CN111380668A - Precision detection system and precision detection method of depth camera - Google Patents

Precision detection system and precision detection method of depth camera Download PDF

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Publication number
CN111380668A
CN111380668A CN201811607613.6A CN201811607613A CN111380668A CN 111380668 A CN111380668 A CN 111380668A CN 201811607613 A CN201811607613 A CN 201811607613A CN 111380668 A CN111380668 A CN 111380668A
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plane
depth camera
camera
depth
target
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CN111380668B (en
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徐铭
王良丹
屠昕
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Zhejiang Sunny Optical Intelligent Technology Co Ltd
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Zhejiang Sunny Optical Intelligent Technology Co Ltd
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    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract

A precision detection system of a depth camera and a precision detection method thereof are provided. The precision detection system of the depth camera is used for precision detection of the depth camera and comprises: a control processing system; the distance truth value adjusting system is connected with the control processing system in a communication mode and used for adjusting the distance between the camera plane where the depth camera is located and the plane target board based on a preset detection distance; and a plane movement system, wherein the plane movement system is communicatively connected with the control processing system and is used for responding to corresponding instructions and moving the depth camera so as to adjust the position of the field of view plane of the depth camera relative to the plane target, so that the control processing system can obtain the precision of different pixel areas of the depth camera.

Description

Precision detection system and precision detection method of depth camera
Technical Field
The invention relates to the technical field of depth cameras, in particular to a precision detection system of a depth camera and a precision detection method thereof.
Background
With the continuous development and maturity of the depth camera technology, the product forms are increasingly diversified, and the application of the depth camera technology to various industries is becoming more and more extensive. Particularly, productization, popularization and generalization are being realized in the fields of size measurement, volume detection, gesture control, portrait lighting effect, animation expression and the like.
In this process, products such as Time Of Flight (TOF) measurement based technologies are also walking into thousands Of households, with applications particularly typical in products such as intelligent floor sweeping robots. The product improves the satisfaction of customers continuously while improving the functions of the product continuously. And the TOF camera provides essential guarantee for intellectualization and humanization of the products.
Compared with the traditional TOF camera, the TOF camera of the product has the following characteristics: 1) the field of view is wider, and the field of view is changed from a common TOF camera with the field angle of 90 degrees to a wide-angle TOF camera with the field angle of 120 degrees; 2) the range finding is wider, and the TOF camera of the product adopts a linear technology to narrow the divergence angle of the light beam, so that the energy of the light beam is more concentrated, and the light beam can reach farther and wider spatial dimensions.
However, because the TOF camera of the product adopts the superposition of the wide-angle and linear technologies, higher requirements are put on the detection and evaluation of the product, and the difficulty lies in that: on one hand, compared with the traditional TOF camera, the accuracy of the wide-angle TOF camera is bound to show distribution of center height and periphery bottom on the whole space dimension, and scientific and reasonable evaluation on the accuracy trend is difficult; on the other hand, because the wide-angle TOF camera has a large field angle, when the wide-angle TOF camera has a long range, a large or infinite detection target needs to be adopted to achieve the precision detection of the wide-angle TOF camera, and therefore how to perform the precision detection on the wide-angle TOF camera in a limited space becomes an extremely difficult problem to solve.
Disclosure of Invention
An object of the present invention is to provide a precision detection system of a depth camera and a precision detection method thereof, which can reduce a detection space required for precision detection of the depth camera, and contribute to precision detection of a depth camera having a relatively large angle of view in a relatively limited detection space.
Another object of the present invention is to provide a precision detection system of a depth camera and a precision detection method thereof, which can implement precision detection of a depth camera with a relatively large field angle by using a relatively small target, and contribute to reducing a detection space required for precision detection.
Another object of the present invention is to provide a precision detection system of a depth camera and a precision detection method thereof, which can greatly reduce the size of a required flat target, so as to reduce the flatness tolerance of the target itself, and facilitate to improve the measurement precision of the whole detection system.
Another object of the present invention is to provide a system and a method for detecting the accuracy of a depth camera, which can obtain the full-screen accuracy distribution of the depth camera by moving the depth camera to change the relative position of the depth camera and a target, thereby facilitating the accuracy detection of the depth camera in a limited detection space.
Another object of the present invention is to provide a precision detection system of a depth camera and a precision detection method thereof, wherein in an embodiment of the present invention, the precision detection system of the depth camera translates the depth camera to change a position of a field plane of the depth camera relative to the plane target, thereby achieving full-screen precision detection of the depth camera.
Another object of the present invention is to provide a precision detection system of a depth camera and a precision detection method thereof, wherein in an embodiment of the present invention, the precision detection system of the depth camera changes a position of a field plane of the depth camera relative to the plane target by rotating the depth camera, so as to achieve full-screen precision detection of the depth camera.
Another object of the present invention is to provide a precision detection system of a depth camera and a precision detection method thereof, wherein in an embodiment of the present invention, the precision detection system of the depth camera changes a position of a field plane of the depth camera relative to the plane target by a combination of translating and rotating the depth camera, so as to achieve full-screen precision detection of the depth camera.
Another object of the present invention is to provide a precision detection system of a depth camera and a precision detection method thereof, wherein in an embodiment of the present invention, the precision detection system of the depth camera changes a position of a field plane of the depth camera relative to the plane target by synchronously rotating the depth camera and the plane target, thereby realizing full-screen precision detection of the depth camera.
To achieve at least one of the above objects or other objects and advantages, the present invention provides an accuracy detection system of a depth camera, for accuracy detection of the depth camera, including:
a control processing system;
the distance truth value adjusting system is connected with the control processing system in a communication mode and used for adjusting the distance between the plane of the camera where the depth camera is located and the plane target board based on a preset detection distance; and
a planar movement system, wherein the planar movement system is communicatively coupled to the control processing system for moving the depth camera in response to a corresponding instruction to adjust the position of the depth camera's field of view plane relative to the planar target such that the control processing system can obtain the accuracy of the different pixel regions of the depth camera.
In some embodiments of the present invention, the plane movement system includes a camera translation module to translate the depth camera in the camera plane to change the position of the planar target in the field of view plane of the depth camera.
In some embodiments of the invention, the camera translation module is to translate the depth camera in a first direction parallel to the camera plane to change the area of the planar target in one dimension over the field of view plane of the depth camera.
In some embodiments of the invention, the camera translation module is further configured to translate the depth camera along a second direction parallel to the camera plane, wherein the second direction is perpendicular to the first direction to two-dimensionally change an area of the planar target at the field of view plane of the depth camera.
In some embodiments of the present invention, the planar motion system further comprises a camera rotation module, wherein the camera rotation module is configured to rotate the depth camera about a first rotation axis parallel to the camera plane to change an angle of the camera plane with respect to the planar target, wherein the first rotation axis is parallel to the first direction.
In some embodiments of the present invention, the plane moving system includes a camera rotation module, wherein the camera rotation module is configured to rotate the depth camera about a first rotation axis parallel to the camera plane to change an angle of the camera plane in which the depth camera is located relative to the planar target.
In some embodiments of the invention, the camera rotation module is further configured to rotate the depth camera about a second axis of rotation parallel to the camera plane to change an angle of the camera plane in which the depth camera is located relative to the planar target, wherein the second axis of rotation is perpendicular to the first axis of rotation.
In some embodiments of the invention, the plane moving system further comprises a target rotation module, wherein the target rotation module is configured to rotate the plane target synchronously, so that the plane target is always parallel to the camera plane where the depth camera is located.
In some embodiments of the invention, the second axis of rotation coincides with the camera plane in which the depth camera is located and passes through the origin of the optical axis of the depth camera.
In some embodiments of the invention, the first axis of rotation coincides with the camera plane in which the depth camera is located and passes through the origin of the optical axis of the depth camera.
In some embodiments of the present invention, the precision detection system of the depth camera further includes a plane correction system, wherein the plane correction system is communicably connected to the control processing system and is configured to correct parallelism between the plane target and the camera plane in which the depth camera is located, so that the plane target is parallel to the camera plane.
In some embodiments of the present invention, the precision detection system of the depth camera further comprises a base calibration system, wherein the base calibration system is communicatively connected to the control processing system, and is configured to calibrate an overall horizontal status of the precision detection system of the depth camera in response to the respective association, so that the precision detection system of the depth camera satisfies a horizontal status of the detection requirement.
In some embodiments of the present invention, the control processing system includes a command module, a depth resolution module, a precision analysis module, and a communication module, wherein the command module transmits corresponding commands to the distance truth adjustment system and the planar movement system through the communication module, so that the distance truth adjustment system and the planar movement system perform corresponding operations; the depth analysis module is communicably connected with the depth camera and is used for analyzing the depth image acquired by the depth camera to obtain the depth value of the plane target; the precision analysis module is communicably connected with the depth analysis module and is used for analyzing the depth precision of the depth camera at the preset detection distance based on the depth value of the plane target and the preset detection distance.
In some embodiments of the present invention, the control processing system further comprises a region analysis module, wherein the region analysis module is communicatively connected to the depth resolution module, and is configured to analyze a region where the image of the flat target is located on the depth image acquired by the depth camera to generate a region analysis result; the instruction module is configured to generate a corresponding movement instruction based on the region analysis result, so that the planar movement system is configured to move the depth camera in response to the movement instruction.
