting modulation light；The camera lens is used for will be anti-
The light focusing penetrated generates charge inducing for receiving reflection light in photoinduction unit, the photoinduction unit；The processing
Unit is for obtaining depth image；Described control unit is used to control the position of the camera lens.
The modulation light is infrared light, and in one embodiment, the modulation light that the light source unit generates is 100~150MHz
Pulsed infrared light, the wavelength of the infrared light is 850nm or 940nm.In one embodiment, the light source unit includes light source
The driving circuit connecting with light source, for the light source for generating light, the light source includes Light-Emitting Diode or vertical cavity
Surface-emitting laser (Vertical Cavity Surface Emitting Laser, VCSEL).The driving circuit is for driving
The light source working is moved, modulation light is generated.The driving circuit can drive the light source to generate and transmitting firm power or not
With the modulation light of power.
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
It crosses and obtains transmitting light and receive the time difference of light to obtain the distance between TOF camera and target information.It is when continuous wave modulation
The distance between TOF camera and target information are obtained by obtaining transmitting light and receiving the phase difference of light.
The photoinduction unit generates charge inducing, the photoinduction unit generally includes picture for incuding reflection light
Prime matrix array.The processing unit is connect with light source unit and photoinduction unit, and the processing unit is according to obtained induction
Charge obtains corresponding transmitting light and receives time difference or the phase difference of light, is believed according to the time difference or phase difference calculating depth
Breath, and then obtain depth figure.
The light focusing that the camera lens is used to reflect is in photoinduction unit.The camera lens is also used to filter out and light source list
The modulating light frequency of the member transmitting light different with wavelength.
TOF camera calibration integrated system also mobile device 120, the folder bearing apparatus 130 is located in mobile device 120, institute
State what mobile device 120 was used to drive the folder bearing apparatus 130 towards 200 direction of target or far from the target 200
Direction (direction AB shown in Fig. 3) linear movement, so that the TOF camera 140 is located at the pre-determined bit in the front of the target 200
It sets, and obtains the real-time range of the TOF camera 140 and the target 200.
By the driving of mobile device 120, the folder bearing apparatus 130 can be located at different predetermined positions, so as to
So that TOF camera is in different pre-position acquisition depth informations and carries out corresponding parameter correction or combines different predetermined
The depth information obtained at position is corrected corresponding parameter, and since folder bearing apparatus 130 is at a distance from target 200
It is controlled by mobile device 120, the accurate of the TOF camera 140 and the target 200 can be obtained according to mobile device 120
Real-time range.
In one embodiment, the mobile device 120 includes guide rail or sliding rail 121, mobile platform 122 and driving unit
(not shown), and it is located at mobile platform 122 on guide rail or sliding rail 121, the mobile platform 122 is in guide rail or sliding rail
It is moved on 121 directions (direction AB described in Fig. 3) limited, the mobile platform 122 is connect with driving unit, and the folder is held
Device 130 is located on mobile platform 122, and the driving unit is suitable for driving the mobile platform 122 along guide rail or sliding rail 121
It is moved on the direction of restriction, the folder bearing apparatus 130 on mobile platform 122 is mobile accordingly, and in one embodiment, the driving is single
Member is high-precision linear motor, and the mobile device 120 further includes displacement sensor (not shown), the displacement sensing
Device is used to obtain the moving distance of folder bearing apparatus 130, the folder bearing apparatus that the mobile device 120 is obtained according to displacement sensor
130 moving distance obtains the real-time range of TOF camera 140 and the target 200 on folder bearing apparatus 130, passes through aforementioned institute
The mobile device stated, so that the precision of the real-time range of TOF camera 140 and the target 200 is less than 0.01mm, so that
TOF camera demarcates integrated system and obtains the precision answer promotion for implementing distance, and then improves the precision of correction.
