CN116400552A - 3D structured light camera system and method for improving depth map quality - Google Patents
3D structured light camera system and method for improving depth map quality Download PDFInfo
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- 239000004973 liquid crystal related substance Substances 0.000 claims abstract description 63
- 230000010287 polarization Effects 0.000 claims abstract description 49
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 238000001914 filtration Methods 0.000 claims abstract description 7
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 230000002708 enhancing effect Effects 0.000 claims 1
- HCWZEPKLWVAEOV-UHFFFAOYSA-N 2,2',5,5'-tetrachlorobiphenyl Chemical compound ClC1=CC=C(Cl)C(C=2C(=CC=C(Cl)C=2)Cl)=C1 HCWZEPKLWVAEOV-UHFFFAOYSA-N 0.000 description 7
- 230000002159 abnormal effect Effects 0.000 description 6
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- 230000003287 optical effect Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 3
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B15/00—Special procedures for taking photographs; Apparatus therefor
- G03B15/02—Illuminating scene
- G03B15/03—Combinations of cameras with lighting apparatus; Flash units
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/28—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 for polarising
- G02B27/286—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 for polarising for controlling or changing the state of polarisation, e.g. transforming one polarisation state into another
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/28—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 for polarising
- G02B27/288—Filters employing polarising elements, e.g. Lyot or Solc filters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
The invention discloses a 3D structure light camera system and a method for improving the quality of a depth map, wherein the system comprises a 3D structure light projector, a receiving camera, a structure front shell, a structure rear shell and a polarization mechanism; the front structural shell and the rear structural shell are matched to form a cavity for accommodating the 3D structural light projector and the receiving camera; the 3D structure light projector is arranged in a cavity between the structure front shell and the structure rear shell and is used for emitting polarized light to the surface of the medium; the receiving camera is arranged in a cavity between the structural front shell and the structural rear shell and is used for collecting polarized light reflected to the surface of the medium; the polarization mechanism includes liquid crystal and is disposed on a receiving light path of the receiving camera for filtering reflected light among the reflected polarized light.
Description
Technical Field
The invention belongs to the technical field of camera imaging, and particularly relates to a 3D structured light camera system and method for improving the quality of a depth map.
Background
The projector of the 3D structured light module generally uses laser (LD, VCSEL, etc.) with a specific wavelength as a light source, the emitted light forms an image (such as a stripe, a speckle, etc.) with a certain coding rule by using an optical diffraction element (DOE) and projects the image onto the surface of the object to be measured, then the image with the coding rule on the surface of the object is photographed by a single or multiple receiving cameras, and finally three-dimensional reconstruction is realized by three-dimensional analysis and calculation of the image based on an optical triangulation principle, as shown in fig. 1.
The method comprises the steps of receiving camera pixel point information to solve depth information of a measured object, and performing coding image decoding, pixel, space coordinate conversion and other calculation processing.
When the 3D structure light module is used in an actual environment, abnormal conditions of the depth map are often caused by the complexity of the actual environment; for example, in the application of 3D speckle structure light in a complex environment (as shown in fig. 2) where a high-brightness tile floor and a normal wall are combined, because light spots reflect between the wall and the floor, scattered spots in the floor shot by a receiving camera are doped with scattered spots mirrored by the wall, the actually received scattered spots are compared with scattered spots of a reference image, the situation of disorder occurs, an algorithm inside a processing chip cannot normally perform matching calculation, and abnormal conditions (black holes or abnormal depth noise) occur to a depth image, as shown in fig. 3, the gray of the depth image is noise, and the black is black.
When natural light is incident on the surface of a medium, the propagation direction of the light can be changed to form refraction light and reflection light, and the polarization states of the refraction light and the reflection light are also changed, wherein the reflection light and the refraction light are part polarized light, as shown in fig. 4, the same principle is adopted, when a scene in fig. 3 is shot, an HCG light source is used as a projector, the emitted light is polarized S (linear), but polarized light P (round dot) in the light reflected to the ground is mainly, so that a polarizing plate for cutting off the polarized light P is added before a camera is accepted at the moment, most of the reflection light can be filtered out, the light spots are prevented from being disordered, and the depth view is normally expressed.
The same principle is applied to the horizontal reflection of the light, and the reflected polarized light is mainly polarized light S (linear), and a polarizing plate for cutting off the polarized light S is required to achieve a desired depth map.