In some embodiments of the present invention, the control processing system further includes an interaction module, so as to input and/or output corresponding information through the interaction module.
According to another aspect of the present invention, the present invention further provides a method for detecting the accuracy of a depth camera, including the steps of:
correcting the parallelism between a camera plane where a depth camera is located and a plane target through a plane correction system so as to enable the camera plane to be parallel to the plane target;
adjusting the distance between the camera plane where the depth camera is located and the plane target through a distance truth value adjusting system so as to enable the distance between the camera plane and the plane target to be equal to a preset detection distance;
moving the depth camera via a plane movement system to change a position of a field of view plane of the depth camera relative to the planar target; and
and obtaining the depth precision of the corresponding pixel area in the depth camera under the preset detection distance through a control processing system based on the depth data of the plane target acquired by the depth camera.
In some embodiments of the present invention, the step of moving the depth camera via a plane movement system to change the position of the field of view plane of the depth camera relative to the planar target includes the steps of:
translating, by a camera translation module of the plane movement system, the depth camera in a first direction parallel to the camera plane to change the position of the planar target in one dimension on the field of view plane of the depth camera.
In some embodiments of the present invention, the step of moving the depth camera via a plane moving system to change the position of the field of view plane of the depth camera relative to the planar target further comprises the steps of:
translating, by the camera translation module, the depth camera along a second direction parallel to the camera plane, wherein the second direction is perpendicular to the first direction, to two-dimensionally change a position of the planar target on the field of view plane of the depth camera.
In some embodiments of the present invention, the step of moving the depth camera via a plane moving system to change the position of the field of view plane of the depth camera relative to the planar target further comprises the steps of:
rotating the depth camera about a first axis of rotation parallel to the first direction by a camera rotation module of the plane movement system to cause a position of a mapped image of the planar target on the field of view plane of the depth camera to be changed.
In some embodiments of the present invention, the step of moving the depth camera via a plane movement system to change the position of the field of view plane of the depth camera relative to the planar target includes the steps of:
rotating the depth camera about a first axis of rotation parallel to the camera plane by a camera rotation module of the plane movement system to change the position of the mapped image of the planar target in one dimension on the field of view plane of the depth camera.
In some embodiments of the present invention, the step of moving the depth camera via a plane moving system to change the position of the field of view plane of the depth camera relative to the planar target further comprises the steps of:
rotating, by said camera rotation module, the depth camera about a second rotation axis parallel to the camera plane, wherein said second rotation axis is perpendicular to said first rotation axis, to change the position of the mapped image of the planar target in two dimensions on the field of view plane of the depth camera.
In some embodiments of the present invention, the step of moving the depth camera via a plane moving system to change the position of the field of view plane of the depth camera relative to the planar target further comprises the steps of:
and synchronously rotating the plane target through a target rotating module of the plane moving system so as to enable the plane target to be always parallel to the camera plane where the depth camera is located.
Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.
These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the claims.
Drawings
Fig. 1 shows a schematic configuration diagram of a conventional depth camera precision detection system.
FIG. 2 is a block diagram of a precision detection system of a depth camera according to a first embodiment of the invention.
Fig. 3 shows a schematic structural diagram of the precision detection system of the depth camera according to the above first embodiment of the present invention.
Fig. 4 shows a schematic diagram of the precision detection system of the depth camera according to the above first embodiment of the present invention.
Fig. 5 and 6 show a variant implementation of the accuracy detection system of the depth camera according to the above-described first embodiment of the invention.
FIG. 7 is a block diagram of a precision detection system of a depth camera according to a second embodiment of the invention.
Fig. 8 shows a schematic structural diagram of the precision detection system of the depth camera according to the above first embodiment of the present invention.
Fig. 9 is a schematic diagram showing the distribution of the mapping image of the flat target on the field-of-view plane according to the second embodiment of the present invention.
Fig. 10 shows a schematic diagram of the precision detection system of the depth camera according to the second embodiment of the present invention.
Fig. 11 and 12 show a first variant implementation of the accuracy detection system of the depth camera according to the above-described second embodiment of the present invention.
Fig. 13 and 14 show a second variant implementation of the precision detection system of the depth camera according to the above-described second embodiment of the invention.
FIG. 15 is a block diagram illustrating a precision detection system of a depth camera according to a third embodiment of the present invention.
Fig. 16 is a schematic structural diagram of the precision detection system of the depth camera according to the third embodiment of the present invention.
Fig. 17 is a schematic view showing a distribution of the mapping image of the flat target on the field-of-view plane according to the above-described third embodiment of the present invention.
Fig. 18 shows a schematic diagram of the precision detection system of the depth camera according to the third embodiment of the present invention.
FIG. 19 is a flow chart illustrating a method for detecting accuracy of a depth camera according to the present invention.
Fig. 20 is an example of moving steps of the precision detecting method of the depth camera according to the present invention.
Fig. 21 is another example of moving steps of the precision detecting method of the depth camera according to the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
In the present invention, the terms "a" and "an" in the claims and the description should be understood as meaning "one or more", that is, one element may be one in number in one embodiment, and the element may be more than one in number in another embodiment. The terms "a" and "an" should not be construed as limiting the number unless the number of such elements is explicitly recited as one in the present disclosure, but rather the terms "a" and "an" should not be construed as being limited to only one of the number.
In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
With the rapid development of depth camera technology, depth cameras (such as TOF cameras) with large field angles and long range are gradually entering the market. It is known that before a depth camera type product is put on the market, the precision of the depth camera needs to be detected so as to evaluate the product quality of the depth camera. In the prior art, as shown in fig. 1, a conventional depth camera precision detection system 1P usually employs a distance truth measurement system 11P to measure a true distance between a camera plane 200P where a conventional depth camera 2P is located and a plane target 3P, so as to obtain a distance truth value t between the camera plane 200P where the conventional depth camera 2P is located and the plane target 3P; meanwhile, the depth value d of the plane target 3P is measured by the traditional depth camera 2P, and the depth measurement precision P of the traditional depth camera 2P is further obtained. It should be understood that the conventional depth camera precision detection system 1P needs to correct the parallelism between the camera plane 200P where the conventional depth camera 2P is located and the flat target 3P to ensure that the camera plane 200P is parallel to the flat target 3P; the depth measurement accuracy P of the conventional depth camera 2P can be expressed as a relative quantitative relationship between the depth value d measured by the conventional depth camera 2P and the distance truth value t from the camera plane 200P where the conventional depth camera 2P is located to the plane target 3P, and is expressed by a formula: p ═ d-t)/t.
It is noted that in order to obtain accurate depth measurement accuracy J, the size of the planar target 3P is often matched to the field of view of the conventional depth camera 1P such that the size of the planar target 3P is no smaller than the size of the field of view plane 100P of the conventional depth camera 1P at the distance of the true value t. In other words, the edge of the field of view of the conventional depth camera 1P is located within the peripheral edge of the plane target 3P, so as to ensure that each pixel of the conventional depth camera 1P can obtain the image of the plane target 3P, thereby comprehensively obtaining the depth data of the conventional depth camera 1P, and further accurately evaluating the depth measurement accuracy of the conventional depth camera 1P.
Just because the field angle of the depth camera is larger and the detection distance is farther and farther, the size of the field plane of the depth camera at the detection distance is larger and larger, so that the size of the plane target required when performing the precision detection on the depth camera is larger and larger, even approaching infinity, and thus a large detection space is required to achieve the precision detection of the depth camera. However, in fact, it is difficult for manufacturers or detection units to provide a large enough detection space to meet the precision detection of the depth camera, and the precision detection can only be performed on a local part of the depth camera, but the precision detection cannot be performed on the depth camera in a comprehensive manner, so that the precision of the depth camera cannot be evaluated reasonably. In addition, once the size of the plane target is large, the flatness tolerance of the plane target is inevitably increased, resulting in an increase in error of the entire precision detection system.
In order to solve the above problems, the present invention provides a precision detection system of a depth camera and a precision detection method thereof, which can implement precision detection of the depth camera by using a small-sized flat target, and contribute to reducing a detection space required for precision detection of the depth camera, so as to complete precision detection of the depth camera in a limited detection space.
Specifically, as shown in fig. 2 to 4, a precision detecting system of a depth camera 10 for precision detection of a depth camera 20 according to a first embodiment of the present invention is illustrated, which includes a control processing system 11, a distance truth adjusting system 12 and a plane moving system 13. The distance truth adjustment system 12 is communicatively connected to the control processing system 11, and is configured to adjust a distance between the camera plane 210 where the depth camera 20 is located and a plane target 30 based on a preset detection distance, so that the distance between the camera plane 210 where the depth camera 20 is located and the plane target 30 is equal to the preset detection distance. The plane movement system 13 is communicatively connected to the control processing system 11 for moving the depth camera 20 in response to a corresponding instruction to adjust the position of the mapped image 300 of the flat target 30 relative to the field of view plane 220 of the depth camera 20, that is, the plane movement system 13 is for moving the depth camera 20 in response to a corresponding instruction to adjust the position of the pixel area corresponding to the flat target 30 on the pixel plane of the depth camera 20.
