CN114543696B - Structured light imaging device, structured light imaging method, structured light imaging medium and electronic equipment - Google Patents
Structured light imaging device, structured light imaging method, structured light imaging medium and electronic equipment Download PDFInfo
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Abstract
The invention provides a structured light imaging device, a structured light imaging method, a structured light imaging medium and electronic equipment. The structured light imaging device comprises a ranging module, a first transmitting end, a second transmitting end, a transmitting control module, a receiving end, an image acquisition module and an image processing module. The distance measuring module is used for acquiring the distance between the structured light imaging device and the target object, the first transmitting end is used for transmitting first structured light under the control of the transmitting control module, the second transmitting end is used for transmitting second structured light under the control of the transmitting control module, the receiving end is used for acquiring the first speckle pattern and/or the second speckle pattern, the image acquisition module is used for acquiring the image of the target object, and the image processing module is used for acquiring the depth image of the target object. The structured light imaging device is capable of achieving 3D imaging in long-range and short-range scenes.
Description
Technical Field
The invention belongs to the field of photographic devices, relates to an imaging device, and in particular relates to a structured light imaging device, a structured light imaging method, a structured light imaging medium and electronic equipment.
Background
In recent years, 3D imaging has become important in industrial and consumer applications, and devices such as three-dimensional scanners, 3D cameras, and the like developed by technicians using 3D imaging technology are widely used in various industries. Machine vision systems with 3D imaging capabilities can inspect components of a production site faster and more accurately. In the consumer field, 3D imaging provides media with greater image depth.
In the existing 3D imaging technology, the structured light imaging method has the characteristics of smaller power consumption, more mature technology, more suitability for static scenes and the like, so that the structured light imaging method is widely applied. However, the inventors have found that in practical applications, existing structured light imaging methods are mainly applied to close range imaging scenes, whereas in far range scenes, for example: somatosensory games, gesture recognition, and the like, the existing structured light imaging scheme is difficult to realize accurate 3D imaging.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a structured light imaging apparatus, a structured light imaging method, a medium and an electronic device for solving the problem that it is difficult to implement accurate 3D imaging in a distant scene by the existing structured light imaging technology.
To achieve the above and other related objects, a first aspect of the present invention provides a structured light imaging apparatus for acquiring a depth image of a target object, the structured light imaging apparatus including a ranging module, a first transmitting end, a second transmitting end, a transmission control module, a receiving end, an image acquisition module, and an image processing module; the distance measuring module is connected with the emission control module and is used for obtaining the distance between the structured light imaging device and the target object; the first transmitting end is connected with the transmitting control module and is used for transmitting first structural light under the control of the transmitting control module, and a first speckle pattern is generated after the first structural light reaches the target object; the second emitting end is connected with the emitting control module and is used for emitting second structural light under the control of the emitting control module, and a second speckle pattern is generated after the second structural light reaches the target object; the amplification factor of the second transmitting end is smaller than that of the first transmitting end; the emission control module is used for controlling the first emission end to emit the first structured light when the distance between the structured light imaging device and the target object is smaller than a distance threshold value, and controlling the second emission end to emit the second structured light when the distance between the structured light imaging device and the target object is larger than the distance threshold value; the receiving end is used for acquiring the first speckle pattern and/or the second speckle pattern; the image acquisition module is used for acquiring an image of the target object; the image processing module is connected with the receiving end and the image acquisition module and is used for acquiring a depth image of the target object according to the image of the target object and the first speckle pattern and/or the second speckle pattern.
In an embodiment of the first aspect, the first transmitting end includes: a laser emitter including a plurality of light emitting points for emitting laser light; the collimator is arranged between the laser emitter and the target object and is used for collimating the laser; and the diffraction optical element is arranged between the collimator and the target object and is used for processing the collimated laser to obtain the first structured light.
In an embodiment of the first aspect, the image processing module includes: the depth information acquisition unit is connected with the receiving end and is used for acquiring the depth information of the target object according to the speckle density in the first speckle pattern and/or the speckle density in the second speckle pattern; and the depth image generating unit is connected with the depth information acquiring unit and the image acquiring module and is used for acquiring the depth image of the target object according to the depth information of the target object and the image of the target object.
