JP2017506740A - 深さ情報抽出装置および方法 - Google Patents
深さ情報抽出装置および方法 Download PDFInfo
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- JP2017506740A JP2017506740A JP2016549147A JP2016549147A JP2017506740A JP 2017506740 A JP2017506740 A JP 2017506740A JP 2016549147 A JP2016549147 A JP 2016549147A JP 2016549147 A JP2016549147 A JP 2016549147A JP 2017506740 A JP2017506740 A JP 2017506740A
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- 238000000605 extraction Methods 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims description 16
- 239000000284 extract Substances 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000002366 time-of-flight method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/25—Image signal generators using stereoscopic image cameras using two or more image sensors with different characteristics other than in their location or field of view, e.g. having different resolutions or colour pickup characteristics; using image signals from one sensor to control the characteristics of another sensor
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/254—Image signal generators using stereoscopic image cameras in combination with electromagnetic radiation sources for illuminating objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/257—Colour aspects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
- H04N21/25—Management operations performed by the server for facilitating the content distribution or administrating data related to end-users or client devices, e.g. end-user or client device authentication, learning user preferences for recommending movies
- H04N21/254—Management at additional data server, e.g. shopping server, rights management server
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/2224—Studio circuitry; Studio devices; Studio equipment related to virtual studio applications
- H04N5/2226—Determination of depth image, e.g. for foreground/background separation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10024—Color image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10141—Special mode during image acquisition
- G06T2207/10152—Varying illumination
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Theoretical Computer Science (AREA)
- Optics & Photonics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Databases & Information Systems (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
- Projection Apparatus (AREA)
- Image Processing (AREA)
- Transforming Electric Information Into Light Information (AREA)
Abstract
Description
Claims (12)
- IR(InfraRed)光を非連続的に投射する投射部、
映像を撮影するカメラ部、そして
前記カメラ部によって撮影された映像を利用して深さ情報抽出およびRGB映像情報抽出を遂行する信号処理部を含み、
前記信号処理部は第1時間領域の間受信した映像を利用して深さ情報を抽出し、第2時間領域の間受信した映像を利用してRGB映像情報を抽出する、深さ情報抽出装置。 - 前記投射部は前記IR光を周期的に投射する、請求項1に記載の深さ情報抽出装置。
- 前記第1時間領域は前記投射部が前記IR光を投射する区間に対応する、請求項1に記載の深さ情報抽出装置。
- 前記第2時間領域は前記投射部が前記IR光を投射しない区間に対応する、請求項3に記載の深さ情報抽出装置。
- 前記第1時間領域の間受信した映像は前記IR光のパターンおよびRGB映像を含み、前記第2時間領域の間受信した映像はRGB映像を含む、請求項1に記載の深さ情報抽出装置。
- 前記投射部、前記カメラ部および前記信号処理部を制御する制御部をさらに含み、
前記制御部は前記IR光を投射する周期を制御する、請求項1に記載の深さ情報抽出装置。 - 前記制御部は要求される深さ分解能(Depth resolution)および客体の距離の中の少なくとも一つにより前記IR光を投射する周期を制御する、請求項6に記載の深さ情報抽出装置。
- 深さ情報抽出装置の深さ情報抽出方法において、
IR(InfraRed)光を非連続的に投射する段階、
映像を撮影する段階、
第1時間領域の間撮影された映像を利用して深さ情報を抽出する段階、そして
第2時間領域の間撮影された映像を利用してRGB映像情報を抽出する段階を含む、深さ情報抽出方法。 - 前記投射する段階では前記IR光を周期的に投射する、請求項8に記載の深さ情報抽出方法。
- 前記第1時間領域は前記IR光を投射する区間に対応し、前記第2時間領域は前記IR光を投射しない区間に対応する、請求項9に記載の深さ情報抽出方法。
- 前記深さ情報を抽出する段階によって抽出された深さ情報を利用して前記IR光を投射する周期を調節する段階をさらに含む、請求項9に記載の深さ情報抽出方法。
- 前記調節する段階では、
