CN115128574A

CN115128574A - Image pickup apparatus, image pickup method, and image pickup recognition apparatus

Info

Publication number: CN115128574A
Application number: CN202110326990.8A
Authority: CN
Inventors: 潘锋; 李斌; 张新远
Original assignee: Zhejiang Sunny Optical Intelligent Technology Co Ltd
Current assignee: Zhejiang Sunny Optical Intelligent Technology Co Ltd
Priority date: 2021-03-26
Filing date: 2021-03-26
Publication date: 2022-09-30

Abstract

The application provides an image pickup apparatus, an image pickup method and an image pickup identification device. The image pickup apparatus includes: the distance measurement lens is used for measuring the distance between the camera device and a shot object; and the rotating component is fixedly connected with the distance measuring lens so as to drive the distance measuring lens to rotate at a preset rotating angle in the surface of at least one of the horizontal plane where the camera device and the object to be shot are located and the vertical plane vertical to the horizontal plane.

Description

Image pickup apparatus, image pickup method, and image pickup recognition apparatus

Technical Field

The present disclosure relates to the field of imaging technologies, and in particular, to an imaging apparatus, an imaging method, and an imaging recognition device.

Background

In recent years, with the rapid development of the fields of artificial intelligence such as autopilot, unmanned aerial vehicles, and robots, there is an increasing demand for an imaging device having a depth imaging function in the market. How to acquire depth information of a subject as much as possible (i.e., information such as a three-dimensional position and a size of the subject) is one of the main research directions of many lens designers. For example, in the field of Time of flight (TOF) technology, an image capturing apparatus with TOF technology has been widely applied in the technical fields such as face scanning, gesture control, 3D modeling, robot obstacle avoidance, and navigation, because it can simultaneously obtain a grayscale image and a distance image.

However, since the working distance (e.g., the effective focal length of the TOF camera) of most depth cameras (such as TOF cameras) is generally determined by the intensity of the laser (e.g., vertical cavity surface emitting laser VCSEL) emitted to the surface of the object, and the high power laser often has the problem of photobiological hazard, the depth camera cannot simultaneously take into account the characteristics of a large working field angle and a long working distance while the power of the laser is kept unchanged. In other words, the conventional depth camera can only perform measurement shooting at a short working distance in order to ensure the performance of a large field angle; or sacrifice the field angle of the depth camera to ensure long working distance measurement shooting.

Disclosure of Invention

The embodiments presented herein may address or partially address the deficiencies presented in the background section above or other deficiencies in the prior art.

The present application provides, in one aspect, such an image pickup apparatus. The image pickup apparatus includes: the distance measurement lens is used for measuring the distance between the camera device and a shot object; and the rotating component is fixedly connected with the distance measuring lens so as to drive the distance measuring lens to rotate at a preset rotating angle in at least one surface of a horizontal plane where the camera device and the object to be shot are located and a vertical plane vertical to the horizontal plane.

In an exemplary embodiment, the rotating component drives the distance measuring lens to rotate along at least one of the horizontal plane and the vertical plane, so that all the objects are imaged in a central imaging area of the distance measuring lens.

In an exemplary embodiment, the rotating component drives the distance measuring lens to rotate along at least one of the horizontal plane and the vertical plane, so that a part of the subject is imaged in a central imaging area of the distance measuring lens.

In an exemplary embodiment, the rotating component drives the range-finding lens to rotate along at least one of the horizontal plane and the vertical plane one by one, and the range-finding lens captures different parts of the object one by one to form a plurality of point cloud images of the different parts.

In an exemplary embodiment, the range lens includes: and the algorithm module is used for splicing the plurality of frames of point clouds at different positions in the plurality of point cloud images by using an image splicing algorithm to form a full-frame image of the shot object.

In an exemplary embodiment, the image stitching algorithm extracts a point cloud for each frame location and matches the extracted point cloud for each frame location. The algorithm module further comprises an iterative algorithm which splices the matched point clouds of each frame position to form a full-frame image of the shot object.