It is to be understood that the field of view plane 220 of the depth camera 20 may be, but is not limited to being, implemented as a planar region corresponding to the field of view of the depth camera 20 at the preset detection distance, and that the field of view plane 220 of the depth camera 20 needs to be always parallel to the camera plane 210 in which the depth camera 20 is located. Additionally, the mapped image 300 of the planar target 30 is implemented as an image of the planar target 30 formed by mapping the optical center of the planar target 30 relative to the depth camera 20 to the field of view plane 220 of the depth camera 20. In particular, when the planar target 30 is parallel to the camera plane 210 in which the depth camera 20 is located, the planar target 30 will be on the field of view plane 220 of the depth camera 20 such that the mapped image 300 of the planar target 30 is exactly coincident with the planar target 30.
In this way, after each time the depth camera 20 is moved, the position of the mapping image 300 of the plane target 30 on the field plane 220 of the depth camera 20 is changed, so that the position of the image of the plane target 30 obtained by the depth camera 20 on the full screen obtained by the depth camera 20 is changed, and thus the depth measurement accuracy of different pixel regions corresponding to the image of the plane target 30 on the pixel plane of the depth camera 20 can be obtained, and therefore, after moving the depth camera 20 for a plurality of times, the depth measurement accuracy of all the pixel regions on the pixel plane of the depth camera 20 can be obtained, so that the depth camera 20 can be fully and accurately detected, and the accuracy of the depth camera 20 can be sufficiently and reasonably evaluated. It is understood that the depth camera 20 may be implemented, but is not limited to being, a TOF camera, and in some other examples of the invention, the depth camera 20 may also be implemented as other depth cameras, such as a structured light depth camera and a binocular depth camera, among others.
It should be noted that, since the mapping image 300 of the plane target 30 only needs to correspond to a part of the area of the field of view plane 220 of the depth camera 20 and not to correspond to the whole area of the field of view plane 220 of the depth camera 20 each time the precision detection is performed, the size of the plane target 30 does not need to be as large as the field of view plane 220 of the depth camera 20, that is, the size of the pixel area corresponding to the image of the plane target 30 may be smaller than the size of the pixel plane of the depth camera 20. In this way, the size of the plane target 30 may be much smaller than the size of the field plane 220 of the depth camera 20, and the depth camera 20 is moved for multiple times to ensure that the pixels of each area in the depth camera 20 can obtain the image of the plane target 30, so that the depth data of the depth camera 20 can be obtained comprehensively, and the depth measurement accuracy of the depth camera 20 can be evaluated accurately. In this way, since the size of the plane target 30 can be made small, the detection space required for the precision detection of the depth camera 20 can be reduced, and therefore the precision detection of the depth camera 20 can be performed in a limited detection space.
In the first embodiment of the present invention, as shown in fig. 2 to 4, the plane moving system 13 includes a camera translation module 131, wherein the camera translation module 131 is configured to translate the depth camera 20 on the camera plane 210 to change the position of the field of view plane 220 of the depth camera 20 relative to the plane target 30, so that the position of the plane target 30 on the field of view plane 220 of the depth camera 20 is changed, and thus the area of the image of the plane target 30 on the pixel plane of the depth camera 20 is changed. In this way, by translating the depth camera 20 at least once, the plurality of mapping images 300 of the flat target 30 can be made to cooperate to cover the entire area of the field of view plane 220 of the depth camera 20, so that the plurality of images of the flat target 30 can correspond to the entire area of the pixel plane of the depth camera 20, so as to obtain the precision of the respective areas of the pixel plane of the depth camera 20, and thus the full-screen precision distribution of the depth camera 20.
Specifically, as shown in fig. 3 and 4, the camera translation module 131 of the plane moving system 13 is configured to translate the depth camera 20 along a first direction 201, so that the field of view plane 220 of the depth camera 20 moves along the first direction 201 to change the position of the mapping image 300 of the plane target 30 on the field of view plane 220 in one dimension, in other words, the mapping image 300 of the plane target 30 will translate on the field of view plane 220 along the opposite direction of the first direction 201 to change the area of the mapping image 300 of the plane target 30 on the field of view plane 220 in one dimension, so as to achieve full coverage of the entire area of the field of view plane 220 of the depth camera 20 by moving the depth camera 20 multiple times. Therefore, the size of the plane target 30 required by the precision detection of the depth camera 20 can be reduced, which is beneficial to improving the flatness of the plane target 30, and the detection space required by the precision detection of the depth camera 20 can be reduced, which is beneficial to carrying out the precision detection of a full picture on the depth camera 20 in a limited space. It is understood that the first direction 201 may be implemented as, but not limited to, a horizontal direction, and of course, in other examples of the present invention, the first direction 201 may also be implemented as other directions such as a vertical direction and the like.
For example, as shown in fig. 4, the plane target 30 is located in a left half area of the field plane 220 of the depth camera 20, if a distance between the plane target 30 and the camera plane 210 of the depth camera 20 is t0(as the preset detection distance), and the depth data value of the flat target 30 collected by the depth camera 20 is d1Then can pass through P1＝(d1-t0)/t0The depth measurement accuracy P of a half-area of the pixel plane of the depth camera 20 at the distance true value is calculated1(ii) a When the depth camera 20 is translated leftward in the horizontal direction by the camera translation module 131 so that the plane target 30 is located in the right half area of the viewing field plane 220 of the depth camera 20, if the depth data value of the plane target 30 acquired by the depth camera 20 is d2Then can pass through P2＝(d2-t0)/t0The depth measurement accuracy P of the other half of the pixel plane of the depth camera 20 at the distance true value is calculated2。
It should be noted that the size of the plane target 30 only needs to be equal to half of the size of the field plane 220 of the depth camera 20, and the full-area precision of the pixel plane of the depth camera 20 can be obtained by only one translation of the depth camera 20, so that the full-screen precision distribution of the depth camera 20 can be obtained, and the precision of the depth camera 20 can be sufficiently and reasonably evaluated. At the same time, the translation distance of the depth camera 20 is just equal to the width of the plane target 30 (half of the width of the field of view plane 220 of the depth camera 20), so that the width of the detection space required for precision detection of the depth camera 20 is greatly reduced.
It can be understood that the width of the detection space required by the conventional precision detection system of the depth camera to perform precision detection on the depth camera is at least equal to the width of the field plane 220 of the depth camera 20. In this way, the width of the detection space required by the precision detection system 10 of the depth camera according to the first embodiment of the present invention is only about 50% of the width of the detection space required by the conventional system, which facilitates precision detection of the depth camera 20 in a limited space.
It should be noted that, in the above-mentioned first preferred embodiment of the present invention, when the precision detecting system 10 of the depth camera detects the precision of the depth camera 20, it is required to ensure that the camera plane 210 where the depth camera 20 is located is parallel to the plane target 30, so that the depth value of the plane target 30 collected by each pixel on the pixel plane of the depth camera 20 corresponds to the same distance true value (i.e. the preset detecting distance), so that the precision detecting system 10 of the depth camera can obtain the full-screen precision distribution of the depth camera 20 at the preset detecting distance, so as to sufficiently and reasonably evaluate the precision of the depth camera 20.
Therefore, as shown in fig. 2, the precision detection system 10 of the depth camera according to the first preferred embodiment of the present invention further includes a plane correction system 14, wherein the plane correction system 14 is communicatively connected to the control processing system 11, and is configured to correct the parallelism between the plane target 30 and the camera plane 210 where the depth camera 20 is located in response to a corresponding instruction, so that the plane target 30 is parallel to the camera plane 210 where the depth camera 20 is located.
Specifically, as shown in fig. 2, the plane correction system 14 includes a parallelism detection module 141 and a parallelism adjustment module 142, wherein the parallelism detection module 141 and the depth camera 20 are in the same plane, and is configured to detect the parallelism information between the camera plane 210 where the depth camera 20 is located and the plane target 30. In particular, when the camera plane 210 where the depth camera 20 is located is not parallel to the plane target 30, the parallelism adjusting module 142 adjusts the camera plane 210 where the depth camera 20 is located according to the parallelism information detected by the parallelism detecting module 141, and performs a loop in this way, so that the parallelism between the camera plane 210 where the depth camera 20 is located and the plane target 30 finally satisfies a certain precision requirement (for example, the parallelism between the camera plane 210 and the plane target 30 is not more than 0.1%). Of course, in some other examples of the invention, the parallelism adjustment module 142 may also adjust the plane target 30 or otherwise ensure that the parallelism between the camera plane 210 and the plane target 30 meets the required accuracy requirement.
In order to ensure that the depth camera 20 and the parallelism detection module 141 are located in the same plane (i.e. the camera plane 210), as shown in fig. 2, the plane correction system 14 further includes a carrying panel 143, wherein the depth camera 20 and the parallelism detection module 141 are mounted on the carrying panel 143 in the same plane, so that when the camera plane 210 where the depth camera 20 is located is adjusted by the parallelism adjustment module 142, the parallelism detection module 141 is also adjusted synchronously, thereby ensuring that the parallelism between the camera plane 210 where the depth camera 20 is located and the plane target 30 meets a certain precision requirement through multiple adjustments and checks. In addition, for more contents about the plane correction system, reference may be made to the chinese patent application No. 201810004187.0 entitled "system for automatically detecting precision of depth information camera module and method for detecting precision thereof", which is not repeated herein.