In an embodiment of the first aspect, the emission control module obtains the distance threshold according to a size of a light emitting point in the laser emitter, a distance between adjacent light emitting points, and a focal length of the collimator.
In an embodiment of the first aspect, the view angle θ of the receiving end 1 The view angle theta of the image acquisition module 2 The angle of view theta of the first transmitting end 3,1 The angle of view theta of the second transmitting end 3,2 The following conditions are satisfied: θ 2 ≥θ 1 ，θ 3,1 ≥θ 1 ，θ 3,2 ≥θ 1 ，And->Wherein D is the distance between the structured light imaging device and the target object, D 1 D, for the baseline distance between the first transmitting end and the receiving end 2 Is a baseline distance between the second transmitting end and the receiving end.
In an embodiment of the first aspect, the receiving end includes a first receiving unit and a second receiving unit.
In an embodiment of the first aspect, the receiving end and the image acquisition module share a same lens; the structured light imaging device further comprises a beam splitting prism, and the beam splitting prism is used for splitting the light transmitted through the lens to obtain the first light reaching the receiving end and the second light reaching the image acquisition module.
A second aspect of the invention provides an electronic device comprising a structured light imaging arrangement according to any of the first aspects of the invention.
A third aspect of the present invention provides a structured light imaging method, applied to the structured light imaging apparatus of any one of the first aspect of the present invention, comprising: acquiring the distance between the structured light imaging device and the target object; when the distance between the structured light imaging device and the target object is smaller than the distance threshold value, the first emitting end is used for emitting the first structured light; otherwise, the second emitting end is utilized to emit the second structure light; acquiring the first speckle pattern and/or the second speckle pattern by using the receiving end; acquiring an image of the target object by using the image acquisition module; and acquiring a depth image of the target object according to the image of the target object and the first speckle pattern and/or the second speckle pattern.
A fourth aspect of the invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a structured light imaging method according to the third aspect of the invention.
As described above, one technical solution of the structured light imaging apparatus, the structured light imaging method, the structured light imaging medium and the electronic device according to the present invention has the following beneficial effects:
the structured light imaging device comprises a first emitting end and a second emitting end, wherein the magnification of the second emitting end is smaller than that of the first emitting end. Based on this, the emission control module selects the matched emission end (first emission end and/or second emission end) to emit the structured light according to the distance between the structured light imaging device and the target object, specifically: when the distance between the structured light imaging device and the target object is smaller, a first emitting end with larger magnification is selected to emit structured light; when the distance between the structured light imaging device and the target object is large, a first emitting end with small magnification is selected to emit structured light, so that scattered spots on the target object are ensured to always meet imaging requirements. Therefore, the structured light imaging device can be simultaneously suitable for 3D imaging of long-distance scenes and short-distance scenes.
Drawings
Fig. 1A shows a schematic structural diagram of a conventional structured light imaging apparatus.
Fig. 1B and 1C show speckle patterns obtained at different distances for a conventional structured light imaging apparatus.
Fig. 2A is a schematic diagram of a structured light imaging apparatus according to an embodiment of the present invention.
Fig. 2B shows a speckle pattern obtained in an embodiment of the structured light imaging apparatus of the present invention.
Fig. 2C and 2D are schematic diagrams illustrating the operation of the structured light imaging apparatus according to the present invention at different distances in an embodiment.
Fig. 3A is a schematic structural diagram of a first emitting end of the structured light imaging apparatus according to an embodiment of the present invention.
Fig. 3B is a diagram showing an example of the light emitting points of the structured light imaging apparatus according to an embodiment of the present invention.
FIG. 3C is a diagram illustrating an exemplary speckle pattern employed in one embodiment of the structured light imaging apparatus of the present invention.
Fig. 4 is a schematic structural diagram of an image processing module of the structured light imaging apparatus according to an embodiment of the invention.