In an exemplary embodiment, the rotating component drives the distance measuring lens to rotate gradually along at least one surface of the horizontal plane and the vertical plane by a preset rotation angle; and the distance measuring lens successively collects the multiple frames of point clouds at different positions in the multiple point cloud images at a preset rotation angle and splices the multiple frames of point clouds at different positions by utilizing the image splicing algorithm to form a full-frame image of the shot object.

In an exemplary embodiment, the distance measuring lens includes a TOF module for measuring a distance between the image pickup device and a subject.

In an exemplary embodiment, the algorithm module further includes a background subtraction algorithm, which detects point clouds of the plurality of point cloud images, wherein different portions of the object corresponding to the point clouds of the plurality of point cloud images are determined according to a distance between the distance measuring lens and the object driven by the driving component to drive the rotating component by the predetermined rotation angle.

In an exemplary embodiment, the algorithm module determines a point cloud of a previous frame position according to a point cloud of a current frame position, wherein the point cloud of the current frame position and the point cloud of the previous frame position have an overlapping region.

In an exemplary embodiment, the algorithm module includes a filter processing unit that tracks the subject in real time to predict status information of the subject in real time. In an exemplary embodiment, the image capturing apparatus includes a driving component, which drives the rotating component to rotate the distance measuring lens by the predetermined rotation angle, so that the object is imaged in a central imaging area of the distance measuring lens.

In an exemplary embodiment, the distance measuring lens is rotated at a constant speed.

In an exemplary embodiment, the image pickup apparatus includes a shield member provided on a surface of the distance measuring lens closest to the object side.

In an exemplary embodiment, the image pickup apparatus includes a housing part disposed at an outermost side of the image pickup apparatus.

In an exemplary embodiment, the image pickup device includes a first connection part connecting the rotation part and the housing part.

In an exemplary embodiment, the first connecting member includes a rotating shaft member and a bearing member.

In an exemplary embodiment, the image pickup apparatus includes a coupling member connecting the rotation shaft member and the driving member.

In an exemplary embodiment, the image pickup apparatus includes a second connection part connecting the driving part and the housing part.

Another aspect of the present application provides an image capturing method. The image pickup method includes: measuring the distance between the camera device and the object to be shot by using the ranging lens; and fixedly connecting the rotating component with the distance measuring lens to drive the distance measuring lens to rotate at a preset rotation angle in at least one surface of a horizontal plane where the camera device and the object to be shot are located and a vertical plane perpendicular to the horizontal plane.

In an exemplary embodiment, the image pickup method includes: the rotating component is utilized to drive the distance measuring lens to rotate along at least one surface of the horizontal plane and the vertical plane, so that all the shot objects are imaged in a central imaging area of the distance measuring lens.

In an exemplary embodiment, the image pickup method includes: and driving the distance measuring lens to rotate along at least one surface of the horizontal plane and the vertical plane by using the rotating component so as to enable a part of the shot object to be imaged in a central imaging area of the distance measuring lens.

In an exemplary embodiment, the image pickup method includes: the rotating component is used for driving the distance measuring lens to rotate along at least one surface of the horizontal plane and the vertical plane one by one, and the distance measuring lens is used for shooting different parts of the shot object one by one so as to form a plurality of point cloud images of the different parts.

In an exemplary embodiment, an image pickup method includes: and splicing the plurality of frames of point clouds at different positions in the plurality of point cloud images by utilizing an image splicing algorithm of an algorithm module to form a full-frame image of the shot object.

In an exemplary embodiment, an image pickup method includes: and extracting the point cloud of each frame position by using the image splicing algorithm, and matching the extracted point cloud of each frame position. The algorithm module further comprises an iterative algorithm, and the matched point clouds of each frame position are spliced by the iterative algorithm to form a full-frame image of the shot object.

In an exemplary embodiment, an image pickup method includes: the rotating component is utilized to drive the distance measuring lens to rotate gradually along at least one surface of the horizontal plane and the vertical plane by a preset rotation angle; and acquiring the multiple frames of point clouds at different positions in the multiple point cloud images successively by using the ranging lens at a preset rotation angle, and splicing the multiple frames of point clouds at different positions by using the image splicing algorithm to form a full-frame image of the shot object.

