CN209375823U - 3D camera - Google Patents
3D camera Download PDFInfo
- Publication number
- CN209375823U CN209375823U CN201822190846.2U CN201822190846U CN209375823U CN 209375823 U CN209375823 U CN 209375823U CN 201822190846 U CN201822190846 U CN 201822190846U CN 209375823 U CN209375823 U CN 209375823U
- Authority
- CN
- China
- Prior art keywords
- module
- image sensor
- sensor module
- tof
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
- Measurement Of Optical Distance (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model discloses a kind of 3D cameras, are related to 3D imaging field.The camera includes lens module, modulate optical transmitter module, TOF image sensor module, RGB image sensor module, signal processing module, wherein, the modulation light that lens module is used to receive the natural light of shooting object reflection and is emitted by modulation optical transmitter module and returned by shooting object, and it send to TOF image sensor module and RGB image sensor module, optical transmitter module is modulated in lens module surrounding, and it is connected with TOF image sensor module, TOF image sensor module control modulation optical transmitter module issues the modulation light of certain frequency, signal processing module is for controlling and receiving the deep image information of TOF image sensor module and the RGB image information of RGB image sensor module, and carry out data processing with merge, obtain 3D rendering information.
Description
Technical field
The utility model relates to 3D camera field, in particular to a kind of TOF sensor and RGB image sensor receive light altogether
The 3D camera on road.
Background technique
3D camera is just fast-developing with the swift and violent impetus at present, leads in three-dimensional modeling, detection of passenger flow, dimensional measurement, avoidance
Boat, gesture identification control etc. field are widely used, and are lived and are offered convenience to us.
In order to obtain the three-dimensional information of object, start it is earliest be stereovision technique research, by binocular or more
Mesh camera, which take pictures, calculates the depth information of object；With the development of laser radar technique, there is single line and multi-thread swash
Optical radar, typical company representative is German sick and U.S. velodyne, passes through the point cloud data and image of laser radar scanning
It is merged；In addition, Typical Representative is Microsoft there are also the Depth Information Acquistion that a kind of structured light technique carries out image
Kinect；With the development of semiconductor integrated circuit technology, occur passing through TOF (time-of-flight) using modulation light
Principle carries out Depth Information Acquistion technology, typically there is the TOF chip of ESPROS company.
TOF sensor due to higher resolution ratio, range performance relatively outstanding, not by day and night interference and price
Advantage, have very big advantage in 3D camera applications, take pictures respectively progress compared to individual TOF depth camera and color camera
Fusion band carrys out the disadvantage of volume and cost, and this patent proposes a kind of TOF sensor and RGB image sensor is total to receiving light path
3D camera.
Utility model content
A kind of 3D camera includes lens module, modulation optical transmitter module, TOF image sensor module, RGB image sensing
Device module, signal processing module；
Wherein, the lens module includes receiving lens, spectrophotometric unit and optical filter, for receiving shooting object reflection
Natural light and the modulation light for being emitted and being returned by shooting object by the modulation optical transmitter module；
The lens module is also used to send the natural light and modulation light to the RGB image sensor module and described
TOF image sensor module；
The modulation optical transmitter module includes Infrared laser emission unit and driving unit, the Infrared laser emission unit
Be set to the lens module surrounding, the driving unit shines for controlling the Infrared laser emission unit, and with it is described
TOF image sensor module is connected, and the TOF image sensor module makes the infrared laser for controlling the driving unit
The modulation light of transmitting unit sending fixed frequency；
The signal processing module includes arithmetic element, storage unit and communication unit, for controlling and receiving the TOF
The RGB image information of the deep image information of image sensor module and the RGB image sensor module；
The signal processing module be also used to image real time transfer with merge, obtain 3D rendering information.
Preferably, the lens module includes receiving lens, spectrophotometric unit and optical filter；
The spectrophotometric unit is half-reflecting half mirror, and reflective portion is the deielectric-coating for being coated with reflection fixed wave length infrared light,
Light for receiving the receiving lens is divided into two beams, a branch of by the optical filter to TOF image sensor module, and one
Beam is by the optical filter to RGB image sensor module.