FIG. 5 is a schematic diagram showing parameters related to an embodiment of the structured light imaging apparatus according to the present invention.
FIG. 6A is a schematic diagram showing the positional relationship of the partial components of the structured light imaging apparatus according to an embodiment of the present invention.
Fig. 6B is a schematic diagram illustrating the operation of the beam splitting prism of the structured light imaging apparatus according to an embodiment of the present invention.
FIG. 7A is a schematic diagram showing the positional relationship of the partial components of the structured light imaging apparatus according to an embodiment of the present invention.
FIG. 7B is a schematic diagram showing the positional relationship of the partial components of the structured light imaging apparatus according to an embodiment of the present invention.
FIG. 8 is a flow chart of a structured light imaging method according to an embodiment of the invention.
Description of element reference numerals
2. Structured light imaging device
21. Ranging module
22. A first transmitting end
221. Laser transmitter
222. Collimator
223. Diffraction optical element
23. A second transmitting terminal
24. Emission control module
25. Receiving terminal
251. First receiving unit
252. Second receiving unit
26. Image acquisition module
27. Image processing module
271. Depth information acquisition unit
272. Depth image generation unit
S81 to S85 steps
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the illustrations, not according to the number, shape and size of the components in actual implementation, and the form, number and proportion of each component in actual implementation may be arbitrarily changed, and the layout of the components may be more complex. Moreover, relational terms such as "first," "second," and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
In the structured light imaging scheme, the depth information of the target object is often obtained according to the density of scattered spots on the target object, so that the scattered spots on the target object need to meet the imaging requirement, namely: the density of scattered spots on the target object is greater than a density threshold, which may also be expressed as the number of scattered spots on the target object being greater than a number threshold.
Existing structured light imaging methods are mainly applied to close-range imaging scenes, whereas in far-range scenes, for example: somatosensory games, gesture recognition, and the like, the existing structured light imaging scheme is difficult to realize accurate 3D imaging. Specifically, referring to fig. 1A, the conventional structured light imaging apparatus mainly includes a transmitting end and a receiving end, where the transmitting end transmits a speckle pattern, the receiving end receives the speckle pattern, and performs depth calculation according to the received speckle pattern. However, referring to fig. 1B and 1C, the speckle patterns of the target object at a short distance and a long distance are shown, respectively, it can be seen that, since the transmitting end has a fixed magnification, the area of the speckle becomes larger and larger as the distance between the transmitting end and the target object increases, and at the same time, the number of speckle on the target object becomes smaller and smaller, which eventually causes the speckle on the target object to fail to meet the imaging requirement. For example, when the distance between the transmitting end and the target object is 4-5m, there are no scattered spots or a very small amount of scattered spots on the target object, and at this time, the scattered spots on the target object cannot meet the imaging requirement, so that the depth information of the target object cannot be obtained.
In view of the foregoing, the present invention provides a structured light imaging apparatus. The structured light imaging device comprises a first emitting end and a second emitting end, wherein the magnification of the second emitting end is smaller than that of the first emitting end. Based on this, the emission control module selects the matched emission end (first emission end and/or second emission end) to emit the structured light according to the distance between the structured light imaging device and the target object, specifically: when the distance between the structured light imaging device and the target object is smaller, a first emitting end with larger magnification is selected to emit structured light; when the distance between the structured light imaging device and the target object is large, a first emitting end with small magnification is selected to emit structured light, so that scattered spots on the target object are ensured to always meet imaging requirements. Therefore, the structured light imaging device can be simultaneously suitable for 3D imaging of long-distance scenes and short-distance scenes.
Referring to fig. 2A, in an embodiment of the invention, the structured light imaging apparatus 2 includes a ranging module 21, a first transmitting end 22, a second transmitting end 23, a transmitting control module 24, a receiving end 25, an image acquisition module 26 and an image processing module 27.