In an exemplary embodiment, the image pickup method includes: and measuring the distance between the camera device and the object to be shot by utilizing a TOF module in the ranging lens.

In an exemplary embodiment, the algorithm module further includes a background subtraction algorithm, which is used to detect the point clouds of the plurality of point cloud images, wherein different portions of the object corresponding to the point clouds of the plurality of point cloud images are determined according to the distance between the distance measuring lens and the object driven by the driving component to drive the rotating component by the predetermined rotation angle.

In an exemplary embodiment, the algorithm module includes a filter processing unit, and the object is tracked in real time by the filter processing unit to predict the state information of the object in real time.

In an exemplary embodiment, the image pickup method includes: and driving the rotating component to drive the distance measuring lens to rotate by the preset rotating angle by utilizing a driving component so as to enable the shot object to be imaged in a central imaging area of the distance measuring lens.

The application also provides camera shooting identification equipment on the other hand. The imaging recognition apparatus includes: such as the camera device discussed above.

The image pickup device, the image pickup method and the image pickup identification equipment provided by the application have at least one of the following advantages:

1) the field angle of the camera device can be increased, and the shooting range is expanded;

2) the object to be shot can be imaged in the central imaging area of the camera device so as to improve the reliability of the camera device; and

3) it may be that the effective focal length (i.e., working distance) of the camera device is relatively large.

Drawings

Other features, objects, and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments when taken in conjunction with the accompanying drawings. In the drawings:

fig. 1A is a schematic block diagram of an image pickup apparatus according to an embodiment of the present application; fig. 1B is a schematic configuration diagram of an image pickup apparatus according to an embodiment of the present application;

fig. 1C is a schematic block diagram of an image pickup apparatus according to another embodiment of the present application; FIG. 2A is a schematic diagram of a distance measuring lens according to another embodiment of the present application;

fig. 2B is an operation schematic diagram in the horizontal direction of the image pickup apparatus according to the embodiment of the present application; and

fig. 3 is a flowchart of an image capturing method according to an embodiment of the present application.

Detailed Description

For a better understanding of the present application, various aspects of the present application will be described in more detail with reference to the accompanying drawings. It should be understood that the detailed description is merely illustrative of exemplary embodiments of the present application and does not limit the scope of the present application in any way. Like reference numerals refer to like elements throughout the specification. The expression "and/or" includes any and all combinations of one or more of the associated listed items.

In the drawings, the thickness, size and shape of the components have been slightly adjusted for convenience of explanation. The figures are purely diagrammatic and not drawn to scale. As used herein, the terms "approximately", "about" and the like are used as table-approximating terms and not as table-degree terms, and are intended to account for inherent deviations in measured or calculated values that would be recognized by one of ordinary skill in the art.

It will be further understood that terms such as "comprising," "including," "having," "including," and/or "containing" are used in this specification to specify the presence of stated features, elements, and/or components, but do not preclude the presence or addition of one or more other features, elements, components, and/or groups thereof. Furthermore, when a statement such as "at least one of" appears after a list of listed features, it modifies that entire list of features rather than just individual elements in the list. Furthermore, when describing embodiments of the present application, the use of "may" mean "one or more embodiments of the present application. Also, the term "exemplary" is intended to refer to examples or illustrations.

Unless otherwise defined, all terms (including engineering and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

The features, principles and other aspects of the present application are described in detail below.

Fig. 1A is a schematic block diagram of an image pickup apparatus 1000 according to an embodiment of the present application. As shown in fig. 1A, the image pickup device 1000 may include a light source 1100, a distance measuring lens 1200, and a rotation member 1300.

The light source 1100 may be disposed on the distance measuring lens 1200, and the light source 1100 may emit light to a subject. For example, the light source 1100 may be a laser, and further, the light source 1100 may be a vertical cavity surface emitting laser VCSEL.