To more fully evaluate the accuracy of the depth camera 20, the accuracy of the depth camera 20 is typically checked at different distance truth values. Therefore, in the first embodiment of the present invention, after the camera plane 210 where the depth camera 20 is located and the plane target 30 are adjusted to be in a parallel state, the distance truth adjustment system 12 of the depth camera precision detection system 10 adjusts the distance between the camera plane 210 where the depth camera 20 is located and a plane target 30 based on different preset detection distances, so that the distances between the camera plane 210 where the depth camera 20 is located and the plane target 30 are respectively equal to the corresponding preset detection distances, so as to perform depth precision detection on the depth camera 20 at different preset detection distances by the depth camera precision detection system 10.
It will be understood by those skilled in the art that the depth value of the flat target 30 collected by the depth camera 20 represents the measured distance between the camera plane 210 of the depth camera 20 and the flat target 30 when the camera plane 210 of the depth camera 20 is parallel to the flat target 30. Accordingly, when the camera plane 210 where the depth camera 20 is located is parallel to the plane target 30, the true value of the distance between the camera plane 210 where the depth camera 20 is located and the plane target 30 can be directly obtained through other measurement methods, and can be ensured to be consistent with the preset detection distance, so that the depth precision detection of the depth camera can be realized by comparing the depth value collected by the depth camera 20 with the preset detection distance.
Specifically, in this first embodiment of the present invention, as shown in fig. 2 and 3, the distance truth adjustment system 12 includes a driving module 121, wherein the driving module 121 controllably drives the camera plane 210 where the depth camera 20 is located away from or close to the plane target 30 according to a corresponding instruction to change the distance between the camera plane 210 where the depth camera 20 is located and the plane target 30. Further, the control processing system 11 may send a corresponding distance adjustment instruction to the distance truth adjustment system 12 according to the preset detection distance, so as to adjust the distance between the camera plane 210 where the depth camera 20 is located and the plane target 30 to the preset detection distance through the distance truth adjustment system 12, so as to obtain the depth measurement precision of the depth camera 20 at the preset detection distance through the depth value collected by the depth camera 20 and the preset detection distance.
In order to further ensure that the distance truth between the depth camera 20 and the plane target 30 has a higher reliability, preferably, in the first embodiment of the present invention, the distance truth adjustment system 12 further provides a truth comparison parameter to ensure that the distance truth obtained by the distance measurement unit has a higher reliability, so as to improve the fault tolerance and stability of the distance truth adjustment system 12. Illustratively, as shown in fig. 2 and 3, the distance truth adjustment system 12 further includes a scale 122, wherein the camera plane 210 in which the depth camera 20 is located and the plane target 30 are respectively located on the scale 122. That is, in this first embodiment of the present invention, the true contrast parameter may be established by the absolute value of the difference between the coordinates of the camera plane 210 in which the depth camera 20 is located and the plane target 30, so as to improve the confidence of the distance true measurement between the camera plane 210 in which the depth camera 20 is located and the plane target 30. In particular, when the difference between the true value comparison parameter and the preset detection distance is too large, the control processing system 11 may also issue a corresponding warning to remind an operator of a possible fault such as a large measurement deviation.
It should be noted that, in the first embodiment of the present invention, the distance truth adjustment system 12, the planar moving system 13 and the planar correction system 14 are respectively communicatively connected to the control processing system 11, so as to automatically pool the distance truth adjustment system 12, the planar moving system 13 and the planar correction system 14 through the control processing system 11 to perform corresponding operations.
Specifically, as shown in fig. 2, the control processing system 11 includes a command module 111, a depth resolution module 112, a precision analysis module 113, and a communication module 114, wherein the control processing system 11 maintains two-way communication with the distance truth adjustment system 12, the plane moving system 13, and the plane correction system 14 through the communication module 114.
More specifically, the instruction module 111 stores corresponding control instructions of the distance truth adjustment system 12, the plane movement system 13 and the plane correction system 14, for example, the driving module 121 of the distance truth adjustment system 12 is set and driven to change the distance between the camera plane 200 where the depth camera 20 is located and the plane target 30 to be equal to the preset detection distance; driving the parallelism adjusting device 142 of the plane correcting system 14 to adjust the parallelism between the camera plane 200 where the depth camera 20 is located and the plane target 30; the camera translation module 131 of the plane movement system 13 is set and driven to translate the depth camera 20, for changing the position of the field of view plane 220 of the depth camera 20 relative to the plane target 20, and so on. It is understood that the instruction module 111 may have an editable function to set corresponding instructions according to different requirements, so as to improve the versatility of the precision detection system 10 of the depth camera.
The depth resolution module 112 is communicatively connected to the depth camera 20 for resolving the depth image collected by the depth camera 20 to obtain the depth value of the flat target 30. Those skilled in the art will appreciate that the depth image captured by the depth camera 20 is raw data and the depth value is not directly known. Accordingly, the depth resolution module 112 is provided with a corresponding depth resolution program to perform resolution on the depth image, and obtain the distance between the depth camera 20 and the plane target 30 as the depth value of the plane target 30. For example, in a specific example of the present invention, the depth camera 20 is a TOF camera, and accordingly, the depth resolution module 112 is provided with a TOF depth image resolution program.
The precision analysis module 113 is communicatively connected to the depth resolution module 112, and is configured to analyze the depth precision of the depth camera 20 at the preset detection distance based on the depth value of the depth camera 20 at the preset detection distance obtained by the depth resolution module 112, so as to evaluate the depth precision of the depth camera 20.
It should be noted that, in the first embodiment of the present invention, as shown in fig. 2, the control processing system 11 may further include an area analysis module 115, wherein the area analysis module 115 is communicatively connected to the depth resolution module 112, and is configured to analyze an area where the image of the flat target 30 is located on the depth image acquired by the depth camera 20 to generate an area analysis result. The instruction module 111 may be further communicably connected to the area analysis module 115, and configured to generate a corresponding movement instruction based on the area analysis result, and send the movement instruction to the plane movement system 13, so that the plane movement system 13 can move the depth camera 20 in response to the movement instruction to change an area where the image of the flat target 30 is located on the depth image acquired by the depth camera 20, thereby obtaining depth precisions of different areas on the pixel plane of the depth camera 20, so as to reasonably evaluate the precision of the depth camera 20. For example, when the area analysis result is that the image of the plane target 30 is located in the left area on the depth image, the control processing system 11 may control the plane moving system 13 to move the depth camera 20 through the moving instruction generated by the instruction module 111, so that the image of the plane target 30 is located in the right area on the depth image, and so on.
In addition, as shown in fig. 2, the control processing system 11 further includes an interaction module 116, so as to input and/or output corresponding information through the interaction module 116. In a specific embodiment of the present invention, the interaction module 116 is implemented as a touch screen, so as to display corresponding information, such as operation status information of the precision detection system 10 of the depth camera, for example, start detection, end detection, prompt error information, etc., through the touch screen; or corresponding information is input through the touch screen, for example, corresponding detection parameters are configured, instruction information stored by the instruction module 111 is modified, and the like, so as to enhance the human-computer interaction performance of the precision detection system 10 of the depth camera.
It should be noted that, in the present invention, the control processing system 11 may be integrated into a computer device or embedded into a mobile intelligent terminal as an embedded system, and the installation manner of the control processing system 11 is not limited by the present invention.
Fig. 5 and 6 show a variant of the precision detection system 10 of the depth camera according to the first embodiment of the invention, which differs from the precision detection system 10 of the depth camera according to the first embodiment of the invention in that: the camera translation module 131 of the plane movement system 13 can be used not only to translate the depth camera 20 in a first direction 201 such that the field of view plane 220 of the depth camera 20 moves in the first direction 201, but can also be used to translate the depth camera 20 in a second direction 202 such that the field of view plane 220 of the depth camera 20 moves in the second direction 202, wherein the second direction 202 is perpendicular to the first direction 201, such that the camera translation module 131 can two-dimensionally change the position of the mapped image 300 of the flat target 30 on the field of view plane 220. In other words, the mapping image 300 of the planar target 30 can be translated in two dimensions on the field of view plane 220 to change the area on the field of view plane 220 where the mapping image 300 of the planar target 30 is located in two dimensions. In this way, the size of the plane target 30 can be further reduced, which is helpful to further improve the flatness of the plane target 30, thereby further reducing the detection space required by the precision detection of the depth camera 20, and facilitating the precision detection of the full screen of the depth camera 20 in a limited space.