The distance measuring module 21 is connected to the emission control module 24, and is configured to obtain a distance between the structured light imaging apparatus 2 and the target object. In a specific application, the ranging module 21 may be implemented by a laser ranging sensor, an ultrasonic ranging sensor, an infrared ranging sensor, or the like. The distance between the structured light imaging apparatus 2 and the target object may be the distance between any point of the target object and the structured light imaging apparatus 2, or may be an average value of distances between a plurality of points on the target object and the structured light imaging apparatus 2. Preferably, the distance of the structured light imaging apparatus 2 from the target object comprises a plurality of distance values, wherein each distance value corresponds to the distance between a certain area or a certain point of the target object and the structured light imaging apparatus 2.
The emission control module 24 obtains the distance between the structured light imaging device 2 and the target object from the ranging module 21, and controls the matched emission end to emit structured light according to the distance, specifically: when the distance between the structured light imaging apparatus 2 and the target object is smaller than a distance threshold, the first emitting end 22 with larger magnification is controlled to emit first structured light, and a first speckle pattern is formed on the surface of the target object after the first structured light reaches the target object, and referring to fig. 2B, an exemplary diagram of the first speckle pattern obtained in the embodiment is shown; when the distance between the structured light imaging apparatus 2 and the target object is smaller than the distance threshold, the second emitting end 23 with smaller magnification is controlled to emit second structured light, and a second speckle pattern is formed on the surface of the target object after the second structured light reaches the target object. The distance threshold may be preset according to actual requirements, and the first structured light and the second structured light are light beams carrying optical patterns (such as speckles). Optionally, the first structural light emitted by the first emitting end 22 and the second structural light emitted by the second emitting end 23 are both infrared light. For example, referring to fig. 2C and 2D, when the distance D1 between the target object and the structured light imaging apparatus is smaller than the distance threshold, the first emitting end 22 emits the first structured light; the second emitting end 23 emits the second structured light when a distance D2 of the target object from the structured light imaging apparatus is greater than the distance threshold.
Preferably, the angle of view of the first transmitting end 22 is greater than the angle of view of the second transmitting end 23 to ensure that there is a sufficient amount of speckle of the target object and to cover the entire target object in both near and far scenes.
The receiving end 25 is configured to acquire the first speckle pattern and/or the second speckle pattern; optionally, the receiving end 25 is an invisible light infrared receiving module, and mainly includes an infrared CMOS sensor, an optical lens, and an infrared narrow-band interference filter; the infrared CMOS sensor is used for identifying near infrared light, and the infrared narrow-band interference filter is used for filtering visible light.
The image capturing module 26 is configured to capture an image of the target object, and may be implemented by using an image capturing device such as a camera, or the like in a specific application. Optionally, the image of the target object acquired by the image acquisition module 26 is an RGB image.
The image processing module 27 is connected to the receiving end 25 and the image acquisition module 26, and is configured to acquire a depth image of the target object according to the image of the target object and the first speckle pattern and/or the second speckle pattern. Specifically, when the distance between the structured light imaging apparatus and the target object is smaller than the distance threshold, the image processing module 27 acquires a depth image of the target object from the image of the target object and the first speckle pattern; when the distance between the structured light imaging apparatus and the target object is greater than the distance threshold, the image processing module 27 obtains a depth image of the target object according to the image of the target object and the second speckle pattern; when the distance between some areas or points of the target object and the structured light imaging apparatus is greater than the distance threshold and the distance between some areas or points of the target object and the structured light imaging apparatus is less than the distance threshold, the image processing module 27 acquires a depth image of the target object from the image of the target object, the first speckle pattern, and the second speckle pattern.
As can be seen from the above description, when the target object is far from the structured light imaging device, the structured light imaging device emits first structured light by using a first emitting end with a larger magnification, so that speckles on the surface of the target object meet imaging requirements, and obtains a depth image of the target object according to the first speckle pattern and the image of the target object; when the target object is far away from the structured light imaging device, the structured light imaging device utilizes a second emitting end with smaller magnification to emit second structured light so that speckles on the surface of the target object meet imaging requirements, and a depth image of the target object is obtained according to the second speckle pattern and the image of the target object.