The distance measurement lens 1200 can photograph a subject along a path of light emitted from the light source 1100 to measure a distance between the image pickup device 1000 and the subject. The distance measuring lens 1200 may include an RGB-D module, which may emit speckle structured light to measure a distance between the image pickup device 1000 and a subject. For example, the range lens 1200 may include an active binocular or passive binocular module to measure a distance between the image pickup device 1000 and a subject. The camera device 1000 with the ranging lens 1200 can be applied to the technical fields of face scanning, gesture control, 3D modeling, robot obstacle avoidance, navigation and the like. For example, the obstacle avoidance function of the current sweeping robot is one of the main aspects of evaluating the performance of the sweeping robot. The distance measuring lens in the sweeping robot can judge whether an obstacle exists nearby through shooting the surrounding environment, and when the obstacle is shot, the distance measuring lens can accurately measure the distance between the sweeping robot and the obstacle, so that the robot can continue to work around the obstacle. It should be understood that the application scenarios of the distance measuring lens and the image capturing device are not limited in any way, and in practical applications, the distance measuring lens and the image capturing device provided by the present application may be applicable to any scenario with distance measuring requirements.

The rotating member 1300 may be fixedly connected to the distance measuring lens 1200 to rotate the distance measuring lens 1200 at a predetermined rotation angle θ (fig. 2) in at least one of a horizontal plane X (fig. 1B) where the image pickup apparatus 1000 and the subject are located and a vertical plane Y (fig. 1B) perpendicular to the horizontal plane. In other words, the distance measuring lens 1200 may rotate only within the horizontal plane X by the predetermined rotation angle θ according to actual circumstances; it may be rotated only within the vertical plane Y by a predetermined rotation angle θ; of course, the rotation may be performed at the predetermined rotation angle θ in both the horizontal plane X and the vertical plane Y. It should be understood that, in practical applications, when the subject volume is small, that is, the entire image of the subject can be captured without rotating the range-finding lens, the rotation mode of the image capturing apparatus may not be used. However, when the subject is large in volume and cannot be completely present in a certain field of view of the distance-measuring lens, the entire image of the subject can be captured by rotating the distance-measuring lens to enlarge the angle of view of the lens.

Alternatively, the distance measuring lens 1200 may be embedded in the rotating component 1300, and the distance measuring lens 1200 and the rotating component 1300 may be fixedly connected by a fixing method such as screws or glue. As shown in fig. 2A, the rotation member 1300 may adjust a photographing angle at which the distance measuring lens 1200 photographs a subject at a predetermined rotation angle θ. The range lens 1200 completely captures a subject by changing its shooting angle. Specifically, when the size of the subject is small, that is, the projection area and the height of the horizontal plane X are small, the rotating component 1300 can drive the distance measuring lens 1200 to rotate along the horizontal plane X, so that all the subjects are imaged in the central imaging area of the distance measuring lens 1200. Alternatively, when the volume of the object to be photographed is large, that is, the projection area or height of the horizontal plane X is large, since it is impossible to photograph the entire volume of the object to be photographed no matter how the lens is rotated, the rotating component 1300 may drive the range-finding lens 1200 to rotate along the horizontal plane X or the vertical plane Y, so that a part of the object to be photographed is imaged in the central imaging area of the range-finding lens 1200, that is, the rotating component 1300 drives the range-finding lens 1200 to rotate along the horizontal plane X or the vertical plane Y one by one, and the range-finding lens 1200 sequentially photographs different parts of the object to form a plurality of point cloud images of the different parts. Finally, an algorithm module 1210 in the range-finding lens 1200 uses an image stitching algorithm to stitch a plurality of frames of point clouds at different positions in the plurality of point cloud images to form a full-frame image of the object to be shot.

In an exemplary embodiment, a point cloud of each frame location may be extracted using an image stitching algorithm, a three-dimensional feature or a two-dimensional feature of the point cloud of each frame location may be extracted using an image stitching algorithm, and the extracted point clouds of each frame location may be matched in a certain order. For example, the extracted point cloud for each frame position is matched in the approximate shape of the subject. And then, splicing the point clouds of each matched frame position by using an iterative algorithm to form a full-frame image of the shot object.