Preferably, the modulation optical transmitter module includes at least one Infrared laser emission unit, and in the camera lens mould
Block surrounding is evenly arranged.
Preferably, the distance that the TOF image sensor module is used to export the shooting object to the 3D camera is deep
Spend image.
Preferably, the RGB image sensor module includes ccd image sensor and/or COMS imaging sensor, is used for
Obtain the RGB color image of the shooting object.
Preferably, the signal processing module includes arithmetic element, storage unit and communication unit；
The arithmetic element is used for Data Analysis Services；
The arithmetic element includes one of FPGA, DSP and arm processor or a variety of combinations；
The storage unit is for saving 3D rendering information；
The communication unit is used to connect with computer, transmits 3D rendering information and carry out the setting of camera parameter.
The utility model has the advantage of TOF sensor and RGB image sensor share an optical path, by once clapping
According to 3D rendering information can be obtained, spreading unchecked for camera lens is avoided, while reducing volume.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of 3D camera provided by the embodiment of the utility model；
Fig. 2 is a kind of image processing flow figure of 3D camera provided by the embodiment of the utility model；
Specific embodiment
With reference to the accompanying drawing, the specific embodiment of utility model is further described.Following embodiment is only used for more
Add and clearly demonstrate the technical solution of the utility model, and cannot be used as a limitation the limitation protection scope of the utility model.
Fig. 1 is a kind of structural schematic diagram of 3D camera provided by the embodiment of the utility model.Lens module 1 includes to receive thoroughly
Mirror 6, spectrophotometric unit 7 and optical filter 8.Modulating optical transmitter module 2 includes at least one Infrared laser emission unit, infrared laser
Transmitting unit is made of infrared laser pipe and diversing lens group；If comprising multiple laser emission elements, laser emission element exists
It is evenly arranged around receiving lens 6.Typically, the optical maser wavelength of infrared laser pipe transmitting is 850nm or 940nm.Light splitting is single
Member 7 is coated with the deielectric-coating of reflection specific wavelength laser, on the one hand, the infrared light reflection for issuing modulation optical transmitter module 2 to TOF
Image sensor module 3, on the other hand, it is seen that the reflected light of the subjects such as light enters RGB image through spectrophotometric unit 7
Sensor module 4.There is optical filter 8 before TOF image sensor module 3 and RGB image sensor module 4, wherein TOF image
Optical filter before sensor module 3 is the narrow band filter for allowing the infrared light of specific wavelength, RGB image sensor module
The optical filter of 4 fronts is the broad band pass filter for allowing visible light incidence.Signal processing module 5 and TOF image sensor module 3 and
RGB image sensor module 4 is connected, and for controlling the acquisition of image, the fusion of depth image and RGB image, 3D rendering is deposited
Storage and the communication with extraneous computer.
Fig. 2 is a kind of image processing flow figure of 3D camera provided by the embodiment of the utility model, it is necessary first to be obtained deep
Image is spent, in order to calculate shooting the distance between object and camera, can be handled by phase shift algorithm.For example, modulation light
The modulating frequency f of transmitting modulemod=24MHz, TOF sensor are once sampled every 90 degree, are sampled 4 times, are denoted as A1, A2,
A3, A4, then the phase shift of modulation light is receivedIt can be calculated by following formula:
The intensity A for receiving modulation light can be calculated by following formula:
The gray value b of each pixel of TOF sensor can be calculated by such as following formula:
Shooting the distance between object and camera d can be calculated by following formula:
The maximum distance d that TOF sensor can measuremaxAre as follows:
After getting depth image based on above-mentioned theory, then from the acquisition RGB image of RGB image sensor module 4, due to depth
Image is spent there are certain noise spot, needs to be filtered, general processing method has gaussian filtering, median filtering, mean value
Filtering；Then holes filling processing is carried out to depth image.For the development of current technology, the image resolution ratio of TOF sensor
Lower than the resolution ratio of RGB image, need to carry out depth image the reconstruction of super-resolution, mainly using at interpolation method
Reason.Depth image is calibrated later, obtains the mapping relations between RGB image and depth image.Finally, scheming RGB
Each pixel of picture, matches corresponding depth information, RGBD image is obtained, then carry out point cloud data conversion, using PCL
(Point Cloud Library) handles a cloud, obtains 3D information.