When the distance is short, if the emitting end with a large magnification is used to emit the structured light, the speckles on the surface of the target object are too dense, and even the speckles may overlap with each other, so that the 3D imaging is difficult to be achieved. Therefore, the embodiment selects the matched emitting end according to the distance between the structured light imaging device and the target object, so as to meet the imaging requirements of long-distance objects and short-distance objects.
Referring to fig. 3A, in an embodiment of the present invention, the first transmitting end 22 includes a laser transmitter 221, a collimator 222, and a diffractive optical element (Diffractive Optical Elements, DOE) 223.
Referring to fig. 3B, the laser transmitter 221 includes a plurality of light emitting points for emitting laser light; preferably, the Laser transmitter 221 is a Vertical-Cavity Surface-Emitting Laser (VCSEL) and/or the Laser is invisible infrared light.
The collimator 222 is disposed between the laser transmitter 221 and the target object, and is used for collimating the laser, and the collimator 222 may be implemented by using an existing collimating structure, for example, a collimating mirror, which is not described herein.
The diffractive optical element 223 is configured to scatter the collimated laser light, so as to obtain light with a scattering pattern, which is the first structured light. The DOE diffractive optical element 223 is based on the principle of light diffraction, utilizes computer aided design, and etches a stepped or continuous relief structure (typically a grating structure) on a substrate (or a conventional optical device surface) through a semiconductor chip manufacturing process, forming a type of optical element that is coaxially reproducible and has extremely high diffraction efficiency. In specific application, the divergence angle of the light beam and the shape of the formed light spot can be controlled through different designs, so that the function of forming a specific pattern by the light beam is realized. Referring to fig. 3C, an exemplary diagram of a 9 x 11 cycle speckle pattern as referred to in this embodiment is shown.
Optionally, the first emission end may further comprise a grating for diffracting the speckle pattern to expand its projection angle due to the limited angle (FOV) of the DOE to scatter the light beam.
The second transmitting end 23 may also be implemented by the same or similar structure as the first transmitting end 22 in this embodiment, which is not described herein.
Referring to fig. 4, in an embodiment of the invention, the image processing module 27 includes a depth information obtaining unit 271 and a depth image generating unit 272.
The depth information obtaining unit 271 is connected to the receiving end 25, and is configured to obtain depth information of the target object according to the speckle density in the first speckle pattern and/or the speckle density in the second speckle pattern, where the depth information of the target object includes depth information of a plurality of different areas and/or different points of the target object. Taking the first speckle pattern as an example, if the depth information acquisition unit 271 acquires the speckle density ρ (units/cm) around a certain speckle a from the first speckle pattern by measurement, statistics, or the like 2 ) As can be seen from theoretical calculation, the calculation formula of the scattered spot density around the scattered spot a isWhere f is the focal length of the collimator 222, Φ 1 D is the diameter of the light emitting point in the laser transmitter 221 1 D is the distance between adjacent luminous points in the laser transmitter 221 A And the distance from the actual speckle A on the surface of the target object corresponding to the speckle a in the first speckle pattern to the structured light imaging device is the depth information of the target object at the speckle A. Wherein ρ, f, Φ 1 And d 1 These four parameters may be directly acquired according to the first speckle pattern and the first transmitting end, and therefore, the depth information acquiring unit 271 may be capable of acquiring the depth information at the speckle a according to the above four parameters, that is: />In this way, the depth information acquisition unit 271 can acquire the depth information of the plurality of scattered spots on the surface of the target object, and when the number of scattered spots on the surface of the target object is sufficiently large, the depth information acquisition unit 271 can acquire the depth information of the target object by summing the depth information of the plurality of scattered spots.
The depth image generating unit 272 is connected to the depth information acquiring unit 271 and the image acquiring module 26, and is configured to acquire a depth image of the target object according to the depth information of the target object and the image of the target object. In a specific application, the depth image generating unit 272 may acquire the depth image of the target object by combining the depth information of the target object with the image of the target object.