In an exemplary embodiment, the rotating component can be used to drive the distance measuring lens to rotate gradually along a horizontal plane or a vertical plane by a predetermined rotation angle, wherein multiple frames of point clouds at different positions in the multiple point cloud images can be collected gradually by the distance measuring lens by the predetermined rotation angle, and the multiple frames of point clouds at different positions are spliced by an image splicing algorithm to form a full-frame image of the object to be shot. For example, each time the distance measuring lens rotates once, a frame of point cloud of the position is collected until the collected frames of point cloud of different positions can form a full-frame image of the object to be shot.

Fig. 1C is a schematic block diagram of an image pickup apparatus 1000 according to another embodiment of the present application. As shown in fig. 1C, the ranging lens 1200 may include a TOF module 1220, and at this time, the light source may be located in the TOF module. The TOF module 1220 may measure a distance between a subject and the image pickup apparatus 1000. In the TOF imaging device, a light signal emitted by a light source is reflected to the TOF imaging device via a subject, and then the TOF imaging device acquires a distance between the TOF imaging device and the subject based on a time or a phase difference of the light signal propagating between the light source and the subject, so as to obtain depth information of the subject, and can also obtain gray scale information of the subject while acquiring the depth information of the subject. For example, while the sweeping robot is working, after the ranging lens 1200 with the TOF module 1220 scans an obstacle, the TOF module 1220 may prepare to identify and determine the specific orientation of the obstacle relative to the ranging lens 1200. The rotating component 1300 may drive the distance measuring lens 1200 to rotate according to the identification information acquired by the TOF module 1220, so as to image the obstacle in the central imaging area of the distance measuring lens 1200. Since the recognition rate of the central imaging region is high, imaging an obstacle in the central imaging region of the distance-measuring lens 1200 can improve the reliability of the distance-measuring lens 1200. The rotating part 1300 can track the obstacle in real time by driving the distance measuring lens 1200 to rotate, so that the obstacle is always imaged in the central imaging area of the distance measuring lens.

In an exemplary embodiment, the algorithm module may further include a background subtraction algorithm, which is used to detect the point clouds of the plurality of point cloud images, wherein different portions of the object corresponding to the point clouds of the plurality of point cloud images may be determined according to the distance between the image capturing device and the object. Of course, in another exemplary embodiment, the algorithm module may also determine the point cloud of the previous frame position according to an overlapping area of the point cloud of the current frame position and the point cloud of the previous frame position. Or tracking the shot object in real time by using a filtering processing unit in the algorithm module so as to predict the state information of the shot object in real time. .

In an exemplary embodiment, the operation principle diagram in the horizontal direction of the image pickup apparatus is as shown in fig. 2B. For avoiding redundant description, the present application only uses the working principle diagram of the image pickup apparatus in the horizontal direction as an example, and it should be understood that the image pickup apparatus has the same or similar working principle in the vertical direction or when the image pickup apparatus simultaneously works in the horizontal direction and the vertical direction.

As shown in fig. 2B, the range area 100 recognizable by the distance-measuring lens may be an original image 100 formed by photographing the subject at an original angle of view while the distance-measuring lens is not rotated. The range area 200 recognizable by the range lens may be a full-frame image 200 of the subject completed by rotating the range lens by the rotating member and stitching by the algorithm module. Point 1 may be the center of the original image 100. The range area 10 may be a subject, where the point 2 may be the center of the subject. The point 3 may be the center of an image formed in the ranging lens by a subject recognizable per rotation of the ranging lens, i.e., the center point of the ranging lens pixel region. The range area 300 may be a movable and rotatable range of the center of an image formed in the distance measuring lens. When the distance measuring lens scans the object, the central point 3 of the distance measuring lens pixel area can track to the central area of the object. In an exemplary embodiment, the present application provides an image pickup apparatus that can pick up an object in a range area 200 in a range h in which the center of a distance-measuring lens is movable in a horizontal plane. In an exemplary embodiment, the image pickup apparatus 1000 may include a driving part 1400. The driving component 1400 can drive the rotating component 1300 to drive the distance measuring lens 1200 to rotate, so that the object to be shot is imaged in the central imaging area of the distance measuring lens 1200. For example, the driving part 1400 may be a solenoid valve. The driving member 1400 drives the rotating member 1300, so that the rotating member 1300 drives the distance measuring lens 1200 to rotate at a constant speed to adjust the shooting angle θ of the distance measuring lens 1200, and the uniformity of the image shot by the distance measuring lens 1200 is better.