In one embodiment, the TOF camera demarcates integrated system, further includes: rotating device 150, the rotating device
150 are located in the mobile device 120, and the folder bearing apparatus 130 is located on the rotating device 150, the rotating device 150
For driving the folder bearing apparatus 130 to rotate on the direction (direction CD described in Fig. 3) perpendicular to 200 surface of target, adjust
The depth of parallelism between the breasting face 131 and the target 200.Also there is collimator 160 on the folder bearing apparatus 130, it is described
When collimator 160 is for determining that folder bearing apparatus 130 is located at a certain predetermined position, between the breasting face 131 and the target 200
Whether parallel, when not parallel between the breasting face 131 and the target 200, the rotating device 150 drives the folder to hold
Device 130 rotates on the direction perpendicular to target surface, until the collimator 160 determine the breasting face 131 with it is described
Parallel between target 200, since TOF camera is mounted on breasting face 131, TOF camera (camera lens) and face 131 holding of breasting are put down
Row, thus can be made in entire correction course by rotating device 150 and collimator 160, the TOF camera and target 200
It remains parallel, to improve the precision of the depth information of TOF camera acquisition, further improves the precision of correction.
The collimator 160 can according to bear against face 131 perhaps press from both sides bearing apparatus 130 bottom surface on or can also
To install on other suitable positions.In one embodiment, collimator 160 judges whether breasting face 131 puts down with the target 200
Capable standard are as follows: the collimator 160 on folder bearing apparatus 130 emits laser, and laser generates reflection on the surface of target 200, if
Collimator 160 can receive the laser of reflection, then determine to press from both sides between the breasting face 131 and the target 200 of bearing apparatus 130 and put down
Row determines the breasting face 131 for pressing from both sides bearing apparatus 130 and the target 200 if collimator 160 cannot receive the laser of reflection
Between it is not parallel.
In one embodiment, the TOF camera demarcates integrated system, further includes: correction unit (not shown), it is described
The difference of correction the unit depth information obtained according to the TOF camera and the real-time range, to the TOF camera into
Row correction.
In a specific embodiment, the process of the correction includes: to press from both sides 140 clamping of (to be corrected) TOF camera
On bearing apparatus；The mobile device drives the folder bearing apparatus mobile, so that described (to be corrected) on the folder bearing apparatus
TOF camera is located at the predetermined position in the front of 200 target, and the mobile device obtains must described (to be corrected) TOF phase
The real-time range of machine and the target；By rotating device 150 and collimator 160 make (to be corrected) TOF camera with
The target 200 remains parallel (can be without the step)；The TOF camera (to be corrected) is in the predetermined position
Obtain the depth information of the target；The depth information and the reality that the correction unit is obtained according to the TOF camera
When distance difference, the TOF camera is corrected.
The correction may include dark noise correction, sensitivity correction, visual field plane correction, depth correction or temperature school
Just.
In the particular embodiment, the depth information that the correction unit is obtained according to the TOF camera with it is described
The difference of real-time range, obtains correction factor, and correction unit is corrected TOF camera according to correction factor.The correction because
Son can be obtained by calculating, experiment or experience.
The pre-determined distance is 1 meter or less than 1 meter (can be 0.4 meter).
The totally-enclosed test cabinet 100 with there is infrared light compensating lamp 110, institute on the opposite side wall of target 200
Infrared light compensating lamp 100 is stated for providing environment lamp source.
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 (13)
1. a kind of target for TOF camera correction test characterized by comprising
Substrate；
Positioned at the diffusing reflection water-based material layer of diffusing reflection rate >=94% of the substrate surface.
2. a kind of target for TOF camera correction test as described in claim 1, which is characterized in that the diffusing reflection rate
The material of >=94% diffusing reflection water-based material layer is acrylic copolymer and titanium dioxide, density 1.352g/cm3；Institute
Stating substrate is glass substrate.
3. a kind of target for TOF camera correction test as claimed in claim 1 or 2, which is characterized in that the diffusing reflection
Reflectivity >=95% of the diffusing reflection water-based material layer of rate >=94% to infrared light, the diffusing reflection water of diffusing reflection rate >=94%
The plane precision of property material layer is less than 1 millimeter, with a thickness of 0.5~0.8mm.
4. a kind of TOF camera demarcates integrated system characterized by comprising
Totally-enclosed test cabinet；
The target as described in any one of claims 1-3 in the one side wall of the totally-enclosed test cabinet；
Positioned at the totally-enclosed intracorporal folder bearing apparatus of test box, the folder bearing apparatus is used for clamping TOF camera, the TOF phase
Machine obtains the depth information of the target in predetermined position；
Mobile device, the folder bearing apparatus are located in mobile device, the mobile device for drive the folder bearing apparatus towards
The target direction or the direction of the separate target move linearly, so that the TOF camera is located at the front of the target
Predetermined position, and obtain the real-time range of the TOF camera Yu the target.