In one embodiment of the present invention, the emission control module 24 obtains the distance threshold according to the size of the light spot in the laser emitter, the distance between adjacent light emitting points, and the distance between the collimators. Specifically, in this embodiment, the distance threshold D 0 The method comprises the following steps:where f is the focal length of the collimator 222, Φ 1 D is the diameter of the light emitting point in the laser transmitter 221 1 ρ is the distance between adjacent light emitting points in the laser transmitter 221 0 Minimum speckle density allowed for the structured light imaging device, in other words: when the speckle density in the first speckle pattern is less than ρ 0 The image processing unit 27 cannot acquire the depth image of the target object from the first speckle pattern when the speckle density in the second speckle pattern is smaller than ρ 0 The image processing unit 27 cannot acquire the depth image of the target object from the second speckle pattern.
In an embodiment of the present invention, an actual imaging range of the structured light imaging apparatus is the same as a receiving range of the receiving end, and the imaging range may be determined according to a field angle θ of the receiving end 1 The structured light imaging apparatus and the structured light imaging apparatusThe distance D of the target object directly acquires the actual imaging range L of the structured light imaging device, and further judges whether the actual imaging range L meets the actual requirement, wherein L=2×D×tan (theta 1 /2). To achieve this object, in the present embodiment, the view angle θ of the receiving end 1 The view angle theta of the image acquisition module 2 The angle of view theta of the first transmitting end 3,1 The angle of view theta of the second transmitting end 3,2 The following conditions should be satisfied: θ 2 ≥θ 1 ，θ 3,1 ≥θ 1 ，θ 3,2 ≥θ 1 ，And is also provided withWherein D is the distance between the structured light imaging device and the target object, D 1 D, for the baseline distance between the first transmitting end and the receiving end 2 For the baseline distance between the second transmitting end and the receiving end, refer to fig. 5, which shows the baseline distance d between the receiving end 25 and the first transmitting end 22 1 Is a schematic diagram of (a).
For the receiving end, the lens of the receiving end is taken as a vertex, and an included angle formed by two edges of the maximum range of the lens, through which the object image of the target object can pass, is called the field angle of the receiving end. The size of the angle of view determines the field of view of the receiving end, and the larger the angle of view is, the larger the field of view is, and the smaller the optical magnification is. The definition of the angles of view of the image acquisition module, the first transmitting end and the second transmitting end is similar to that of the receiving end, and details are omitted here.
In this embodiment, the imaging range of the structured light imaging device is determined by the field angle of the receiving end and the distance between the structured light imaging device and the target object, so that in practical application, the field angle of the receiving end can be adjusted according to the imaging range of the practical requirement and the distance between the structured light imaging device and the target object, and the field angle of the image acquisition module, the field angle of the first transmitting end and the field angle of the first receiving end can be adjusted according to the field angle of the receiving end, so that the imaging range of the structured light imaging device can meet the practical imaging requirement.
Referring to fig. 6A, in an embodiment of the invention, the receiving end 25 and the image capturing module 26 share the same lens; the structured light imaging apparatus further includes a beam splitting prism, configured to split light transmitted through the lens, so as to obtain a first light reaching the receiving end 25 and a second light reaching the image capturing module 26, where the receiving end 25 obtains the first speckle pattern according to the first light, and the image capturing module 26 obtains an image of the target object according to the second light. Fig. 6B shows a schematic view of light splitting using the light splitting prism.
In an embodiment of the present invention, the receiving end includes a first receiving unit and a second receiving unit, where the first receiving unit, the second receiving unit and the image capturing module may respectively use a lens to obtain light; or, one of the first receiving unit and the second receiving unit may share the same lens with the image collecting module to obtain light, at this time, the structured light imaging apparatus further includes a beam splitting prism, where the beam splitting prism is configured to split the light transmitted through the lens into a third light reaching the first receiving unit or the second receiving unit, and a fourth light reaching the image collecting module, and an action manner of the beam splitting prism is similar to that shown in fig. 6B, and is not repeated herein. Referring to fig. 7A and 7B, fig. 7A shows that the first receiving unit 251, the second receiving unit 252 and the image capturing module 26 respectively use one lens to capture light; fig. 7B shows that the second receiving unit 25 and the image capturing module 26 together use a lens to capture light.