In an exemplary embodiment, the image pickup apparatus 1000 may include a shield member 1500. The protection component 1500 may be disposed on a surface of the distance measuring lens 1200 closest to the object side, so that the distance measuring lens 1200 may isolate external dust, and the distance measuring lens 1200 is prevented from being polluted by the external environment.

In an exemplary embodiment, the camera device 1000 may include a housing member 1600. The housing part may be disposed at the outermost side of the image pickup device 1000. As shown in fig. 1, the housing member is disposed at the outermost side of the image pickup apparatus 1000, so that direct contact between each component in the image pickup apparatus 1000 and the outside can be avoided, and the safety and reliability of the image pickup apparatus 1000 can be improved.

In an exemplary embodiment, the camera device 1000 may include a first connection component 1700. The first coupling member 1700 can couple the rotating member 1300 and the housing member 1600. The first coupling member 1700 may include a shaft member 1710 and a bearing member 1720. As shown in fig. 1, the rotation member 1300 and the housing member 1600 may be connected through the bearing member 1720 by the rotation shaft member 1710 on both sides, wherein a stopper may be used to limit the axial direction of the rotation shaft member 1710.

In an exemplary embodiment, the camera device 1000 may include a coupling component 1800. The coupling member 1800 may connect the spindle member 1710 and the drive member 1400. In other words, the spindle member 1710 is connected to the rotary member 1300, i.e., the driving member 1400 is connected to the rotary member 1300 sequentially through the coupling member 1800 and the spindle member 1710, and the torque is transmitted to rotate the rotary member 1300.

In an exemplary embodiment, the image pickup apparatus 1000 may include a second connection part 1800. The second connecting member 1800 may connect the driving member 1400 and the housing member 1600. For example, the second connecting member 1800 may be a bracket that secures the driving member 1400 to the housing member 1600.

In an exemplary embodiment, the image pickup apparatus 1000 may include auxiliary components such as a back cover part 1910 and a main board part 1920 for fixing or protecting other components. Auxiliary components such as the back cover part 1910 and the main board part 1920 can be fixed at any suitable position in the image pickup device by screws or the like, so as to prevent the internal elements of the image pickup device from being unstable. For example, the rear cover part 1910 and the main board part 1920 are fixed in the housing part 1600 by screws. It should be understood that the present application is not limited to a fixation element such as a screw, and that the present application may be applied to any fixation element suitable for securing components of the present application.

Fig. 3 is a flowchart of an imaging method 2000 according to an embodiment of the present application. As shown in fig. 3, the imaging method 2000 may include the following steps:

in S2100, the distance between the image pickup device and the subject is measured using the distance measuring lens. In one embodiment, the distance between the image capture device and the subject may be acquired using TOF technology.

In S2200, the range-finding lens is rotated at a predetermined rotation angle within at least one of a horizontal plane and a vertical plane perpendicular to the horizontal plane of the image pickup device and the object. Specifically, under the condition that the volume of the object to be shot is small (the projection area and the height on the horizontal plane are small), the distance measuring lens can be driven by the rotating component to rotate along the horizontal plane, so that all the objects to be shot are imaged in the central imaging area of the distance measuring lens. Alternatively, when the volume of the object to be photographed is large, that is, the projection area or height of the horizontal plane is large, since it is impossible to photograph the entire volume of the object to be photographed no matter how the lens is rotated, the rotating component may drive the distance measuring lens to rotate along the horizontal plane or the vertical plane, so that a part of the object to be photographed is imaged in the central imaging area of the distance measuring lens, that is, the rotating component drives the distance measuring lens to rotate along the horizontal plane or the vertical plane one by one, and the distance measuring lens successively photographs different parts of the object to be photographed to form a plurality of point cloud images of the different parts. The algorithm module uses an image splicing algorithm to splice a plurality of frames of point clouds at different positions in the point cloud images to form a full-frame image.