However, it is difficult for the 3D structured light module to add different polarizers according to different scenes to satisfy the application in each scene, so it is difficult to eliminate the abnormal situation of the depth map in the current device by considering each scene.
Disclosure of Invention
Accordingly, a primary objective of the present invention is to provide a 3D structured light camera system and method for improving the quality of depth map.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
the embodiment of the invention provides a 3D structure light camera system for improving the quality of a depth map, which comprises a 3D structure light projector, a receiving camera, a structure front shell, a structure rear shell and a polarization mechanism;
the front structural shell and the rear structural shell are matched to form a cavity for accommodating the 3D structural light projector and the receiving camera;
the 3D structure light projector is arranged in a cavity between the structure front shell and the structure rear shell and is used for emitting polarized light to the surface of the medium;
the receiving camera is arranged in a cavity between the structural front shell and the structural rear shell and is used for collecting polarized light reflected to the surface of the medium;
the polarization mechanism is arranged on the receiving camera and is used for filtering reflected light in the reflected polarized light.
In the above scheme, the polarization mechanism is arranged on the 3D structure light projector and the receiving camera and is used for filtering the emitted polarized light and the reflected light in the reflected polarized light.
In the above scheme, the polarization mechanism comprises a liquid crystal and a PCB board, wherein the liquid crystal is arranged on a receiving light path of the receiving camera, or the liquid crystal is arranged on a transmitting light path of the 3D structure light projector and a receiving light path of the receiving camera, and the liquid crystal is electrically connected with the PCB board.
In the above scheme, when the liquid crystal is arranged on the receiving light path of the receiving camera, the liquid crystal is arranged on a window arranged at a position corresponding to the receiving camera on the front shell of the structure.
In the above scheme, when the liquid crystal is arranged on the receiving light path of the receiving camera, the liquid crystal is arranged on the receiving camera.
In the above scheme, when the liquid crystal is disposed on the emitting light path of the 3D structured light projector and the receiving light path of the receiving camera, one liquid crystal is disposed on the emitting light path of the 3D structured light projector and the receiving light path of the receiving camera, respectively.
In the above scheme, when the liquid crystal is disposed on the transmitting light path of the 3D structure light projector and the receiving light path of the receiving camera, two sides of the liquid crystal are respectively disposed on the transmitting light path of the 3D structure light projector and the receiving light path of the receiving camera.
The embodiment of the invention also provides a polarization method applied to the 3D structure light camera system for improving the quality of the depth map, which comprises the following steps:
determining a type of polarized light that needs to pass through the receiving camera;
determining current or voltage to be regulated by the polarization mechanism according to the polarized light type;
and adjusting the polarization of the polarization mechanism through the current or the voltage.
In the above scheme, the method further comprises: determining the type of polarized light emitted by the 3D structured light projector;
determining current or voltage corresponding to the 3D structure light projector according to the polarized light type;
and adjusting the 3D structure light projector through the current or the voltage.
Compared with the prior art, the invention adds the polarization mechanism at the front part of the receiving camera, can change different polarization states of emitted or received light in a voltage or current mode, and improves the abnormal situation of the depth map caused by reflection or multiple reflection in a complex scene.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of 3D structured light computing;
FIG. 2 is a schematic view of a complex environment for shooting;
FIG. 3 is a depth map anomaly map;
FIG. 4 is a schematic view of the direction of light propagation;
fig. 5 is a schematic structural diagram of a 3D structured light camera system for improving quality of a depth map according to an embodiment of the present invention;
fig. 6 is a schematic diagram of light receiving of a receiving camera in a 3D structured light camera system for improving quality of a depth map according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a 3D structured light camera system for improving the quality of a depth map according to an embodiment of the present invention, in which the polarization of light transmitted by liquid crystal is controlled by high and low levels;
fig. 8 is a schematic structural diagram of a 3D structured light camera system for improving the quality of a depth map according to embodiment 3 of the present invention;
fig. 9 is a schematic structural diagram of a 3D structured light camera system for improving the quality of a depth map according to embodiment 4 of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the devices or elements being referred to must have specific directions, be constructed and operated in specific directions, so that the terms describing the positional relationships in the drawings are merely for exemplary illustration, are not to be construed as limitations of the present patent, and the specific meanings of the terms described above may be understood by those of ordinary skill in the art according to specific circumstances.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, article or apparatus that comprises the element.