Based on the above description of the structured light imaging apparatus, the present invention further provides an electronic device, which includes the structured light imaging apparatus of the present invention.
Based on the above description of the structured light imaging device, the invention also provides a structured light imaging method which is applied to the structured light imaging device. Referring to fig. 8, the structured light imaging method may be implemented by using the structured light imaging apparatus 2 shown in fig. 2A, and specifically includes:
s81, the distance between the structured light imaging device and the target object is acquired. This step S81 may be implemented using the ranging module 21.
S82, when the distance between the structured light imaging device and the target object is smaller than the distance threshold value, the first emitting end is used for emitting the first structured light; otherwise, the second emitting end is utilized to emit the second structure light. This step S82 may be implemented by the emission control module 24 controlling the first emission end 22 and the second emission end 23.
S83, the receiving end is utilized to acquire the first speckle pattern and/or the second speckle pattern. This step S83 may be implemented using the receiving end 25.
S84, acquiring an image of the target object by using the image acquisition module. This step S84 may be implemented by using the image acquisition module 26, and it should be noted that the step S84 is not limited to be performed after the step S83, and may be performed at any time before the step S85 in a specific application.
S85, acquiring a depth image of the target object according to the image of the target object and the first speckle pattern and/or the second speckle pattern. The supplement S85 may be implemented by the image processing module 27.
The protection scope of the structured light imaging method of the present invention is not limited to the execution sequence of the steps listed in the present embodiment, and all the schemes implemented by the steps of increasing or decreasing and step replacing in the prior art according to the principles of the present invention are included in the protection scope of the present invention.
The structured light imaging device comprises a first emitting end and a second emitting end, wherein the magnification of the second emitting end is smaller than that of the first emitting end. Based on this, the emission control module selects the matched emission end (first emission end and/or second emission end) to emit the structured light according to the distance between the structured light imaging device and the target object, specifically: when the distance between the structured light imaging device and the target object is smaller, a first emitting end with larger magnification is selected to emit structured light; when the distance between the structured light imaging device and the target object is large, a first emitting end with small magnification is selected to emit structured light, so that scattered spots on the target object are ensured to always meet imaging requirements. Therefore, the structured light imaging device can be simultaneously suitable for 3D imaging of long-distance scenes and short-distance scenes. In addition, the structured light imaging device can improve imaging precision and has stronger anti-interference capability.
In summary, the present invention effectively overcomes the disadvantages of the prior art and has high industrial utility value.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (9)
1. The structured light imaging device is characterized by being used for acquiring a depth image of a target object, and comprises a ranging module, a first transmitting end, a second transmitting end, a transmitting control module, a receiving end, an image acquisition module and an image processing module, wherein the view angle theta of the receiving end 1 The view angle theta of the image acquisition module 2 The angle of view theta of the first transmitting end 3,1 The angle of view theta of the second transmitting end 3,2 The following conditions are satisfied: θ 2 ≥θ 1 ，θ 3,1 ≥θ 1 ，θ 3,2 ≥θ 1 ，
And->Wherein D is the distance between the structured light imaging device and the target object, D 1 D, for the baseline distance between the first transmitting end and the receiving end 2 A baseline distance between the second transmitting end and the receiving end;
the distance measuring module is connected with the emission control module and is used for obtaining the distance between the structured light imaging device and the target object;
the first transmitting end is connected with the transmitting control module and is used for transmitting first structural light under the control of the transmitting control module, and a first speckle pattern is generated after the first structural light reaches the target object;
the second transmitting end is connected with the transmitting control module and is used for emitting second structural light under the control of the transmitting control module, and a second speckle pattern is generated after the second structural light reaches the target object, wherein the magnification of the second transmitting end is smaller than that of the first transmitting end;
the emission control module is used for controlling the first emission end to emit the first structured light when the distance between the structured light imaging device and the target object is smaller than a distance threshold value, and controlling the second emission end to emit the second structured light when the distance between the structured light imaging device and the target object is larger than the distance threshold value;
the receiving end is used for acquiring the first speckle pattern and/or the second speckle pattern;
the image acquisition module is used for acquiring an image of the target object;
the image processing module is connected with the receiving end and the image acquisition module and is used for executing the following operations:
when the distance between the structured light imaging device and the target object is smaller than the distance threshold value, acquiring a depth image of the target object according to the image of the target object and the first speckle pattern;
when the distance between the structured light imaging device and the target object is larger than the distance threshold, acquiring a depth image of the target object according to the image of the target object and the second speckle pattern;
and when the distance between some areas or points in the target object and the structured light imaging device is larger than the distance threshold value and the distance between other areas or points in the target object and the structured light imaging device is smaller than the distance threshold value, acquiring a depth image of the target object according to the image of the target object, the first speckle pattern and the second speckle pattern.