For example, as shown in fig. 6, the plane target 30 is located at the upper left corner area of the view field plane 220 of the depth camera 20, if the distance between the plane target 30 and the camera plane 210 of the depth camera 20 is t0(i.e., the preset detection distance), and the depth data value of the flat target 30 measured by the depth camera 20 is d1Then can pass through P1＝(d1-t0)/t0Calculating the depth measurement precision P of the upper left corner area of the pixel plane of the depth camera 20 at the preset detection distance1(ii) a When the depth camera 20 is translated leftward in a horizontal direction (e.g., the first direction 201) by the camera translation module 131, the depth camera is moved to the leftWhen the plane target 30 is located in the upper right corner area of the viewing plane 220 of the depth camera 20, if the depth data value of the plane target 30 measured by the depth camera 20 is d2Then can pass through P2＝(d2-t0)/t0Calculating a depth measurement precision P of the upper right corner region of the pixel plane of the depth camera 20 at the preset detection distance2(ii) a When the depth camera 20 is translated upwards along the vertical direction (e.g. the second direction 202) by the camera translation module 131 so that the plane target 30 is located at the lower left corner region of the field of view plane 220 of the depth camera 20, if the depth data value of the plane target 30 measured by the depth camera 20 is d3Then can pass through P3＝(d3-t0)/t0Calculating a depth measurement precision P of the upper right corner region of the pixel plane of the depth camera 20 at the preset detection distance3。
In this way, the size of the plane target 30 is only 25% of the size of the field plane 220 of the depth camera 20 at the preset detection distance, so that the full-area precision detection of the pixel plane of the depth camera 20 can be realized by translating the depth camera 20 three times, and the size of the plane target 30 required by the present invention is reduced by 75% compared with the size of the plane target required by the conventional precision detection system. It can be understood that, just as the width and the height of the plane target 30 are half of the width and the height of the field of view plane 220, so that the depth camera 20 only needs to translate within the region corresponding to the plane target 30, so that the detection space required by the precision detection system 10 of the depth camera can be further reduced to about 25% of the detection space required by the conventional precision detection system, which helps to greatly reduce the limitation of the detection space on the precision detection system 10 of the depth camera.
Referring to fig. 7 to 10, a precision detection system of a depth camera according to a second embodiment of the present invention is illustrated. Specifically, the precision detection system 10 of the depth camera according to the second embodiment of the present invention is different from the above-described first embodiment of the present invention in that: the plane movement system 13 of the precision detection system 10 of the depth camera includes a camera rotation module 132, wherein the camera rotation module 132 is communicatively connected to the control processing system 11 for rotating the depth camera 20 about a first rotation axis 203 parallel to the camera plane 210 in response to a corresponding instruction to change an angle of the field of view plane 220 of the depth camera 20 with respect to the planar target 30, such that a position of the mapping image 300 of the planar target 30 on the field of view plane 220 of the depth camera 20 changes, and thus a pixel area on the pixel plane of the depth camera 20 where the image of the planar target 30 is located is changed to obtain a depth precision of the depth camera 20 at the different pixel area.
In this way, on the one hand, without translating the depth camera 20, only the depth camera 20 needs to be rotated to obtain the depth accuracy of the depth camera 20 at different pixel regions, so as to obtain the full-screen accuracy distribution of the depth camera 20; on the other hand, the size of the required detection space is substantially dependent on the size of the flat target 30, since the depth camera 20 does not need to be translated during the precision detection process, so that the limit of the detection space by the depth camera 20 is small. The depth camera 20 can rotate continuously at a small angle, so that the size of the plane target 30 only needs to be larger than the size of the area corresponding to the single pixel of the depth camera 20 in the viewing field plane 220, that is, the size of the plane target 30 only needs to meet the requirement of the precision detection of the single pixel of the depth camera 20, so that the size of the plane target 30 is greatly reduced, and the detection space required by the precision detection system 10 of the depth camera can be greatly reduced, so as to perform the precision detection on the depth camera 20 in the limited detection space. For example, the width of the plane target 30 may be reduced to 20% of the width of the field of view plane 220 of the depth camera 20, and accordingly, the detection space required by the precision detection system 10 of the depth camera will be reduced by 80% relative to the detection space required by a conventional precision detection system. It will be appreciated that as the planar target 30 is further reduced, the detection space required by the depth camera precision detection system 10 will be further reduced.
For example, as shown in fig. 8 and 10, when the camera plane 210 where the depth camera 20 is located is not rotated (i.e. the rotation angle of the camera plane 210 is 0), and the camera plane 210 where the depth camera 20 is located is parallel to the plane target 30, the true value of the distance between the camera plane 210 where the depth camera 20 is located and the plane target 30 is equal to the preset detection distance t0At this time, the depth accuracy at the pixel region of the depth camera 20 corresponding to the image of the flat target can be calculated; as shown in fig. 10, when the camera plane 210 where the depth camera 20 is located is rotated (that is, the rotation angle of the camera plane 210 is θ), the included angle between the camera plane 210 where the depth camera 20 is located and the plane target 30 is θ, and the true value of the distance between the camera plane 210 where the depth camera 20 is located and the plane target 30 is not equal to the preset detection distance t0But may be based on a series of trigonometric transformations, said preset detection distance t0And the rotation angle θ to calculate a true distance value (e.g., t) corresponding to a corresponding pixel in the camera plane 2101Or t2) Thereby obtaining the depth accuracy of the depth camera 20 at the calculated distance truth value. In this way, by changing the preset detection distance, the depth precision of a specific pixel of the depth camera 20 under different distance truth values can be obtained; by changing the rotation angle, the depth precision of different pixels of the depth camera 20 under the corresponding distance true value can be obtained, so that by changing the preset detection distance or/and the rotation angle for multiple times, the full-screen precision distribution of the depth camera 20 under the specific distance true value can be obtained, so as to perform a comprehensive and reasonable precision evaluation on the depth camera 20.
It should be noted that, just because the first rotation axis 203 is parallel to the camera plane 20 where the depth camera 20 is located, the true distance value between the pixel column parallel to the first rotation axis 203 on the pixel plane of the depth camera 20 and the plane target 30 remains the same after the depth camera 20 is rotated, which helps to greatly reduce the calculation amount of the true distance value, so as to greatly shorten the precision detection time of the depth camera 20.
Further, as shown in fig. 8 and 10, the first rotation axis 203 of the depth camera 20 is located on the camera plane 210 where the depth camera 20 is located, that is, the first rotation axis 203 of the depth camera 20 coincides with the camera plane 210 where the depth camera 20 is located, which helps to simplify the complex process of calculating the true value of the distance between the pixel of the depth camera 20 and the plane target 30 through the preset detection distance and the rotation angle, and helps to reduce the calculation error introduced in the whole detection process, so as to obtain more accurate depth precision.
It should be noted that, as shown in fig. 7 and 8, in the second embodiment of the present invention, the camera rotation module 132 includes an actuator 1321 and a rotating disc 1322, wherein the actuator 1321 is configured to drive the rotating disc 1322 to rotate around the first rotation axis 203, and the first rotation axis 203 is perpendicular to the rotating disc plane of the rotating disc 1322. In this way, it is only necessary to ensure that the camera plane 210 where the depth camera 20 is located is perpendicular to the turntable plane of the turntable 1322, that is, the first rotation axis 203 is parallel to the camera plane 210 where the depth camera 20 is located, so as to satisfy the requirement of the second embodiment of the present invention for performing the precision detection on the depth camera 20. It will be appreciated that the actuator 1321 may be, but is not limited to being, implemented as a high precision motor, such as a servo motor or the like, in order to ensure that the actuator 1321 drives the rotary disc 1322 to rotate a certain angle, in order to avoid introducing new detection errors due to errors in the rotation angle.
In particular, the bearing panel 143 of the plane correction system 14 may be perpendicular to the turntable 1322 such that the camera plane 210 in which the depth camera 20 is located is perpendicular to the turntable plane of the turntable 1322, thereby ensuring that the first rotation axis 203 is parallel to the camera plane 210 in which the depth camera 20 is located. In this way, by adjusting the vertical relationship between the two real objects of the bearing panel 143 and the rotating disc 1322 instead of adjusting the vertical relationship between the two virtual objects of the camera plane 210 and the first rotation axis 203, not only the difficulty of adjusting the vertical relationship can be reduced, but also the adjusted vertical relationship can be ensured to have higher accuracy and good verifiability, so as to reduce or avoid introducing other errors.
Preferably, when the bearing plane 143 of the plane correction system 14 corresponds to the center of rotation of the turntable 1322, the first rotation axis 203 will coincide with the camera plane 210 in which the depth camera 20 is located. More preferably, the origin of the optical axis of the depth camera 20 is located on the first rotation axis 203, in order to simplify the computational complexity of the depth measurement and to avoid introducing new errors.
In addition, in the second embodiment of the present invention, as shown in fig. 7 and 8, the camera rotation module 132 further includes an angle sensor 1323 for detecting a rotation angle of the rotating shaft of the actuator 1321 to obtain a rotation angle of the rotating disc 1322, so as to obtain an angle between the camera plane 210 where the depth camera 20 is located and the flat target 30, so that the control processing system 11 can calculate a true value of a distance between the depth camera 20 and the flat target 30 based on the rotation angle, so as to obtain the depth detection accuracy of the depth camera 20.
