CN205657802U - Three -dimensional degree of depth perception equipment - Google Patents
Three -dimensional degree of depth perception equipment Download PDFInfo
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- CN205657802U CN205657802U CN201620347985.XU CN201620347985U CN205657802U CN 205657802 U CN205657802 U CN 205657802U CN 201620347985 U CN201620347985 U CN 201620347985U CN 205657802 U CN205657802 U CN 205657802U
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Abstract
The utility model discloses a three -dimensional degree of depth perception equipment, equipment includes the infrared laser code pattern projector, infrared camera, RGB camera, three -dimensional degree of depth perception dedicated chip, memory, compressed encoding USB drive module, the infrared laser code pattern projector for throw out certain wavelength coverage's code pattern, to treating in the effective range that the measuring throws the space and the target object carries out the structured light code, the central optical axis of the infrared laser code pattern projector is with the central optical axis parallel of infrared camera, RGB camera or form certain acute angle theta. Through the utility model discloses, can acquire depth map information more reliable and more stable, wideer working range to this equipment does not receive environment light influences, and three -dimensional matching algorithm is also more simple.
Description
Technical field
This utility model belongs to computation vision, microelectronics and human-computer interaction technique field, is specifically related to a kind of three dimensional depth awareness apparatus.
Background technology
Three dimensional depth awareness apparatus is a kind of novel solid vision sensor, can obtain high accuracy, high-resolution depth map information (range information) in real time, carry out the Real time identification of 3-D view, motion capture and scene perception.Three dimensional depth awareness apparatus based on structure light coding can relatively accurately obtain depth information, compare binocular solid photographic head and ToF (Time of Flight) mode, there is the advantages such as the depth map information of acquisition more stable reliably, not by ambient light is affected, Stereo Matching Algorithm is simple, it has also become the main flow that man-machine interaction, the smart machine degree of depth obtain.
Utility model content
For the defect overcoming prior art to exist, this utility model provides a kind of three dimensional depth awareness apparatus, and described equipment includes that iraser coding pattern projector, infrared camera, RGB photographic head, three dimensional depth perception special chip, memorizer, compressed encoding USB drive module；Described infrared camera connects three dimensional depth perception special chip, and three dimensional depth perception special chip is connected to compressed encoding USB and drives module；Described RGB photographic head is connected to compressed encoding USB and drives module, and described memorizer is connected to three dimensional depth perception special chip；Described three dimensional depth perception special chip includes synchronizing trigger module, and described synchronization trigger module is connected to iraser coding pattern projector, infrared camera, RGB photographic head；Described iraser coding pattern projector, for projecting the coding pattern of a wavelength range, carries out structure light coding to projecting space to be measured in effective range and target object；The central optical axis of described iraser coding pattern projector is parallel with the central optical axis of infrared camera, RGB photographic head or forms certain acute angle theta.
Wherein, described RGB photographic head, it is used for and infrared camera synchronous acquisition rgb video stream；Described memorizer, is used for prestoring one or more reference encoder pattern；Described infrared camera, for the coding pattern of iraser coding pattern projector projection described in real-time reception, generates input coding pattern, and with certain video format, input coding pattern is sent into depth perception special chip.
Wherein, described compressed encoding USB drives module, drives for deep video stream or rgb video stream carry out compressed encoding USB packing.
Wherein, described three dimensional depth perception special chip includes: storage control, pretreatment module, Block-matching disparity computation module, depth calculation module, depth map post-processing module；Described storage control is connected with memorizer；Described pretreatment module is connected with storage control, and pretreatment module and storage control are connected simultaneously to Block-matching disparity computation module；Described Block-matching disparity computation module is connected to depth calculation module, and depth calculation module is connected to depth map post-processing module.
Wherein, iraser coding pattern projector, infrared camera, RGB photographic head arrange on same baseline.
Wherein, the central optical axis of iraser coding pattern projector rolls tiltedly to infrared camera, and the acute angle theta size between central optical axis and the infrared camera central optical axis of iraser coding pattern projector is adjustable.
By this utility model, can obtain more stable reliably, the depth map information of more wide operating range, and this equipment do not affected by ambient light, and Stereo Matching Algorithm is the simplest.
Accompanying drawing explanation
Fig. 1 is the three dimensional depth awareness apparatus structure chart of this utility model embodiment；
Fig. 2 is a kind of projector and the photographic head layout structure top view of this utility model embodiment；
Fig. 3 is a kind of projector and the photographic head layout structure top view of this utility model embodiment；
Fig. 4 is a kind of projector and the photographic head layout structure top view of this utility model embodiment；
Fig. 5 is a kind of projector and the photographic head layout structure top view of this utility model embodiment；
Fig. 6 is the depth perception special chip functional structure chart of this utility model embodiment；
Fig. 7 is a kind of laser speckle coding pattern schematic diagram of this utility model embodiment.