The embodiment of the invention provides a 3D structure light camera system for improving the quality of a depth map, which comprises a 3D structure light projector 1, a receiving camera 2, a structure front shell 3, a structure rear shell 4 and a polarization mechanism 5, as shown in fig. 5;
the structural front shell 3 and the structural rear shell 4 are matched and arranged to form a cavity for accommodating the 3D structural light projector 1 and the receiving camera 2;
the 3D structure light projector 1 is arranged in a cavity between the structure front shell 3 and the structure rear shell 4 and is used for emitting polarized light to the surface of a medium;
the receiving camera 2 is arranged in a cavity between the structural front shell 3 and the structural rear shell 4 and is used for collecting polarized light reflected to the surface of a medium;
the polarization mechanism 5 includes a liquid crystal 51 and is provided on a receiving light path of the receiving camera 2 for filtering reflected light among the reflected polarized light.
Further, the polarization mechanism 5 is provided on the 3D structured light projector 1 and the receiving camera 2 for filtering the emitted polarized light and the reflected light of the reflected polarized light.
According to the invention, the polarization mechanism 5 is added at the front part of the receiving camera 2, or the polarization mechanisms 5 are added at the front parts of the 3D structure light projector 1 and the receiving camera 2, different polarization states of emitted or received light can be changed in a voltage or current mode, and the abnormal situation of the depth map caused by reflection or multiple reflection in a complex scene is improved.
The polarization mechanism 5 comprises a liquid crystal 51 and a PCB 52, wherein the liquid crystal 51 is arranged on a receiving light path of the receiving camera 2, or the liquid crystal 51 is arranged on a transmitting light path of the 3D structure light projector 1 and a receiving light path of the receiving camera 2, and the liquid crystal 51 is electrically connected with the PCB 52.
The liquid crystal 51 is connected to the Driver IC and the PCB 52 through a circuit, and the Driver IC is used to realize high-low level switching to control the liquid crystal 51.
The 3D structure light projector comprises a luminous light source 11, a collimating lens 12, an optical diffraction element DOE13, a mounting plate 14 and a connector 15;
the luminous light source 11 is arranged on the mounting plate 14 and is used for generating luminous light sources;
the collimating mirror 12 is arranged in the beam transmission direction of the luminous source 11 and is used for transmitting the light source generated by the luminous source 11 in a parallel beam mode;
the optical diffraction element DOE13 is disposed in front of the collimator lens 12 for diffracting the parallel light beam to project a spot of light;
one side of the mounting plate 14 is connected with a connector 15 for bearing the luminous light source 11;
the other side of the connector 15 is electrically connected with the PCB 52 of the polarization mechanism 5.
Example 1
When the liquid crystal 51 is disposed on the receiving light path of the receiving camera 2, the liquid crystal 51 is disposed on the window provided at the corresponding position of the receiving camera 2 on the structural front case 3.
The polarization of the light passing through the liquid crystal 51 is controlled and regulated by means of current or voltage of the PCB 52, at this time, the light can be controlled according to the actual tested scene, and the light can be filtered out by passing through polarized light S or polarized light P, so that the reflection and secondary reflection in each scene can be filtered out, and the depth map is normal, which is not limited to only polarized light S or polarized light P, and various different polarization states of the light can be designed according to the specific scene condition.
As shown in fig. 6, the light normally entering the receiving camera 2 is polarized P light and polarized S light, and the liquid crystal 51 is added at the front of the receiving camera 2 in the present invention, and the polarization of the light permeable to the liquid crystal 51 is controlled by the high and low level as in the example of fig. 7; when a high level is applied to the liquid crystal 51, only the polarized light S is transmitted at this time, and the polarized light P is filtered out; when the low level is applied, the polarized light P can only be transmitted through the opposite, and the polarized light S can be filtered; and when no level is applied, polarized P light and polarized S light can be received simultaneously as normal.
Example 2
When the liquid crystal 51 is disposed on the receiving light path of the receiving camera 2, the liquid crystal 51 is disposed on the receiving camera 2.
The polarization of the light passing through the liquid crystal 51 is controlled and regulated by means of current or voltage of the PCB 52, at this time, the light can be controlled according to the actual tested scene, and the light can be filtered out by passing through polarized light S or polarized light P, so that the reflection and secondary reflection in each scene can be filtered out, and the depth map is normal, which is not limited to only polarized light S or polarized light P, and various different polarization states of the light can be designed according to the specific scene condition.