客体との距離と臨界値を比較し、比較結果により前記周期を短くなるように制御するか、長くなるように制御する、請求項11に記載の深さ情報抽出方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020140011786A KR102277309B1 (ko) | 2014-01-29 | 2014-01-29 | 깊이 정보 추출 장치 및 방법 |
KR10-2014-0011786 | 2014-01-29 | ||
PCT/KR2015/000917 WO2015115802A1 (ko) | 2014-01-29 | 2015-01-28 | 깊이 정보 추출 장치 및 방법 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017506740A true JP2017506740A (ja) | 2017-03-09 |
JP6644694B2 JP6644694B2 (ja) | 2020-02-12 |
Family
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Application Number | Title | Priority Date | Filing Date |
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JP2016549147A Active JP6644694B2 (ja) | 2014-01-29 | 2015-01-28 | 深さ情報抽出装置および方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10690484B2 (ja) |
EP (1) | EP3101893B1 (ja) |
JP (1) | JP6644694B2 (ja) |
KR (2) | KR102277309B1 (ja) |
CN (1) | CN105940675A (ja) |
WO (1) | WO2015115802A1 (ja) |
Families Citing this family (13)
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CN105829829B (zh) * | 2013-12-27 | 2019-08-23 | 索尼公司 | 图像处理装置和图像处理方法 |
CN106550228B (zh) * | 2015-09-16 | 2019-10-15 | 上海图檬信息科技有限公司 | 获取三维场景的深度图的设备 |
US10453185B2 (en) * | 2015-11-12 | 2019-10-22 | Aquifi, Inc. | System and method for high dynamic range depth capture using multiple cameras |
DK3466068T3 (da) * | 2016-06-03 | 2021-02-15 | Utku Buyuksahin | Et system og en metode til at tage og generere 3d-billeder |
US10827163B2 (en) * | 2016-08-09 | 2020-11-03 | Facebook Technologies, Llc | Multiple emitter illumination source for depth information determination |
EP3343246A1 (en) * | 2016-12-30 | 2018-07-04 | Xenomatix NV | System for characterizing surroundings of a vehicle |
CN108696694B (zh) * | 2017-03-31 | 2023-04-07 | 钰立微电子股份有限公司 | 有关深度信息/全景图像的图像装置及其相关图像系统 |
US10909650B2 (en) | 2017-06-23 | 2021-02-02 | Cloud 9 Perception, LP | System and method for sensing and computing of perceptual data in industrial environments |
KR102476404B1 (ko) | 2017-07-18 | 2022-12-12 | 엘지이노텍 주식회사 | ToF 모듈 및 그 ToF 모듈을 이용한 피사체 인식장치 |
CN108564613A (zh) * | 2018-04-12 | 2018-09-21 | 维沃移动通信有限公司 | 一种深度数据获取方法及移动终端 |
US11609313B2 (en) * | 2018-07-31 | 2023-03-21 | Waymo Llc | Hybrid time-of-flight and imager module |
US11353588B2 (en) * | 2018-11-01 | 2022-06-07 | Waymo Llc | Time-of-flight sensor with structured light illuminator |
CN110308458B (zh) * | 2019-06-27 | 2021-03-23 | Oppo广东移动通信有限公司 | 调节方法、调节装置、终端及计算机可读存储介质 |
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- 2014-01-29 KR KR1020140011786A patent/KR102277309B1/ko active IP Right Grant
-
2015
- 2015-01-28 WO PCT/KR2015/000917 patent/WO2015115802A1/ko active Application Filing
- 2015-01-28 JP JP2016549147A patent/JP6644694B2/ja active Active
- 2015-01-28 EP EP15742848.3A patent/EP3101893B1/en active Active
- 2015-01-28 CN CN201580006363.9A patent/CN105940675A/zh active Pending
- 2015-01-28 US US15/115,172 patent/US10690484B2/en not_active Expired - Fee Related
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2021
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Also Published As
Publication number | Publication date |
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US10690484B2 (en) | 2020-06-23 |
KR102277309B1 (ko) | 2021-07-14 |
EP3101893A1 (en) | 2016-12-07 |
US20160349043A1 (en) | 2016-12-01 |
KR102400992B1 (ko) | 2022-05-23 |
KR20210090134A (ko) | 2021-07-19 |
EP3101893A4 (en) | 2017-07-26 |
JP6644694B2 (ja) | 2020-02-12 |
CN105940675A (zh) | 2016-09-14 |
WO2015115802A1 (ko) | 2015-08-06 |
EP3101893B1 (en) | 2020-04-22 |
KR20150090778A (ko) | 2015-08-06 |
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