In order to further ensure a higher reliability of the angle between the camera plane 210 where the depth camera 20 is located and the plane target 30, preferably, in this second embodiment of the present invention, the camera rotation module 132 further provides an angle contrast parameter to ensure a higher reliability of the rotation angle acquired by the angle sensor 1323, so as to improve the fault tolerance and stability of the camera rotation module 132. Illustratively, as shown in fig. 8, the rotary disc 1322 of the camera rotation module 132 may be implemented as a rotary disc with scales to visualize the rotation angle of the rotary disc 1322, that is, the rotation angle of the rotary disc 1322 can be directly obtained by the scale change on the rotary disc 1322. It is understood that, at this time, the angle between the camera plane 210 where the depth camera 20 is located and the plane target 30 can also be expressed as a scale value on the rotating disc 1322. That is, in this second embodiment of the present invention, the angle contrast parameter may be established by the scale value of the dial 1322 to improve the reliability of the angle between the camera plane 210 in which the depth camera 20 is located and the plane target 30.
In the second embodiment of the present invention, as shown in fig. 10, since the camera plane 210 where the depth camera 20 is located is not parallel to the plane target 30 after the depth camera 20 is rotated, the preset detection distance t is set0Is not equal to the true value of the distance between the depth camera 20 and the flat target 30 (e.g., t1Or t2) Therefore, the precision analysis module 113 is configured to calculate a true value of a distance between the corresponding pixel in the depth camera 20 and the flat target 30 based on the rotation angle and the preset detection distance, and after the depth value acquired by the corresponding pixel in the depth camera 20 is obtained by the depth resolution module 112, analyze the depth detection precision of the corresponding pixel on the depth camera 20 at the preset detection distance, so as to evaluate the depth precision of the depth camera 20.
In addition, in this second embodiment of the present invention, in order to overcome the problems of uneven bottom surface, inclination, etc. that may occur in the detection space, it is finally ensured that the precision detection system 10 of the depth camera is in an absolute horizontal state to perform precision detection on the depth camera 20, so that the precision detection system 10 of the depth camera can obtain consistent precision detection results in different detection spaces (or detection environments), so as to expand the application range of the precision detection system 10 of the depth camera.
Specifically, as shown in fig. 7, the precision detection system 10 of the depth camera further includes a base calibration system 15, wherein the base calibration system 15 is communicably connected to the control processing system 11, and is configured to calibrate the overall horizontal status of the precision detection system 10 of the depth camera in response to a corresponding instruction, so that the precision detection system 10 of the depth camera satisfies the horizontal status of the detection requirement. Illustratively, the base station calibration system 15 reads data of each point from level sensors installed at a plurality of positions of the whole system through an automatic control processing system, and after data analysis, the positions of the points are represented in the same world coordinate system, and then calculation simulation is performed, and a motor is driven to adjust the height and the angle of the base; and finally reaching the horizontal state meeting the detection requirement through repeated measurement and adjustment. It is understood that the base station calibration system 15 can be adjusted, but not limited to, by using hydraulic and pneumatic methods, etc. to calibrate the overall horizontal state of the depth camera precision detection system 10, and in some other examples of the present invention, the base station calibration system 15 can also be adjusted and calibrated by using other methods, which are not described in detail herein.
Preferably, the origin of the optical axis of the depth camera 20 corresponds to the center of the planar target 30 through the calibration of the base station calibration system 15, that is, the mapping image 300 of the planar target 30 is located in the central region of the field of view plane 220 of the depth camera 20 before the depth camera 20 is rotated. In this way, the depth camera 20 can be symmetrically rotated to the left or the right, so that the mapping images 300 of the plane target 30 are respectively located in the left area and the right area of the field plane 220 of the depth camera 20, which is helpful to simplify the detection process of the precision detection system 10 and improve the detection precision of the precision detection system 10. More preferably, the pixel plane of the depth camera 20 is opposite to the plane target 30, and the first rotation axis 203 is parallel to the edge of the pixel plane of the depth camera 20, that is, four sides of the field of view plane 220 of the depth camera 20 are respectively parallel to four sides of the plane target 30, and the first rotation axis 203 is parallel to one side of the field of view plane 220 of the depth camera 20, so that when the depth camera 20 rotates around the first rotation axis 203, the mapping image 300 of the plane target 30 moves along the edge of the field of view plane 220, so as to make the maximum use of the plane target 30, which helps to simplify the calculation of the detection accuracy.
Fig. 11 and 12 show a first variant implementation of the precision detection system 10 of the depth camera according to the second embodiment of the present invention, in which the camera rotation module 132 of the plane moving system 13 can drive the camera plane 210 of the depth camera 20 to rotate around the first rotation axis 203, in addition to drive the camera plane 210 of the depth camera 20 to rotate around the first rotation axis 203, the camera plane 210 of the depth camera 20 can also be driven to rotate around a second rotation axis 204, the second rotation axis 204 is perpendicular to the first rotation axis 203, and the second rotation axis 204 is parallel to the camera plane 210 of the depth camera 20, so that when the depth camera 20 is driven to rotate around the first or second rotation axis 203, 204, respectively, the positions of the mapping image 300 of the plane target 30 in the field plane 220 of the depth camera 20 are different, thereby obtaining depth accuracy for different pixel regions in the depth camera 20.
Illustratively, as shown in fig. 11 and 12, the first axis of rotation 203 is perpendicular to a horizontal plane, while the second axis of rotation 204 is parallel to a horizontal plane, wherein when the depth camera 20 is driven to rotate about the first rotation axis 203, the mapped image 300 of the planar target 30 can switch positions within three areas of the left, middle and right in the field of view plane 220 of the depth camera 20, and when the depth camera 20 is driven to rotate about the second axis of rotation 204, the mapped image 300 of the planar target 30 can switch positions within the upper, middle and lower three regions in the field of view plane 220 of the depth camera 20, the depth precision detection system 10 of the depth camera is enabled to obtain at least the depth precision of the five regions, left, right, up, down, and middle, of the pixel plane of the depth camera 20, so as to reasonably evaluate the precision of the depth camera 20.
Notably, the second axis of rotation 204 preferably coincides with the camera plane 203 in which the depth camera 20 is located and passes through the origin of the optical axis of the depth camera 20. That is, the first and second rotation axes 204 are located in the camera plane 203 of the depth camera 20 and intersect the origin of the optical axis of the depth camera 20, which helps to simplify the calculation process to the maximum extent and shorten the time required for the precision detection of the depth camera.
Fig. 13 and 14 show a second variant implementation of the precision detection system 10 of the depth camera according to the second embodiment of the present invention, in which the plane movement system 13 of the precision detection system 10 of the depth camera further includes the camera translation module 131 for driving the camera plane 210 on which the depth camera 20 is located to translate along the first direction 201, in addition to the camera rotation module 132 for driving the camera plane 210 on which the depth camera 20 is located to rotate around the second rotation axis 204, in which the second rotation axis 204 is parallel to the first direction 201, so that the mapping image 300 of the flat target 30 can switch positions in all areas in the field of view plane 220 of the depth camera 20, so that the precision detection system 10 of the depth camera can obtain the full-screen precision distribution of the depth camera 20, in order to make a sufficiently reasonable evaluation of the depth camera 20.
Exemplarily, as shown in fig. 13 and 14, the second rotation axis 204 is parallel to a horizontal plane, and accordingly the first direction 201 is a horizontal direction, wherein when the mapping image 300 of the flat target 30 is located in a central region of the field of view plane 220 of the depth camera 20, the depth camera 20 can be driven to rotate around the second rotation axis 204, and the mapping image 300 of the flat target 30 can switch positions within three regions, namely, a middle-upper region, a middle-middle region and a middle-lower region in the field of view plane 220 of the depth camera 20, so as to obtain the precision of the corresponding pixel region on the pixel plane of the depth camera 20; while the depth camera 20 is driven to translate to the left along the first direction 201 such that the mapping image 300 of the flat target 30 is located in the right region of the field of view plane 220 of the depth camera 20, the depth camera 20 can still be driven to rotate about the second rotation axis 204, at which time the mapping image 300 of the flat target 30 can switch positions within the three upper right, middle right, and lower right regions in the field of view plane 220 of the depth camera 20 to obtain the precision of the corresponding pixel region on the pixel plane of the depth camera 20; while the depth camera 20 is driven to translate to the right along the first direction 201 such that the mapping image 300 of the flat target 30 is located in an upper region of the field of view plane 220 of the depth camera 20, the depth camera 20 can still be driven to rotate about the first rotation axis 203, at which time the mapping image 300 of the flat target 30 can switch positions within three regions, upper left, and lower left, in the field of view plane 220 of the depth camera 20 to obtain the precision of the corresponding pixel region on the pixel plane of the depth camera 20. In this way, by translating and rotating the depth camera 20, the depth camera's precision detection system 10 is enabled to obtain at least the depth precision of the Sudoku region of the depth camera's 20 pixel plane in order to reasonably assess the precision of the depth camera 20.