Detailed description of the invention
Below in conjunction with specific embodiment detailed description further to this utility model.
In a specific embodiment, the utility model discloses a kind of three dimensional depth awareness apparatus, as it is shown in figure 1, include that iraser coding pattern projector, infrared camera, RGB photographic head, three dimensional depth perception special chip, memorizer, compressed encoding USB drive module.Described infrared camera connects three dimensional depth perception special chip, and three dimensional depth perception special chip is connected to compressed encoding USB and drives module；Described RGB photographic head is connected to compressed encoding USB and drives module, and described memorizer is connected to three dimensional depth perception special chip.Described three dimensional depth perception special chip includes synchronizing trigger module, and described synchronization trigger module is connected to iraser coding pattern projector, infrared camera, RGB photographic head.
Described iraser coding pattern projector, for projecting the coding pattern of a wavelength range, carries out structure light coding to projecting space to be measured in effective range and target object；The central optical axis of described iraser coding pattern projector can be parallel with the central optical axis of infrared camera, RGB photographic head or form certain acute angle theta, as shown in Figure 2-5；Fig. 7 show a kind of iraser coding pattern schematic diagram based on laser speckle.
Described infrared camera, for the coding pattern of iraser coding pattern projector projection described in real-time reception, generate input coding pattern, and input coding pattern is sent into depth perception special chip with certain video format, described certain video format includes Bel form Bayer, initial data RAW, mobile processor interface MIPI, low-voltage differential LVDS etc..
Described RGB photographic head, is used for and infrared camera synchronous acquisition rgb video stream.
Described memorizer, is used for prestoring one or more reference encoder pattern, generally parallel or serial port SPI Flash.
Described compressed encoding USB drives module, drives for deep video stream or rgb video stream carry out compressed encoding USB packing.
As shown in Figure 6, described three dimensional depth perception special chip includes: storage control, pretreatment module, Block-matching disparity computation module, depth calculation module, depth map post-processing module.
Described storage control is connected with memorizer；Described pretreatment module is connected with storage control, and pretreatment module and storage control are connected simultaneously to Block-matching disparity computation module；Described Block-matching disparity computation module is connected to depth calculation module, and depth calculation module is connected to depth map post-processing module.
Input coding pattern is inputted to pretreatment module by described infrared camera, and pretreated input coding pattern is inputted to Block-matching disparity computation module by described pretreatment module；The input of reference encoder pattern is extremely mated disparity computation module to storage control, storage control by the reference encoder pattern input prestored by memorizer；Described pretreated input coding pattern and reference encoder pattern obtain disparity vector through the matching primitives of Block-matching disparity computation module, then through depth calculation and depth map post processing, export high-accuracy high-resolution depth map sequence；The synchronization trigger module of chip internal, produces synchronous triggering signal, delivers to iraser coding pattern projector, infrared camera, RGB photographic head.
Described pretreatment includes video format conversion, coherence enhancing denoising.
For above-described embodiment, the basic function of this equipment is: iraser coding pattern projector projects coding pattern to target object or three dimensions, the coding pattern that infrared camera collection is projected, the coding pattern gathered is input to three dimensional depth perception special chip and carries out degree of depth decoding by infrared camera, and the deep video obtained through degree of depth decoding flows through compressed encoding USB driving module output；RGB photographic head synchronous acquisition rgb video stream, compressed coding USB drives module output.Its mid-infrared laser coding pattern projector, infrared camera, RGB photographic head are arranged on same baseline, arrangement mode has multiple, as shown in Figure 2-5, infrared camera, RGB photographic head central optical axis parallel, the central optical axis of iraser coding pattern projector can be parallel with the central optical axis of infrared camera, RGB photographic head or form certain acute angle theta.
Preferably, iraser coding pattern projector, infrared camera, RGB photographic head arrange on same baseline, can be horizontally arranged, it is also possible to arranged vertically, three's Rankine-Hugoniot relations is not limited to several relations shown in Fig. 2-5, and other arrangement mode is also in right of the present utility model.
Further, it is preferred that the central optical axis of iraser coding pattern projector is adjusted according to design requirement to the big I of acute angle theta between this lopsidedness of infrared camera, central optical axis and the infrared camera central optical axis of iraser coding pattern projector.
This utility model not only supports the structure optical mode that dissimilar lasing light emitter produces, such as infrared, visible ray, ultraviolet, black light etc., also the coding projection scheme of different pattern composition is supported, such as patterns such as round point shape, bulk, crosswise, striated, special symbols.Thus without departing from the amendment in spirit and scope of the present utility model and perfect, should be included in above-mentioned right.