The above is only the preferred embodiments of the present invention, it is noted that for the ordinary skill of the art
For personnel, without deviating from the technical principle of the utility model, several improvements and modifications can also be made, these improvement
It also should be regarded as the protection scope of the utility model with retouching.
Claims (6)
1. a kind of 3D camera, which is characterized in that include lens module, modulation optical transmitter module, TOF image sensor module, RGB
Image sensor module, signal processing module；
Wherein, the lens module includes receiving lens, spectrophotometric unit and optical filter, for receiving the nature of shooting object reflection
Light and the modulation light for being emitted and being returned by shooting object by the modulation optical transmitter module；
The lens module is also used to send the natural light and modulation light to the RGB image sensor module and the TOF
Image sensor module；
The modulation optical transmitter module includes Infrared laser emission unit and driving unit, the Infrared laser emission unit setting
In the lens module surrounding, the driving unit shines for controlling the Infrared laser emission unit, and schemes with the TOF
Picture sensor module is connected, and the TOF image sensor module makes the Infrared laser emission for controlling the driving unit
The modulation light of unit sending fixed frequency；
The signal processing module includes arithmetic element, storage unit and communication unit, for controlling and receiving the TOF image
The RGB image information of the deep image information of sensor module and the RGB image sensor module；
The signal processing module be also used to image real time transfer with merge, obtain 3D rendering information.
2. 3D camera according to claim 1, which is characterized in that
The spectrophotometric unit is half-reflecting half mirror, and reflective portion is the deielectric-coating for being coated with reflection fixed wave length infrared light, is used for
The light that the receiving lens receive is divided into two beams, it is a branch of by the optical filter to TOF image sensor module, Yi Shujing
The optical filter is crossed to RGB image sensor module.
3. 3D camera according to claim 1, which is characterized in that
The modulation optical transmitter module includes at least one Infrared laser emission unit, and in the uniform cloth of lens module surrounding
It sets.
4. 3D camera according to claim 1, which is characterized in that
The TOF image sensor module is for exporting the shooting object to the 3D camera apart from depth image.
5. 3D camera according to claim 1, which is characterized in that
The RGB image sensor module includes ccd image sensor and/or COMS imaging sensor, for obtaining the bat
Take the photograph the RGB color image of object.
6. 3D camera according to claim 1, which is characterized in that
The signal processing module includes arithmetic element, storage unit and communication unit；
The arithmetic element is used for Data Analysis Services；
The arithmetic element includes one of FPGA, DSP and arm processor or a variety of combinations；
The storage unit is for saving 3D rendering information；
The communication unit is used to connect with computer, transmits 3D rendering information and carry out the setting of camera parameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822190846.2U CN209375823U (en) | 2018-12-20 | 2018-12-20 | 3D camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822190846.2U CN209375823U (en) | 2018-12-20 | 2018-12-20 | 3D camera |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209375823U true CN209375823U (en) | 2019-09-10 |
Family
ID=67830787
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822190846.2U Active CN209375823U (en) | 2018-12-20 | 2018-12-20 | 3D camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209375823U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110619617A (en) * | 2019-09-27 | 2019-12-27 | 中国科学院长春光学精密机械与物理研究所 | Three-dimensional imaging method, device, equipment and computer readable storage medium |
| CN111150175A (en) * | 2019-12-05 | 2020-05-15 | 新拓三维技术(深圳)有限公司 | Method, device and system for three-dimensional scanning of feet |
| CN111654626A (en) * | 2020-06-05 | 2020-09-11 | 合肥泰禾光电科技股份有限公司 | High-resolution camera containing depth information |