In an exemplary embodiment, a point cloud of each frame location may be extracted using an image stitching algorithm, a three-dimensional feature or a two-dimensional feature of the point cloud of each frame location may be extracted using an image stitching algorithm, and the extracted point clouds of each frame location may be matched in a certain order. For example, the extracted point cloud for each frame position is matched in the approximate shape of the subject. And then, splicing the point clouds of each matched frame position by utilizing an iterative algorithm to form a full-frame image of the shot object.

In an exemplary embodiment, the algorithm module may further include a background subtraction algorithm, which is used to detect the point clouds of the plurality of point cloud images, wherein different parts of the object corresponding to the point clouds of the plurality of point cloud images are determined according to the distance between the camera device and the object. Of course, in another exemplary embodiment, the algorithm module may also determine the point cloud of the previous frame position according to an overlapping area of the point cloud of the current frame position and the point cloud of the previous frame position. Or tracking the shot object in real time by using a filtering processing unit in the algorithm module so as to predict the state information of the shot object in real time.

In an exemplary embodiment, the image capturing method further includes: the driving component drives the rotating component to adjust the shooting angle of the distance measuring lens, so that the shot object is imaged in the central imaging area of the distance measuring lens.

Another aspect of the present application provides an image pickup identification apparatus (not shown) that may include an image pickup device as discussed above.

The above description is only an embodiment of the present application and an illustration of the technical principles applied. It will be appreciated by a person skilled in the art that the scope of protection covered by the present application is not limited to the embodiments with a specific combination of the features described above, but also covers other embodiments with any combination of the features described above or their equivalents without departing from the technical idea described above. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.

Claims

1. An image pickup apparatus, characterized by comprising:

the distance measuring lens is used for measuring the distance between the image pickup device and a shot object; and

and the rotating component is fixedly connected with the distance measuring lens so as to drive the distance measuring lens to rotate at a preset rotating angle in at least one surface of a horizontal plane where the camera device and the object to be shot are located and a vertical plane vertical to the horizontal plane.

2. The image capturing apparatus according to claim 1, wherein the rotating member rotates the distance measuring lens along at least one of the horizontal plane and the vertical plane, so that all of the objects to be captured are imaged on a central imaging area of the distance measuring lens.

3. The image capturing apparatus according to claim 1, wherein the rotating member rotates the distance measuring lens along at least one of the horizontal plane and the vertical plane, so that a part of the subject is imaged on a central imaging area of the distance measuring lens.

4. The image pickup apparatus according to claim 3, wherein the rotation member rotates the range-finding lens sequentially along at least one of the horizontal plane and the vertical plane, and the range-finding lens sequentially photographs different portions of the subject to form a plurality of point cloud images of the different portions.

5. The image pickup apparatus according to claim 4, wherein the distance measuring lens includes:

and the algorithm module is used for splicing the plurality of frames of point clouds at different positions in the plurality of point cloud images by using an image splicing algorithm to form a full-frame image of the shot object.

6. The image capture device of claim 5, wherein the algorithm module further comprises an iterative algorithm, wherein the image stitching algorithm extracts a point cloud for each frame location, and wherein the iterative algorithm stitches the point cloud for each frame location to form a full frame image of the subject.

7. The image pickup apparatus according to claim 5,

the rotating component drives the distance measuring lens to rotate gradually along at least one surface of the horizontal plane and the vertical plane at a preset rotation angle, so that the distance measuring lens collects the multiple frames of point clouds at different positions in the multiple point cloud images gradually at the preset rotation angle and splices the multiple frames of point clouds at different positions by using the image splicing algorithm to form a full-frame image of the object to be shot.

8. The image pickup apparatus according to any one of claims 1 to 7, wherein the range-finding lens includes a TOF module,

the TOF module is used for measuring the distance between the camera device and a shot object.

9. An image pickup method, comprising:

measuring the distance between the camera device and the object to be shot by using the ranging lens; and

and fixedly connecting a rotating component with the distance measuring lens to drive the distance measuring lens to rotate at a preset rotation angle in at least one surface of a horizontal plane where the camera device and the object to be shot are located and a vertical plane vertical to the horizontal plane.

10. An image pickup recognition apparatus characterized by comprising:

the image pickup device according to any one of claims 1 to 8.