Although describing this utility model by embodiment, skilled addressee will appreciate that, this utility model has many deformation and change without deviating from spirit of the present utility model, it is desirable to appended claim includes that these deformation and change are without deviating from spirit of the present utility model.
Claims (6)
1. a three dimensional depth awareness apparatus, it is characterised in that: described equipment includes that iraser coding pattern projector, infrared camera, RGB photographic head, three dimensional depth perception special chip, memorizer, compressed encoding USB drive module；
Described infrared camera connects three dimensional depth perception special chip, and three dimensional depth perception special chip is connected to compressed encoding USB and drives module；Described RGB photographic head is connected to compressed encoding USB and drives module, and described memorizer is connected to three dimensional depth perception special chip；Described three dimensional depth perception special chip includes synchronizing trigger module, and described synchronization trigger module is connected to iraser coding pattern projector, infrared camera, RGB photographic head；
Described iraser coding pattern projector, for projecting the coding pattern of a wavelength range, carries out structure light coding to projecting space to be measured in effective range and target object；The central optical axis of described iraser coding pattern projector is parallel with the central optical axis of infrared camera, RGB photographic head or forms certain acute angle theta.
Equipment the most according to claim 1, it is characterised in that: described RGB photographic head, it is used for and infrared camera synchronous acquisition rgb video stream；
Described memorizer, is used for prestoring one or more reference encoder pattern；
Described infrared camera, for the coding pattern of iraser coding pattern projector projection described in real-time reception, generates input coding pattern, and with certain video format, input coding pattern is sent into depth perception special chip.
Equipment the most according to claim 1 and 2, it is characterised in that: described compressed encoding USB drives module, drives for deep video stream or rgb video stream carry out compressed encoding USB packing.
Equipment the most according to claim 1 and 2, it is characterised in that: described three dimensional depth perception special chip includes: storage control, pretreatment module, Block-matching disparity computation module, depth calculation module, depth map post-processing module；
Described storage control is connected with memorizer；Described pretreatment module is connected with storage control, and pretreatment module and storage control are connected simultaneously to Block-matching disparity computation module；Described Block-matching disparity computation module is connected to depth calculation module, and depth calculation module is connected to depth map post-processing module.
Equipment the most according to claim 1 and 2, it is characterised in that: iraser coding pattern projector, infrared camera, RGB photographic head arrange on same baseline.
Equipment the most according to claim 1 and 2, it is characterised in that:
The central optical axis of iraser coding pattern projector rolls tiltedly to infrared camera, and the acute angle theta size between central optical axis and the infrared camera central optical axis of iraser coding pattern projector is adjustable.
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| CN201620347985.XU CN205657802U (en) | 2016-04-21 | 2016-04-21 | Three -dimensional degree of depth perception equipment |
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| CN201620347985.XU CN205657802U (en) | 2016-04-21 | 2016-04-21 | Three -dimensional degree of depth perception equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107682689A (en) * | 2017-09-29 | 2018-02-09 | 舜宇光学（浙江）研究院有限公司 | 3 D scanning system based on structure light |
| CN108377378A (en) * | 2016-11-08 | 2018-08-07 | 聚晶半导体股份有限公司 | Photographic device |
| CN109963135A (en) * | 2017-12-22 | 2019-07-02 | 宁波盈芯信息科技有限公司 | A kind of depth network camera device and method based on RGB-D |
| CN109963136A (en) * | 2017-12-22 | 2019-07-02 | 宁波盈芯信息科技有限公司 | A kind of working method and device of smart phone structure light depth camera |
-
2016
- 2016-04-21 CN CN201620347985.XU patent/CN205657802U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108377378A (en) * | 2016-11-08 | 2018-08-07 | 聚晶半导体股份有限公司 | Photographic device |
| CN108377378B (en) * | 2016-11-08 | 2020-09-01 | 聚晶半导体股份有限公司 | Image pickup apparatus |
| CN107682689A (en) * | 2017-09-29 | 2018-02-09 | 舜宇光学（浙江）研究院有限公司 | 3 D scanning system based on structure light |
| CN109963135A (en) * | 2017-12-22 | 2019-07-02 | 宁波盈芯信息科技有限公司 | A kind of depth network camera device and method based on RGB-D |
| CN109963136A (en) * | 2017-12-22 | 2019-07-02 | 宁波盈芯信息科技有限公司 | A kind of working method and device of smart phone structure light depth camera |
| CN109963136B (en) * | 2017-12-22 | 2021-06-18 | 宁波盈芯信息科技有限公司 | Working method and device of light depth camera with smart phone structure |
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