5. TOF camera as claimed in claim 4 demarcates integrated system, which is characterized in that the TOF camera includes camera lens, institute
Stating folder bearing apparatus has the breasting face parallel with the target, and the TOF camera is clamped on the breasting face of the folder bearing apparatus,
So that the camera lens is towards target.
6. TOF camera as claimed in claim 5 demarcates integrated system, which is characterized in that it further include rotating device, the rotation
Device is located in the mobile device, and the folder bearing apparatus is located on the rotating device, and the rotating device is for driving institute
It states folder bearing apparatus to rotate on the direction perpendicular to target surface, adjusts the depth of parallelism between the breasting face and the target.
7. TOF camera as claimed in claim 6 demarcates integrated system, which is characterized in that have collimation on the folder bearing apparatus
Instrument, the collimator for determine folder bearing apparatus be located at a certain predetermined position when, between the breasting face and the target whether
In parallel, when not parallel between the breasting face and the target, the rotating device drive the folder bearing apparatus perpendicular to
It is rotated on the direction of target surface, until parallel between the collimator judgement breasting face and the target.
8. TOF camera as claimed in claim 4 demarcates integrated system, which is characterized in that the mobile device includes straight-line electric
Machine and displacement sensor, institute's displacement sensors are used to obtain the moving distance of folder bearing apparatus, and the mobile device is according to displacement
The moving distance for the folder bearing apparatus that sensor obtains obtains the real-time range of TOF camera and the target on folder bearing apparatus.
9. TOF camera as claimed in claim 4 demarcates integrated system, which is characterized in that further include: correction unit, the school
Original member carries out the TOF camera according to the difference of the TOF camera depth information obtained and the real-time range
Correction.
10. TOF camera as claimed in claim 9 demarcates integrated system, which is characterized in that further include: the correction includes dark
Noise compensation, sensitivity correction, visual field plane correction, depth correction or temperature correction.
11. TOF camera as claimed in claim 4 demarcates integrated system, which is characterized in that the totally-enclosed test wall box
Upper to have target slot, the target is mounted in target slot, and the side wall of the totally-enclosed test cabinet is the side by the black processing of matt
Wall.
12. the TOF camera as described in claim 4 or 11 demarcates integrated system, which is characterized in that the totally-enclosed test cabinet
With with having infrared light compensating lamp on the opposite side wall of target, the infrared light compensating lamp is used to obtain in the TOF camera and mark
When the depth information of target, the target is illuminated.
13. TOF camera as claimed in claim 4 demarcates integrated system, which is characterized in that the preset distance is 1 meter or small
In 1 meter, the horizontal view angle of the TOF camera is 120 degree, and the length of the target is 3.5 meters, and the height of the target is 1.5
Rice.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910405895.XA CN110058212A (en) | 2019-05-15 | 2019-05-15 | Target and TOF camera demarcate integrated system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910405895.XA CN110058212A (en) | 2019-05-15 | 2019-05-15 | Target and TOF camera demarcate integrated system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110058212A true CN110058212A (en) | 2019-07-26 |
Family
ID=67323373
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910405895.XA Pending CN110058212A (en) | 2019-05-15 | 2019-05-15 | Target and TOF camera demarcate integrated system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111077512A (en) * | 2019-11-26 | 2020-04-28 | 歌尔股份有限公司 | TOF module calibration method and system |
| CN111239712A (en) * | 2020-01-20 | 2020-06-05 | 炬佑智能科技(苏州)有限公司 | Depth camera calibration and evaluation environment system |
| CN112415492A (en) * | 2019-08-22 | 2021-02-26 | Enscape有限公司 | Inspection apparatus of camera module with TOF function |
| CN112578366A (en) * | 2019-09-30 | 2021-03-30 | 韩国以事美德有限公司 | Time-of-flight camera error correction device |
| CN113866785A (en) * | 2021-08-19 | 2021-12-31 | 珠海视熙科技有限公司 | TOF camera light ray projection method, system and related device |
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