As shown in fig. 6, the light normally entering the receiving camera 2 is polarized P light and polarized S light, and the liquid crystal 51 is added at the front of the receiving camera 2 in the present invention, and the polarization of the light permeable to the liquid crystal 51 is controlled by the high and low level as in the example of fig. 7; when a high level is applied to the liquid crystal 51, only the polarized light S is transmitted at this time, and the polarized light P is filtered out; when the low level is applied, the polarized light P can only be transmitted through the opposite, and the polarized light S can be filtered; and when no level is applied, polarized P light and polarized S light can be received simultaneously as normal.
Example 3
As shown in fig. 8, when the liquid crystal 51 is disposed on the transmitting light path of the 3D structured light projector 1 and the receiving light path of the receiving camera 2, one liquid crystal 51 is disposed on each of the transmitting light path of the 3D structured light projector 1 and the receiving light path of the receiving camera 2;
the liquid crystal 51 on the 3D structured light projector 1 is disposed in front of the structural optical diffraction element DOE13 of the 3D structured light projector 1, and can integrate its electronic circuit with the circuit board of the 3D structured light projector 1 itself, and the circuit board of the 3D structured light projector 1 controls the polarized light emitted by the 3D structured light projector 1, so as to emit light with different polarization states by adjusting, adapt to different test environments, and prevent the occurrence of disorder of depth map.
The liquid crystal 51 on the receiving light path of the receiving camera 2 is connected with the PCB board 52, and the polarization of the light passing through the liquid crystal 51 is controlled and regulated by means of the current or voltage of the PCB board 52, so that the polarized light can pass through the polarized light S or the polarized light P to the receiving camera 2 to filter out the reflection and secondary reflection in each scene, so that the depth map is normal.
Of course, the polarization states of the light can be designed according to specific scene conditions without being limited to only polarized light S and polarized light P.
Example 4
As shown in fig. 9, when the liquid crystal 51 is disposed on the transmitting light path of the 3D structured light projector 1 and the receiving light path of the receiving camera 2, both sides of the liquid crystal 51 are respectively disposed on the transmitting light path of the 3D structured light projector 1 and the receiving light path of the receiving camera 2.
The polarization of the light which can be passed through by the liquid crystal 51 is controlled and regulated by means of current or voltage of the PCB 52, on one hand, the polarized light emitted by the 3D structure light projector 1 is controlled, the light with different polarization states can be emitted by adjusting, the device is suitable for different testing environments, the situation that the depth map is disordered is avoided, on the other hand, the device can filter out the reflection and secondary reflection in each scene by the polarized light S or the polarized light P to the receiving camera 2, and the depth map is normal.
Of course, the polarization states of the light can be designed according to specific scene conditions without being limited to only polarized light S and polarized light P.
The embodiment of the invention also provides a polarization method applied to the 3D structure light camera system for improving the quality of the depth map, which comprises the following steps:
step 101: determining the type of polarized light that needs to pass through the receiving camera 2;
specifically, it is determined that the receiving camera 2 needs to receive polarized light S or polarized light P according to circumstances.
Step 102: determining the current or voltage required to be regulated by the polarization mechanism 5 according to the polarized light type;
in some embodiments, if it is desired to transmit the polarized light S, it is desired to apply a high level to the liquid crystal 51 to filter out the polarized light P; if the polarized light P needs to be transmitted, a low level needs to be applied to the liquid crystal 51 to filter out the polarized light S.
As described above, if the polarized light S needs to be transmitted, it is necessary to apply a low level to the liquid crystal 51 and filter out the polarized light P; if the polarized light P needs to be transmitted, a high level needs to be applied to the liquid crystal 51 to filter out the polarized light S.
The same applies to the same current.
As described above, since the Driver IC controls, the Driver IC may be set to a constant voltage value, and this is also related to the set value, but may be set to 1V or 0.5V, and is not an absolute value.
Step 103: the polarization of the polarization means 5 is adjusted by the current or voltage.
Further, the method further comprises:
step 201: determining the type of polarized light emitted by the 3D structured light projector 1;
specifically, it is determined that the 3D structured light projector 1 needs to emit polarized light S or polarized light P according to circumstances.