It should be noted that, in the second embodiment of the present invention, since only the depth camera 20 is rotated without synchronously rotating the plane target 30, so that the plane target 30 and the camera plane 210 where the depth camera 20 is located cannot be parallel, the depth values of the plane target 30 measured by different pixel regions of the depth camera 20 will be different, and accordingly the true values of the distances between the depth camera 20 and different regions on the plane target 30 will be different. Although the precision of each pixel in the depth camera 20 can be obtained through the pixel-level operation through the triangulation and averaging processes, as the detection distance increases, the area of the planar target 30 corresponding to each pixel in the depth camera 20 also becomes larger (i.e., the flashlight effect), and as the target area becomes larger, the TOF precision calculated through the triangulation and averaging processes introduces more errors, so that the detection distance of the precision detection system 10 of the depth camera is limited. In addition, since the data detected by the depth camera precision detection system 10 is precision data under different distance truth values through continuous rotation, even if a large amount of data is collected and processed and spliced, the reliability of the detected precision data is greatly reduced, and the software processing difficulty is greatly increased, so the depth camera precision detection system 10 is generally suitable for performing regional precision detection on the depth camera 20.
Referring to fig. 15 to 18, a precision detection system of a depth camera according to a third embodiment of the present invention is illustrated. Specifically, the precision detection system 10 of the depth camera according to the third embodiment of the present invention is different from the above-described second embodiment of the present invention in that: the plane movement system 13 of the precision detection system 10 of the depth camera includes in addition to the camera rotation module 132, for rotating out of the camera plane 210, in which the depth camera 20 is located, the plane moving system 13 further comprises a target rotating module 133, wherein the target rotation module 133 is communicatively coupled to the control processing system 11, for rotating the planar target 30 in response to a corresponding instruction, such that the planar target 30 is always parallel to the camera plane 210 in which the depth camera 20 is located, and as the depth camera 20 rotates, the position of the mapped image 300 of the planar target 30 on the field of view plane 220 of the depth camera 20 will change, so that the pixel area of the image of the planar target 30 at the pixel plane of the depth camera 20 is changed to obtain the depth accuracy of the depth camera 20 at different pixel areas. In other words, the plane moving system 13 rotates the depth camera 20 and the plane target 30 synchronously, so that the plane target 30 is always located on the field-of-view plane 220 where the depth camera 20 is at the distance true value (i.e. the distance between the plane target 30 and the camera plane 210 where the depth camera 20 is located is the distance true value corresponding to the preset detection distance), so that the distance true values corresponding to the depth values of the plane target 30 acquired by different pixels of the depth camera 20 at a time are consistent, so as to avoid introducing larger errors due to longer detection distances as in the second embodiment of the present invention.
It should be noted that, in the third embodiment of the present invention, as shown in fig. 16 and 18, just because the depth camera 20 and the flat target 30 rotate synchronously, under the condition that it is ensured that the camera plane 210 where the depth camera 20 is located can always be parallel to the flat target 30, the position of the mapping image 300 of the flat target 30 on the camera plane 210 where the depth camera 20 is located can also be changed to obtain the precision of different pixel areas on the pixel plane of the depth camera 20, so that the full-screen precision distribution of the depth camera 20 can be obtained by using a small flat target, so as to sufficiently and reasonably evaluate the precision of the depth camera 20. It can be understood that, compared to the above-mentioned first embodiment of the present invention, the precision detection system 10 of the depth camera according to the second embodiment of the present invention does not need to translate the depth camera 20, and only needs to rotate the depth camera 20 and the flat plate 30 to realize the full-screen precision detection of the depth camera 20, so that the detection space required by the precision detection system 10 of the depth camera is further reduced to perform the precision detection on the depth camera 20 in the limited detection space.
In addition, for a certain preset detection distance, when the camera plane 210 in which the depth camera 20 is located is rotated to different rotation angles, the true value of the distance between the camera plane 210 in which the depth camera 20 is located and the plane target 30 will be different. Therefore, the precision detection system 10 of the depth camera can obtain the precision of different pixel regions in the pixel plane of the depth camera 20 under the same distance true value through the change of the preset detection distance, so as to obtain the full-screen precision distribution of the depth camera 20 under a certain distance true value.
Illustratively, as shown in fig. 16 and 18, before rotating the depth camera 20, the mapping image 300 of the plane target 30 is located in a certain area of the field of view plane 220 of the depth camera 20, when based on the preset detection distance t0Adjusting the camera plane in which the depth camera 20 is located by the distance truth adjustment system 12210 is equal to the predetermined detection distance t0(i.e., equal to the distance true value) to obtain that a certain region of the pixel plane of the depth camera 20 is at the distance true value t0The precision of the process; then, the depth camera 20 and the plane target 30 are synchronously rotated to a rotation angle θ, so that the mapping image 300 of the plane target 30 is located in another area of the field of view plane 220 of the depth camera 20, and the preset detection distance t is based on the rotation angle θ and the preset detection distance t0To calculate a distance true value t between the camera plane 210 in which the depth camera 20 is located and the plane target 30 to obtain the precision of another region of the pixel plane of the depth camera 20 at the distance true value t; then, the distance between the camera plane 210 where the depth camera 20 is located and the plane target 30 is adjusted by the distance truth value adjusting system 12 to be equal to the different preset detection distances t0To obtain the precision of the pixel planes of the depth camera 20 at different distance truth values, so that the full-screen precision distribution of the depth camera 20 at different distance truth values can be obtained.
Of course, in some other examples of the invention, after the depth camera 20 is rotated, the planar target 30 may also be adjusted by the planar correction system 14 so that the planar target 30 is parallel to the camera plane 210 in which the depth camera 20 is located. At this time, the accuracy of the depth camera 20 under the distance true value can be solved based on the distance true value and the depth value of the plane target 30 collected by the depth camera 20 by directly measuring the distance between the plane target 30 and the camera plane 210 where the depth camera 20 is located as the corresponding distance true value.
According to another aspect of the present invention, as shown in fig. 19, an embodiment of the present invention further provides a precision detection method for a depth camera, including the steps of:
s410: correcting, by the plane correction system 14, a parallelism between a camera plane 210 on which the depth camera 20 is located and the planar target 30 such that the camera plane 210 is parallel to the planar target 30;
s420: adjusting the distance between the camera plane 210 where the depth camera 20 is located and the plane target 30 through the distance truth adjusting system 12, so that the distance between the camera plane 210 and the plane target 30 is equal to a preset detection distance;
s430: moving the depth camera 20 via a plane movement system 13 to change the position of the field of view plane 220 of the depth camera 20 relative to the planar target 30; and
s440: by means of the control processing system 11, based on the depth data of the plane target 30 acquired by the depth camera 20, the depth precision of the corresponding pixel region in the depth camera 20 at the preset detection distance is obtained.
Further, as shown in fig. 19, in this embodiment of the present invention, the step S430 includes the steps of:
s431: translating, by a camera translation module 131 of the plane movement system 13, the depth camera 20 along a first direction 201 parallel to the camera plane 210 to change the position of the planar target 30 in one dimension on the field of view plane 220 of the depth camera 20.
Specifically, as shown in fig. 19, the step S430 may further include the steps of:
s432: translating, by the camera translation module 131, the depth camera 20 along a second direction 202 parallel to the camera plane 210, wherein the second direction 202 is perpendicular to the first direction 201, to change the position of the planar target 30 in two dimensions on the field of view plane 220 of the depth camera 20.
It is noted that, in an example of the present invention, as shown in fig. 20, the step S430 may include the steps of:
s431': translating the depth camera 20 along a first direction 201 by a camera translation module 131 of the plane movement system 13 to change a position of a mapped image 300 of the planar target 30 on the field of view plane 220 of the depth camera 20 in one dimension.
Specifically, as shown in fig. 20, the step S430 may further include the steps of:
s432': rotating the depth camera 20 about a first rotation axis 203 parallel to the first direction 201 by a camera rotation module 132 of the plane moving system 13 to cause a position of the mapping image 300 of the planar target 30 on the field of view plane 220 of the depth camera 20 to be changed.
Of course, in another example of the present invention, as shown in fig. 21, the step S430 may include the steps of:
s431': rotating, by a camera rotation module 132 of the plane movement system 13, the depth camera 20 about a first rotation axis 203 parallel to a camera plane 210 in which the depth camera 20 is located to change the position of the mapping image 300 of the planar target 30 on the field of view plane 220 of the depth camera 20 in one dimension.
Specifically, as shown in fig. 21, the step S430 may further include the steps of:
s432': rotating, by the camera rotation module 132, the depth camera 20 about a second rotation axis 204 parallel to the camera plane 210, wherein the second rotation axis 204 is perpendicular to the first rotation axis 203, to change the position of the mapping image 300 of the planar target 30 in two dimensions on the field of view plane 220 of the depth camera 20.
Further, as shown in fig. 21, the step S430 may further include the steps of:
s433': the flat target 30 is synchronously rotated by the target rotation module 132 of the flat moving system 13, so that the flat target 30 is always parallel to the camera plane 220 of the depth camera 20.