2. The structured light imaging apparatus of claim 1, wherein the first emission end comprises:
a laser emitter including a plurality of light emitting points for emitting laser light;
the collimator is arranged between the laser emitter and the target object and is used for collimating the laser;
and the diffraction optical element is arranged between the collimator and the target object and is used for processing the collimated laser to obtain the first structured light.
3. The structured light imaging apparatus of claim 2, wherein the image processing module comprises:
the depth information acquisition unit is connected with the receiving end and is used for acquiring the depth information of the target object according to the speckle density in the first speckle pattern and/or the speckle density in the second speckle pattern;
and the depth image generating unit is connected with the depth information acquiring unit and the image acquiring module and is used for acquiring the depth image of the target object according to the depth information of the target object and the image of the target object.
4. The structured light imaging apparatus of claim 2, wherein: the emission control module obtains the distance threshold according to the size of the luminous points in the laser emitter, the distance between adjacent luminous points and the focal length of the collimator.
5. The structured light imaging apparatus of claim 1, wherein: the receiving end comprises a first receiving unit and a second receiving unit.
6. The structured light imaging apparatus of claim 1, wherein: the receiving end and the image acquisition module share the same lens; the structured light imaging device further comprises a beam splitting prism, and the beam splitting prism is used for splitting the light transmitted through the lens to obtain the first light reaching the receiving end and the second light reaching the image acquisition module.
7. An electronic device, characterized in that: the electronic device comprising the structured light imaging arrangement of any of claims 1-6.
8. A structured light imaging method, characterized by: a structured light imaging apparatus applied to any one of claims 1 to 6, the structured light imaging method comprising:
acquiring the distance between the structured light imaging device and the target object;
when the distance between the structured light imaging device and the target object is smaller than the distance threshold value, the first emitting end is used for emitting the first structured light; otherwise, the second emitting end is utilized to emit the second structure light;
acquiring the first speckle pattern and/or the second speckle pattern by using the receiving end;
acquiring an image of the target object by using the image acquisition module;
and acquiring a depth image of the target object according to the image of the target object and the first speckle pattern when the distance between the structured light imaging device and the target object is smaller than the distance threshold value, and acquiring the depth image of the target object according to the image of the target object and the second speckle pattern when the distance between the structured light imaging device and the target object is larger than the distance threshold value.
9. A computer-readable storage medium having stored thereon a computer program, characterized by: which computer program, when being executed by a processor, implements the structured light imaging method as claimed in claim 8.
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| CN106954058A (en) * | 2017-03-09 | 2017-07-14 | 深圳奥比中光科技有限公司 | Depth image obtains system and method |
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| CN106954058A (en) * | 2017-03-09 | 2017-07-14 | 深圳奥比中光科技有限公司 | Depth image obtains system and method |
| CN108563084A (en) * | 2018-05-25 | 2018-09-21 | 深圳新亮智能技术有限公司 | Multi-structured light pattern three-dimensional sensing system |
| CN111239729A (en) * | 2020-01-17 | 2020-06-05 | 西安交通大学 | Speckle and floodlight projection fused ToF depth sensor and distance measuring method thereof |
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