Step 202: determining the current or voltage corresponding to the 3D structure light projector 1 according to the polarized light type;
specifically, when a high level is applied, the polarization state of the polarized light S emitted by the 3D structured light projector 1 is unchanged after passing through the liquid crystal, that is, the polarized light S is emitted or is polarized; when the low level is applied, the polarized light S emitted from the 3D structured light projector 1 changes its polarization state into polarized light P through the liquid crystal 51.
Step 203: the 3D structured light projector 1 is adjusted by means of said current or voltage.
Further, the liquid crystal 51 can be designed to receive different light incoming amounts, so that more test scenes can be considered.
Specifically, by controlling the liquid crystal 51 by a current or a voltage, the amount of the light entering the receiving camera 2 is changed, and the light entering amount of the receiving camera 2 can be reduced by adjusting, for example, in a highly reflective scene, at this time, the situation that the depth map is excessively exposed to black holes due to high reflection energy can be avoided; in a material scene similar to black light absorption, the light incoming amount of the receiving camera 2 is increased by over-adjustment, so that the situation that the depth map cannot be normally calculated and output due to too dark spot brightness caused by light absorption is prevented.
The 3D structured light module can also be used in more scenes by adjusting the light entering amount of the liquid crystal 51, and can also be well represented in extreme scenes.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention.
Claims (9)
1. The 3D structure light camera system for improving the quality of the depth map is characterized by comprising a 3D structure light projector, a receiving camera, a structure front shell, a structure rear shell and a polarization mechanism;
the front structural shell and the rear structural shell are matched to form a cavity for accommodating the 3D structural light projector and the receiving camera;
the 3D structure light projector is arranged in a cavity between the structure front shell and the structure rear shell and is used for emitting polarized light to the surface of the medium;
the receiving camera is arranged in a cavity between the structural front shell and the structural rear shell and is used for collecting polarized light reflected to the surface of the medium;
the polarization mechanism includes liquid crystal and is disposed on a receiving light path of the receiving camera for filtering reflected light among the reflected polarized light.
2. The depth map quality enhancing 3D structured light camera system of claim 1, wherein the polarization mechanism is disposed on the 3D structured light projector and the receiving camera for filtering reflected light of the emitted polarized light and the reflected polarized light.
3. The 3D structured light camera system of claim 2, wherein the polarization mechanism comprises a liquid crystal and a PCB board, the liquid crystal is disposed on a receiving light path of the receiving camera, or the liquid crystal is disposed on a transmitting light path of the 3D structured light projector and a receiving light path of the receiving camera, and the liquid crystal is electrically connected to the PCB board.
4. A 3D structured light camera system for improving depth map quality according to claim 3, wherein when the liquid crystal is disposed on the receiving light path of the receiving camera, the liquid crystal is disposed on a window disposed on the front structure case at a position corresponding to the receiving camera.
5. A 3D structured light camera system for improving depth map quality according to claim 3, wherein the liquid crystal is disposed on the receiving camera when the liquid crystal is disposed on the receiving light path of the receiving camera.
6. A 3D structured light camera system for improving quality of a depth map according to claim 3, wherein when the liquid crystal is disposed on an emitting light path of the 3D structured light projector and a receiving light path of the receiving camera, a liquid crystal is disposed on the emitting light path of the 3D structured light projector and the receiving light path of the receiving camera, respectively.
7. A 3D structured light camera system for improving quality of depth map according to claim 3, wherein when the liquid crystal is disposed on an emitting light path of the 3D structured light projector and a receiving light path of the receiving camera, both sides of the liquid crystal are respectively disposed on the emitting light path of the 3D structured light projector and the receiving light path of the receiving camera.
8. A polarization method applied to a 3D structured light camera system for improving the quality of a depth map, the method comprising:
determining a type of polarized light that needs to pass through the receiving camera;
determining current or voltage to be regulated by the polarization mechanism according to the polarized light type;
and adjusting the polarization of the polarization mechanism through the current or the voltage.
9. The method of polarization of claim 8, further comprising: determining the type of polarized light emitted by the 3D structured light projector;
determining current or voltage corresponding to the 3D structure light projector according to the polarized light type;
and adjusting the 3D structure light projector through the current or the voltage.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310394809.6A CN116400552A (en) | 2023-04-13 | 2023-04-13 | 3D structured light camera system and method for improving depth map quality |
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| CN202310394809.6A CN116400552A (en) | 2023-04-13 | 2023-04-13 | 3D structured light camera system and method for improving depth map quality |
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| CN116400552A true CN116400552A (en) | 2023-07-07 |
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