It should be noted that, when the precision detection system 10 of the depth camera of the present invention performs precision detection on the depth camera 20, the precision detection system generally includes the following processes:
A) determining whether the control processing system 11 is communicably connected with the depth camera 20, and if so, entering a next process; if not, connecting the depth camera 20;
B) judging whether the control processing system 11 sets a preset detection distance, if so, entering the next process; if not, setting the preset detection distance;
C) judging whether to prevent the plane target 30 required by detection, if so, entering the next process; if not, the plane target 30 is placed;
D) judging whether the camera plane 210 where the depth camera 20 is located is parallel to the plane target 30, if so, entering the next process; if not, correcting the parallelism between the camera plane 210 and the planar target 30 by the plane correction system 14;
E) judging whether the distance between the camera plane 210 where the depth camera 20 is located and the plane target 30 is equal to the preset detection distance or not, and if so, entering the next process; if not, adjusting the distance between the camera plane 210 and the plane target 30 through a distance truth adjusting system 12;
F) acquiring depth data of the planar target 30 through a central pixel area of the depth camera 20;
G) obtaining, by the control processing system 11, a depth accuracy of a central pixel region of the depth camera 20;
H) rotating the depth camera 20 by a camera rotation module 132 of a plane movement system 13 so that the plane target 30 corresponds to another pixel area of the depth camera 20;
I) judging whether the rotation angle of the depth camera 20 is equal to a designated angle, and if so, entering the next process; if not, continuing to turn the depth camera 20 via the camera rotation module 132;
J) acquiring depth data of the flat target 30 through another pixel region of the depth camera 20;
K) obtaining, by the control processing system 11, a depth accuracy of another pixel region of the depth camera 20; and
l) repeating the above processes H) to K) until a full-screen accuracy distribution of the depth camera 20 is obtained.
It should be noted that although the above process describes moving the depth camera 20 in a rotating manner only for precision detection of a full screen, to clarify the advantages and features of the precision detection system 10 for depth camera of the present invention for precision detection of the depth camera 20, it is only an example and does not limit the scope of the present invention. Illustratively, in other examples of the present invention, the depth camera precision detection system 10 may also move the depth camera 20 by, for example, translation or translation plus rotation to perform full-screen precision detection.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.

Claims (22)

1. An accuracy detection system of a depth camera for accuracy detection of the depth camera, comprising:
a control processing system;
the distance truth value adjusting system is connected with the control processing system in a communication mode and used for adjusting the distance between the plane of the camera where the depth camera is located and the plane target board based on a preset detection distance; and
a planar movement system, wherein the planar movement system is communicatively coupled to the control processing system for moving the depth camera in response to a corresponding instruction to adjust the position of the depth camera's field of view plane relative to the planar target such that the control processing system can obtain the accuracy of the different pixel regions of the depth camera.
2. The accuracy detection system of the depth camera of claim 1, wherein the plane moving system comprises a camera translation module for translating the depth camera in the camera plane to change the position of the planar target in the field of view plane of the depth camera.
3. The accuracy detection system of claim 2, wherein the camera translation module is configured to translate the depth camera in a first direction parallel to the camera plane to change the area of the planar target in the field of view plane of the depth camera in one dimension.
4. The accuracy detection system of claim 3, wherein the camera translation module is further configured to translate the depth camera along a second direction parallel to the camera plane, wherein the second direction is perpendicular to the first direction, to change the area of the planar target on the field of view plane of the depth camera in two dimensions.
5. The accuracy detection system of claim 3, wherein the plane moving system further comprises a camera rotation module, wherein the camera rotation module is configured to rotate the depth camera about a first rotation axis parallel to the camera plane to change an angle of the camera plane with respect to the flat target, wherein the first rotation axis is parallel to the first direction.
6. The accuracy detection system of claim 1, wherein the plane movement system comprises a camera rotation module, wherein the camera rotation module is configured to rotate the depth camera about a first rotation axis parallel to the camera plane to change an angle of the camera plane in which the depth camera is located relative to the planar target.
7. The accuracy detection system of claim 6, wherein the camera rotation module is further configured to rotate the depth camera about a second axis of rotation parallel to the camera plane to change an angle of the camera plane in which the depth camera is located relative to the planar target, wherein the second axis of rotation is perpendicular to the first axis of rotation.
8. The accuracy detection system of claim 7, wherein the plane moving system further comprises a target rotating module, wherein the target rotating module is configured to rotate the plane target synchronously such that the plane target is always parallel to the camera plane where the depth camera is located.
9. The accuracy detection system of claim 8, wherein the second rotation axis coincides with the camera plane in which the depth camera is located and passes through an origin of an optical axis of the depth camera.
10. The accuracy detection system of the depth camera as claimed in claims 5 to 9, wherein the first rotation axis coincides with the camera plane where the depth camera is located and passes through the origin of the optical axis of the depth camera.
11. The accuracy detection system of a depth camera of any of claims 1 to 9, further comprising a plane correction system, wherein the plane correction system is communicatively coupled to the control processing system for correcting parallelism between the plane target and the camera plane in which the depth camera is located such that the plane target is parallel to the camera plane.
12. The depth camera accuracy detection system of any one of claims 1-9, further comprising a base calibration system, wherein the base calibration system is communicatively coupled to the control processing system for calibrating an overall level status of the depth camera accuracy detection system in response to the respective association such that the depth camera accuracy detection system satisfies a detection requirement level status.
13. The precision detection system of the depth camera according to any one of claims 1 to 9, wherein the control processing system comprises a command module, a depth resolution module, a precision analysis module, and a communication module, wherein the command module transmits corresponding commands to the distance truth adjustment system and the plane movement system through the communication module, so that the distance truth adjustment system and the plane movement system perform corresponding operations; the depth analysis module is communicably connected with the depth camera and is used for analyzing the depth image acquired by the depth camera to obtain the depth value of the plane target; the precision analysis module is communicably connected with the depth analysis module and is used for analyzing the depth precision of the depth camera at the preset detection distance based on the depth value of the plane target and the preset detection distance.
14. The accuracy detection system of claim 13, wherein the control processing system further comprises a region analysis module, wherein the region analysis module is communicatively coupled to the depth resolution module for analyzing a region of the image of the flat target located on the depth image captured by the depth camera to generate a region analysis result; the instruction module is configured to generate a corresponding movement instruction based on the region analysis result, so that the planar movement system is configured to move the depth camera in response to the movement instruction.
15. The accuracy detection system of claim 14, wherein the control processing system further comprises an interaction module for inputting and/or outputting corresponding information via the interaction module.
16. A precision detection method of a depth camera is characterized by comprising the following steps:
correcting the parallelism between a camera plane where a depth camera is located and a plane target through a plane correction system so as to enable the camera plane to be parallel to the plane target;
adjusting the distance between the camera plane where the depth camera is located and the plane target through a distance truth value adjusting system so as to enable the distance between the camera plane and the plane target to be equal to a preset detection distance;
moving the depth camera via a plane movement system to change a position of a field of view plane of the depth camera relative to the planar target; and
and obtaining the depth precision of the corresponding pixel area in the depth camera under the preset detection distance through a control processing system based on the depth data of the plane target acquired by the depth camera.
17. The accuracy detection method of the depth camera of claim 16, wherein the step of moving the depth camera by a plane moving system to change the position of the field of view plane of the depth camera with respect to the plane target comprises the steps of:
translating, by a camera translation module of the plane movement system, the depth camera in a first direction parallel to the camera plane to change the position of the planar target in one dimension on the field of view plane of the depth camera.
18. The accuracy detection method of a depth camera of claim 17, wherein the step of moving the depth camera by a plane moving system to change the position of the field of view plane of the depth camera with respect to the plane target further comprises the steps of:
translating, by the camera translation module, the depth camera along a second direction parallel to the camera plane, wherein the second direction is perpendicular to the first direction, to two-dimensionally change a position of the planar target on the field of view plane of the depth camera.
19. The accuracy detection method of a depth camera of claim 17, wherein the step of moving the depth camera by a plane moving system to change the position of the field of view plane of the depth camera with respect to the plane target further comprises the steps of:
rotating the depth camera about a first axis of rotation parallel to the first direction by a camera rotation module of the plane movement system to cause a position of a mapped image of the planar target on the field of view plane of the depth camera to be changed.
20. The accuracy detection method of the depth camera of claim 16, wherein the step of moving the depth camera by a plane moving system to change the position of the field of view plane of the depth camera with respect to the plane target comprises the steps of:
rotating the depth camera about a first axis of rotation parallel to the camera plane by a camera rotation module of the plane movement system to change the position of the mapped image of the planar target in one dimension on the field of view plane of the depth camera.
21. The accuracy detection method of a depth camera of claim 20, wherein the step of moving the depth camera by a plane moving system to change the position of the field of view plane of the depth camera with respect to the plane target further comprises the steps of:
rotating, by said camera rotation module, the depth camera about a second rotation axis parallel to the camera plane, wherein said second rotation axis is perpendicular to said first rotation axis, to change the position of the mapped image of the planar target in two dimensions on the field of view plane of the depth camera.
22. The accuracy detection method of the depth camera of claim 20 or 21, wherein the step of moving the depth camera by a plane moving system to change the position of the field of view plane of the depth camera with respect to the plane target further comprises the steps of:
and synchronously rotating the plane target through a target rotating module of the plane moving system so as to enable the plane target to be always parallel to the camera plane where the depth camera is located.
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