| CN111685711A (en) * | 2020-05-25 | 2020-09-22 | 中国科学院苏州生物医学工程技术研究所 | Medical endoscope three-dimensional imaging system based on 3D camera |
| WO2021114036A1 (en) * | 2019-12-09 | 2021-06-17 | 南昌欧菲生物识别技术有限公司 | Tof camera and electronic device |
| CN113687369A (en) * | 2021-07-14 | 2021-11-23 | 南京大学 | Synchronous acquisition system and method for spectral information and depth information |
| CN115499637A (en) * | 2021-06-18 | 2022-12-20 | 黄初镇 | Camera device with radar function |
-
2018
- 2018-12-20 CN CN201822190846.2U patent/CN209375823U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110619617A (en) * | 2019-09-27 | 2019-12-27 | 中国科学院长春光学精密机械与物理研究所 | Three-dimensional imaging method, device, equipment and computer readable storage medium |
| CN110619617B (en) * | 2019-09-27 | 2022-05-27 | 中国科学院长春光学精密机械与物理研究所 | Three-dimensional imaging method, device, equipment and computer readable storage medium |
| CN111150175A (en) * | 2019-12-05 | 2020-05-15 | 新拓三维技术(深圳)有限公司 | Method, device and system for three-dimensional scanning of feet |
| WO2021114036A1 (en) * | 2019-12-09 | 2021-06-17 | 南昌欧菲生物识别技术有限公司 | Tof camera and electronic device |
| CN111685711A (en) * | 2020-05-25 | 2020-09-22 | 中国科学院苏州生物医学工程技术研究所 | Medical endoscope three-dimensional imaging system based on 3D camera |
| CN111654626A (en) * | 2020-06-05 | 2020-09-11 | 合肥泰禾光电科技股份有限公司 | High-resolution camera containing depth information |
| CN115499637A (en) * | 2021-06-18 | 2022-12-20 | 黄初镇 | Camera device with radar function |
| CN115499637B (en) * | 2021-06-18 | 2024-02-27 | 黄初镇 | Camera device with radar function |
| CN113687369A (en) * | 2021-07-14 | 2021-11-23 | 南京大学 | Synchronous acquisition system and method for spectral information and depth information |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209375823U (en) | 3D camera | |
| WO2021008209A1 (en) | Depth measurement apparatus and distance measurement method | |
| US9432593B2 (en) | Target object information acquisition method and electronic device | |
| CN106772431A (en) | A kind of Depth Information Acquistion devices and methods therefor of combination TOF technologies and binocular vision | |
| CN107817483A (en) | The acquisition methods and laser radar system of obstacle information | |
| CN107917701A (en) | Measuring method and RGBD camera systems based on active binocular stereo vision | |
| CN109991583A (en) | A kind of jamproof distance measurement method and depth camera | |
| KR101955334B1 (en) | 3D image acquisition apparatus and method of extractig depth information in the 3D image acquisition apparatus | |
| CN209676383U (en) | Depth camera mould group, depth camera, mobile terminal and imaging device | |
| CN111708039A (en) | Depth measuring device and method and electronic equipment | |
| CN103852754A (en) | Method for interference suppression in time of flight (TOF) measurement system | |
| KR20110085785A (en) | Method of extractig depth information and optical apparatus employing the method | |
| CN102508259A (en) | Miniaturization lens-free laser three-dimensional imaging system based on micro-electromechanical system (MEMS) scanning micro-mirror and imaging method thereof | |
| CN116507984A (en) | Point cloud filtering technology | |
| WO2022088492A1 (en) | Collector, distance measurement system, and electronic device | |
| CN110619617B (en) | Three-dimensional imaging method, device, equipment and computer readable storage medium | |
| CN108259744A (en) | Image Acquisition control method and its device, image capturing system and TOF camera | |
| CN111538024A (en) | Filtering ToF depth measurement method and device | |
| CN109799493A (en) | Radar and Multisensor video fusion system and method | |
| CN102316355A (en) | Generation method of 3D machine vision signal and 3D machine vision sensor | |
| Lee et al. | Highly precise AMCW time-of-flight scanning sensor based on parallel-phase demodulation | |
| CN112255639A (en) | Depth perception sensor and depth perception sensing module for region of interest | |
| CN112987021B (en) | Structured light three-dimensional imaging system and method integrating time-of-flight method and structured light method | |
| CN202362459U (en) | Miniaturized lens-free laser three-dimensional imaging system based on MEMS (micro-electromechanical system) scanning micro-mirror | |
| CN113194226A (en) | TOF imaging system capable of automatically adjusting exposure time and automatic exposure method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |