KR102094214B1 - Device and method of obtaining image - Google Patents

Abstract

An image acquiring device according to an embodiment includes a light emitting unit that emits a plurality of light to an object; And a light receiving unit that acquires color image and depth information by using any one of a plurality of light emitted through the light emitting unit, wherein the light emitting unit emits a plurality of light focused at different locations.

Description

Image acquisition device and its acquisition method {DEVICE AND METHOD OF OBTAINING IMAGE}

The present invention relates to an image acquisition apparatus, and more particularly, to an image acquisition apparatus and an image acquisition method thereof capable of simultaneously obtaining color images and depth information using one camera.

Cameras used for 3D motion recognition require several factors.

Three typical types are object shape, color, and depth information. At this time, the shape or color of the object can be obtained from a general 2D camera. However, the depth information can be obtained from an infrared camera separate from the 2D camera.

Therefore, two cameras, such as a first camera for acquiring the shape or color of an object and a second camera for acquiring depth information, are basically used for 3D motion recognition.

However, in the 3D motion recognition method according to the prior art, by using the two cameras as described above, the image quality deterioration and compensation algorithm due to the double component cost and the assembly error between the cameras are required.

Hereinafter, a 3D image acquisition device according to the related art will be described with reference to the accompanying drawings.

1 and 2 are views for explaining a 3D image acquisition device according to the prior art.

Referring to FIG. 1, the 3D image acquisition device includes a first camera 11 for acquiring shape or color information of an object, a second camera 12 for acquiring depth information, and a light emitting unit 13 for generating infrared light ).

The 3D image acquisition apparatus according to FIG. 1 is composed of separate independent first camera 11 and second camera 12 as described above, and acquires an image for 3D motion recognition based on this.

At this time, the first camera 11 and the second camera 12 do not exist on the same axis as in the drawing, and are arranged at positions spaced apart by a predetermined distance.

Accordingly, even when an image of the same object is acquired using the first and second cameras 11 and 12, parallax due to mutual baselines occurs. In other words, as described above, since the first and second cameras are disposed at a certain distance, the first and second cameras acquire information about the same object with different focuses.

Due to this, in order to solve the above problems, a process of obtaining information with exactly matched positions is performed. In addition, the process is complicated, and an error occurs in the calculation process, thereby limiting an accurate 3D image. There is.

In addition, FIG. 2 is designed to solve the problem of the 3D image acquisition device of FIG. 1.

That is, FIG. 2 is designed to overcome parallax between a plurality of cameras occurring in FIG. 1.

In other words, FIG. 2 is a view in which a first camera 22 for acquiring shape or color information of an object and a second camera 23 for acquiring depth information are coaxially joined using a prism 21 or plate. This is a configuration that solves the problem of parallax shown in 1.

However, in the prior art shown in FIG. 2, only the first camera 21 and the second camera 22 are formed coaxially, and the system using two separate lenses and two sensors is shown in FIG. As such, problems of scale mismatch, AE / AWB mismatch, etc. due to assembly errors, different systems (eg, lens angle of view, AE, AWB conditions) between the first and second cameras remain.

(Patent Document 1) KR 10-2011-0071528 A

In an embodiment according to the present invention, an image acquisition device capable of acquiring not only the shape or color information of an object but also depth information using one camera is provided.

In addition, according to an embodiment of the present invention, an image acquisition device capable of increasing the number of pixels occupied by a light spot transmitted to an image sensor by rotating the laser diode at an intermediate angle between the X and Y axes is provided.

In addition, according to an embodiment of the present invention, an image acquisition device capable of efficiently acquiring depth information on an object at various distances using a single camera is provided.

The technical problems to be achieved in the proposed embodiment are not limited to the technical problems mentioned above, and other technical problems that are not mentioned are clear to a person having ordinary knowledge in the technical field to which the proposed embodiment belongs from the following description. It can be understood.

An image acquiring device according to an embodiment includes a light emitting unit that emits a plurality of light to an object; And a light receiving unit that acquires color image and depth information by using any one of a plurality of light emitted through the light emitting unit, wherein the light emitting unit emits a plurality of light focused at different locations.

In addition, the light emitting unit includes a surface light laser (Vcsel) composed of a plurality of light emitting elements, and a diffraction optical element that diffracts light emitted through the plurality of light emitting elements, respectively.

In addition, the diffractive optical element is composed of a plurality of pieces corresponding to the plurality of light emitting elements, so that light emitted through the light emitting element is focused at different positions.

Further, each of the plurality of light emitting elements generates light having different wavelengths, and light diffracted through the diffraction optical element is focused at different positions as the light having different wavelengths is generated.

In addition, the surface light laser generates the light while being rotated at a specific angle between the X-axis and the Y-axis.

In addition, the light-receiving unit includes a sensor having R, G, B, and IR pixels.

On the other hand, the image acquisition method of the image acquisition apparatus according to the embodiment includes generating a plurality of light focused at different locations; And acquiring color image and depth information using any one of the plurality of generated light, wherein the acquiring step comprises using the light focused on the target object among the plurality of lights and the color image and And obtaining depth information.

Further, the generating of the plurality of lights may include generating light having the same characteristics in a surface light laser (Vcsel) composed of a plurality of light emitting elements, and different conditions such that the generated plurality of lights are focused at different locations. And diffracting each of the plurality of lights within.

In addition, the generating of the plurality of lights includes generating light having different wavelengths in a surface light laser Vcsel composed of a plurality of light emitting elements.

In an embodiment according to the present invention, not only the shape or color information of an object is acquired by using a single camera, but also depth information can be obtained, thereby reducing the cost of parts and compensating for image quality and compensation due to assembly errors between cameras Problems such as algorithm application can be solved.

In addition, in an embodiment according to the present invention, by rotating the laser diode at an intermediate angle between the X-axis and the Y-axis, the light point transmitted to the image sensor is made diagonal, so that the number of pixels occupied by the light spot transmitted to the image sensor By increasing the depth recognition rate can be improved.

In addition, in an embodiment according to the present invention, a plurality of surface light laser arrays are applied to configure a camera, and by applying different focusing distances of the respective surface light lasers, the surface light laser optimized according to the distance to the object Depth information can be easily obtained by using.

1 and 2 are views for explaining a 3D image acquisition device according to the prior art.
3 is a view showing an image acquisition device according to an embodiment of the present invention.
4 is a view showing the light emitting unit 110 and the light receiving unit 120 shown in FIG. 3.
5 is a detailed configuration diagram of the light emitting unit 110 shown in FIG. 3.
6 is a view showing a light emitting unit according to another embodiment of the present invention.
7 is a view for explaining the light emitting device 111 shown in FIGS. 5 and 6.
8 is a view for explaining the light distribution of the light emitting unit according to the first embodiment of the present invention.
9 is a view for explaining the light distribution of the light emitting unit according to the second embodiment of the present invention.
10 is a view for explaining the light distribution of the light emitting unit according to an embodiment of the present invention.
11 is a view showing a light point incident on the camera according to the prior art.
12 is a view showing a light point incident on the camera according to the present invention.
13 is a flow chart for explaining step-by-step the image acquisition method of the image acquisition device according to an embodiment of the present invention.

Advantages and features of the present invention, and methods for achieving them will be clarified with reference to embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention pertains. It is provided to fully inform the holder of the scope of the invention, and the invention is only defined by the scope of the claims. The same reference numerals refer to the same components throughout the specification.

In describing embodiments of the present invention, when it is determined that a detailed description of known functions or configurations may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted. In addition, terms to be described later are terms defined in consideration of functions in an embodiment of the present invention, which may vary according to a user's or operator's intention or practice. Therefore, the definition should be made based on the contents throughout this specification.

Combinations of each block of the accompanying drawings and each step of the flowchart may be performed by computer program instructions. These computer program instructions can be mounted on a processor of a general purpose computer, special purpose computer, or other programmable data processing equipment, so that the instructions executed through the computer or other programmable data processing equipment processor are shown in each block or flow diagram of the drawing. It will create means to perform the functions described in the steps. These computer program instructions can also be stored in computer readable or computer readable memory that can be oriented to a computer or other programmable data processing equipment to implement a function in a particular manner, so that computer readable or computer readable memory The instructions stored in it are also possible to produce an article of manufacture containing instructions means for performing the functions described at each step of each block or flowchart of the drawing. Since computer program instructions may be mounted on a computer or other programmable data processing equipment, a series of operational steps are performed on the computer or other programmable data processing equipment to create a process that is executed by the computer to generate a computer or other programmable data. It is also possible for instructions to perform processing equipment to provide steps for performing the functions described in each block of the drawing and in each step of the flowchart.

Further, each block or each step may represent a module, segment, or portion of code that includes one or more executable instructions for executing the specified logical function (s). It should also be noted that in some alternative embodiments, the functions mentioned in blocks or steps may occur out of order. For example, two blocks or steps shown in succession may in fact be executed substantially simultaneously, or it is also possible that the blocks or steps are sometimes performed in reverse order depending on the corresponding function.

3 is a view showing an image acquisition device according to an embodiment of the present invention.

Referring to FIG. 3, the image acquisition device includes a light emitting unit 110, a light receiving unit 120, an image processing unit 130, and an interface unit 140.

The light emitting unit 110 is an active light emitting system using LD / LED.

The light emitting unit 110 serves to spray a pattern necessary to acquire depth information, that is, IR (infrared) proximity light information. At this time, the light emitting unit 110 projects a pattern having a certain rule onto an object to be restored in 3D.

That is, the light emitting unit 110 serves to spray an IR proximity light pattern designed to have a regular spatial arrangement.

The light receiving unit 120 acquires color images and depth information using the proximity light pattern scattered through the light emitting unit 110. Here, the depth information is IR (infrared) information.

At this time, the light receiving unit 120 is a camera, and in the present invention, an IR image is obtained together with a color image as described above using only one camera.

This is possible by changing the pixel arrangement of the image sensor of the camera.

In other words, the light receiving unit 120 in the present invention has R, G, B and IR pixels. At this time, a pixel of a typical image sensor has two G pixels per one R and G pixels. In the present invention, it is possible to change one pixel of the two G pixels to the IR pixel.

However, this is only an embodiment of the present invention, and the arrangement of the R, G, B and IR pixels may be variously changed.

Accordingly, the light receiving unit 120 acquires an RGB image that lacks one G pixel information than a color image obtained from a currently provided RGB camera.

In addition, the light receiving unit 120 acquires an IR image.

In more detail, the light receiving unit 120 detects the incident light, and a photodiode that detects light by converting and outputting the amount of the detected light into an electrical signal may be used, and the light receiving unit ( The light detected at 120) may include a plurality of different types of light.

That is, the light received by the light receiving unit 120 includes, for example, light corresponding to a specific area of the visible area and light corresponding to the infrared area.

Accordingly, the light receiving unit 120 may include a photodiode that extracts color information for light corresponding to a specific area of the visible region of the light spectrum, specifically red light, green light, and blue light.

Here, the color information may be an RGB signal or a CMY signal. At this time, an RGB sensor for detecting an RGB signal for light may be used in the light receiving unit 120, but the present invention is not limited thereto, and various optical sensors capable of detecting color information about light may be used. have.

In addition, the light receiving unit 120 may further include a photo diode that detects light (eg, IR proximity light) corresponding to the infrared region.

In conclusion, the light receiving unit 120 according to the present invention can detect light corresponding to red light, green light, blue light, and IR proximity light, respectively, and output RGB image and IR proximity light image accordingly.

Meanwhile, the light receiving unit 120 may obtain IR proximity light information corresponding to 1/4 of the total resolution of the image sensor.

The image processing unit 130 acquires a substantial color image using the RGB image and the IR image obtained through the light receiving unit 120 and processes the RGB image.

At this time, the image processing unit 130 may restore a color image by using the information in which the G pixel is reduced, similar to a technique in which an RGBW sensor is applied to improve a low-light image by using a demosaicing technique.

That is, the image processing unit 130 serves to interpolate depth information using an IR proximity light image and to combine the IR proximity light image and an RGB image.

The interface unit 140 connects between the image processing unit 130 and various electronic devices.

Hereinafter, the image acquisition device will be described in more detail with reference to the accompanying drawings.

4 is a view showing the light emitting unit 110 and the light receiving unit 120 shown in FIG. 3.

As shown in FIG. 4, various elements are attached to the printed circuit board P, and the light emitting unit 110 and the light receiving unit 120 are disposed at regular intervals along with the various elements.

At this time, unlike the prior art, the light receiving unit 120 is composed of one single piece, and based on this, both the RGB image and the IR proximity light image are acquired.

5 is a detailed configuration diagram of the light emitting unit 110 shown in FIG. 3.

Referring to FIG. 5, the light emitting unit 110 includes a light emitting device 111, a lens 112, and a diffractive optical device 113.

The light emitting device 111 may be formed of a laser diode (LD).

At this time, preferably, the light emitting element 111 may be configured as a plurality of arrays. In other words, the light emitting device 111 may include a first light emitting device 1111, a second light emitting device 1112, a third light emitting device 1113, ..., Nth light emitting device 111N. .

The light emitting devices 111 including the first to N light emitting devices as described above emit light vertically from the surface.

At this time, the light emitting element 111 is preferably composed of a surface light laser (Vcsel). The surface light laser means a laser composed of a 2D array of a plurality of light spots, and thus includes first to N light emitting elements as described above.

The lens 112 changes conditions of light emitted through the light emitting element 111. At this time, the lens 112 may be composed of a collimated lens.

The lens 112 as described above is formed between the diffractive optical element 113 and the light emitting element 111 to be described later, thereby incident on the light emitted from the optical element 113 to the diffractive optical element 113 The light condition to be made is made into parallel light.

The lens 112 may include first to N lenses 1121, 1122, 1123, ..., 112N corresponding to each of the first to N light emitting elements constituting the light emitting element 111.

On the other hand, although the drawing shows that the lens 112 is essentially formed between the light emitting element 111 and the diffractive optical element 113, the light is emitted from the light emitting element 111 without the lens 112 according to an embodiment. It is also possible that the light is directly incident on the diffractive optical element 113.

The diffraction optical element 113 diffracts and emits light transmitted through the lens 112.

The diffractive optical element 113 may also include first to N diffractive optical elements 1131, 1132, 1133, ..., 113N corresponding to the light emitting element 111 and the lens 112.

In other words, light emitted through the first light emitting element 1111 is incident on the first lens 1121, and light emitted through the first lens 1121 is the first diffraction optical element 1131. Is joined.

Accordingly, the light emitting unit 110 according to an embodiment of the present invention is composed of a plurality of groups generating light, and accordingly, the plurality of groups respectively emit light corresponding to the above-described pattern.

Looking at the characteristics of the light emitted through the light emitting element 111, the lens 112 and the diffractive optical element 113 as described above are as follows.

The light emitting element 111 emits light that is large in the X-axis direction and small in the Y-axis direction. Accordingly, the light emitted from the light emitting element 111 is formed in an elliptical shape with a long X-axis.

The lens 112 changes the light incident through the light emitting element 111 to parallel light, wherein the light emitted through the lens 112 is the same as the light emitted from the light emitting element 11 X The axial light intensity distribution is large. At this time, in an embodiment, a mirror may be formed between the light emitting element 111 and the lens 112, and based on this, the light incident on the lens 112 may be folded once in advance to reduce the overall module size.

The light emitted from the diffraction optical element 113 appears differently from the light intensity distribution for incident light by the above-described diffraction. That is, in the light emitted from the diffraction optical element 113, the X-Y axis of the light intensity distribution is changed from each other in comparison with the light intensity distribution emitted from the light emitting element 111 or the lens 112.

That is, the diffraction optical element 113 emits light whose Y-axis light point is longer than the X-axis.

6 is a view showing a light emitting unit according to another embodiment of the present invention.

6, the light emitting unit according to another embodiment of the present invention, the first to N light emitting elements (1111, 1112, 1113, ..., 111N) and the first, the same as the light emitting unit shown in Figure 5 To N lenses 1121, 1122, 1123, ..., 112N.

However, unlike the diffractive optical element shown in FIG. 5, the diffractive optical element 210 is composed of a single dog capable of injecting all of the light emitted through the plurality of lenses.

That is, the diffractive optical element 210 may be composed of a single dog, and thus receives light emitted through the plurality of lenses and diffracts them.

On the other hand, in FIG. 6, although the lens is shown to be composed of a plurality, the diffractive optical element 210 may be composed of a single piece.

In other words, only the light-emitting element may be composed of a plurality as a proximity light laser composed of a plurality of arrays, and the lens or the diffraction optical element may be composed of a single.

7 is a view for explaining the light emitting device 111 shown in FIGS. 5 and 6.

As described above, the light emitting device 111 is configured with a vertical cavity surface emitting laser (VCSEL) array module.

Accordingly, as illustrated in FIG. 7, a plurality of surface light lasers are attached to the printed circuit board P, and light is output from each of the plurality of surface light lasers.

That is, the conventional general laser is a laser that emits light to the side, and has different characteristics in the X and Y axes. Due to this, the X-Y asymmetric light distribution of the light spot size is generated in the proximity light type depth camera (IR camera).

On the other hand, the surface light laser is a laser that vertically radiates light from the surface, and has a feature in which the radiation angles of the X-Y axes are symmetric to each other. The surface light laser as described above is a laser composed of a plurality of light spots in a 2D array.

8 is a view for explaining the light distribution of the light emitting unit according to the first embodiment of the present invention.

According to the light emitting unit according to the first embodiment, the light emitting element 111, the lens 112, and the diffractive optical element 113 are all composed of a plurality corresponding to the surface light laser.

Accordingly, the first light emitting element 1111, the first lens 1121 and the first diffraction optical element 1131 form a first group, and the second light emitting element 1112, the second lens 1122 and the second The diffractive optical element 1132 forms a second group, and the third light emitting element 1113, the third lens 1123, and the third diffractive optical element 1133 form a third group.

At this time, the first light emitted from the first group, the second light emitted from the second group, and the third light emitted from the third group have different characteristics.

In other words, the same light is emitted from the first light emitting element 1111, the second light emitting element 1112, and the third light emitting element 1113.

However, the characteristics of the lens and the diffractive optical element included in the first group, the lens and the diffractive optical element included in the second group, and the lens and the diffractive optical element included in the third group are different from each other. The first light, the second light, and the third light have different characteristics and are emitted. At this time, the characteristic is the distance from the object to which the light is focused.

In other words, the first light emitted from the first group is focused at a position Z1 away from the first group, and the second light emitted from the second group is focused at a position Z2 away from the second group. , The third light emitted from the third group is focused at a position Z3 away from the third group. At this time, the Z1, Z2 and Z3 are all characterized by different positions.

In conclusion, the first lens 1121 and the first diffractive optical element 1131 are designed such that the first group is focused on the object at the position corresponding to Z1 during the above arrangement of light points.

In addition, the second lens 1122 and the second diffractive optical element 1132 are designed so that the second group of the above-described array of light points is focused on an object at a position corresponding to Z2.

In addition, the third lens 1123 and the third diffractive optical element 1133 are designed so that the third group of the above-described light dot array is focused on the object at the position corresponding to Z3.

On the other hand, the number of groups as described above can be any combination.

In the above-described method, depth can be recognized by confirming a light pattern that is focused and returned at a specific object distance through a combination of several groups of light emitting elements, lenses, and diffractive optical elements.

Therefore, for an object at a distance of Z1, the IR proximity light image is acquired by using the first light to obtain depth information, and for an object at a distance of Z2, the IR proximity light image is obtained by using the second light. By acquiring, depth information is obtained, and for an object at a distance of Z3, depth information is acquired by acquiring an IR proximity light image using the third light.

At this time, since the focusing state for each light is different according to the distance of the object, the state of the first to third lights is checked to determine the focused light optimized for the distance of the current object, and depth information is obtained based on this. can do. The state can be determined by checking the image quality state through an edge detection method or the like.

9 is a view for explaining the light distribution of the light emitting unit according to the second embodiment of the present invention.

According to the light emitting unit according to the second embodiment, the light emitting device 111 and the lens 112 may be composed of a plurality, and the diffractive optical element 210 may be configured of a single piece.

Accordingly, the first light emitting element 1111, the first lens 1121 and the diffractive optical element 210 form a first group, and the second light emitting element 1112, the second lens 1122, and the diffractive optical element ( 210) forms a second group, and the third light emitting element 1113, the third lens 1123, and the diffractive optical element 210 form a third group.

At this time, the first light emitted from the first group, the second light emitted from the second group, and the third light emitted from the third group have different characteristics.

In other words, the first light emitting element 1111, the second light emitting element 1112, and the third light emitting element 1113 all have different characteristics, and thus different light is emitted from the first to third light emitting elements. do. At this time, the characteristic is a wavelength (λ).

That is, the wavelength of the first light emitting element 1111 is λ1, the wavelength of the second light emitting element 1112 is λ2, and the wavelength of the third light emitting element 1113 is λ3.

Accordingly, the first light finally emitted based on the lenses and diffraction optical elements included in the first group, the lenses and diffraction optical elements included in the second group, and the lenses and diffraction optical elements included in the third group. And, the second light and the third light have different characteristics and are emitted. In other words, the distances at which the first light, the second light and the third light are focused appear differently.

In other words, the first light emitted from the first group is focused at a position Z1 away from the first group, and the second light emitted from the second group is focused at a position Z2 away from the second group. , The third light emitted from the third group is focused at a position Z3 away from the third group. At this time, the Z1, Z2 and Z3 are all characterized by different positions.

In conclusion, the first light emitting element 1111 is designed such that the first group is focused on the object at the position corresponding to Z1 during the above arrangement of light points.

In addition, the second light emitting element 1112 is designed such that the second group is focused on the object at the position corresponding to Z2 during the above arrangement of light points.

In addition, the third light emitting element 1113 is designed such that the third group is focused on the object at the position corresponding to Z3 during the above arrangement of light points.

On the other hand, the number of groups as described above can be any combination.

At this time, since a weak light amount is required at a short distance, the number of light points of the light emitting element may be small, or a low power light emitting element may be used, and since a strong light amount is required at a long distance, the number of light points of the light emitting element may be increased. , It is also possible to use a high-power light-emitting element. In addition, this is an example, and a combination of light emitting devices having the same number or the same power may be possible.

In the above-described method, depth can be recognized by confirming a light pattern that is focused and returned at a specific object distance through a combination of several groups of light emitting elements, lenses, and diffractive optical elements.

Therefore, for an object at a distance of Z1, the IR proximity light image is acquired by using the first light to obtain depth information, and for an object at a distance of Z2, the IR proximity light image is obtained by using the second light. By acquiring, depth information is obtained, and for an object at a distance of Z3, depth information is acquired by acquiring an IR proximity light image using the third light.

At this time, since the focusing state for each light is different according to the distance of the object, the state of the first to third lights is checked to determine the focused light optimized for the distance of the current object, and depth information is obtained based on this. can do. The state can be determined by checking the image quality state through an edge detection method or the like.

10 is a view for explaining the light distribution of the light emitting unit according to an embodiment of the present invention.

11 is a view showing a light point incident on the camera according to the prior art, and FIG. 12 is a view showing a light point incident on the camera according to the present invention.

Referring to FIG. 10, the emission angle of light emitted through the light emitting element 111 is large in the X-axis direction and small in the Y-axis direction. Therefore, the light emitted through the light emitting element 110 has an elliptical shape in the X axis.

In addition, the light distribution after passing through the lens 112 which is an intermediate optical element has a large intensity in the X axis as in the light emitting element 110.

At this time, the light emitted through the diffractive optical element 113 has a large intensity in the Y axis, unlike the light emitting element 111 and the lens 112. That is, the Y-axis light point is longer than the X-axis.

The light point hits the object and returns to the light receiving unit 120. In general, the horizontal direction of the image sensor of the light receiving unit 120 and the horizontal emission angle (X axis) of the light emitting element 111 are arranged to coincide with each other. .

At this time, when the horizontal arrangement of the image sensor is arranged on the X-axis or the Y-axis of the light emitting element 111, the light point falling on the image sensor is excessive in one direction and occupies a small number of pixels in the other direction. . In this case, the number of pixels occupied by the light point is lowered, thereby decreasing the recognition rate of depth information.

That is, as illustrated in FIG. 11, when the X-axis of the light emitting element 111 and the horizontal direction of the light receiving unit 120 (eg, an image sensor) coincide, the light point is occupied by three pixels in a vertical direction, and Conversely, when the Y-axis of the light-emitting element 111 and the horizontal direction of the light-receiving unit 120 coincide, the light point is occupied by three pixels in the horizontal direction.

Therefore, in the present invention, by rotating the light emitting element 111 at an intermediate angle between the X axis and the Y axis, the light point occupied by the light receiving unit 120 is made diagonal, thereby increasing the number of sensor pixels occupied by the light point. To do.

That is, as shown in FIG. 12, when the light emitting element 111 is rotated at a specific angle existing between the X-axis and the Y-axis, the light point occupied by the light receiving unit 120 changes diagonally, and accordingly, the light point is occupied. The number of pixels to be increased is increased to at least four.

Therefore, the depth recognition rate can be improved by increasing the number of pixels occupied by the light point.

As described above, in the embodiment according to the present invention, not only the shape or color information of an object is acquired by using one camera, but also depth information can be obtained together, thereby reducing the cost of parts, and image due to assembly error between cameras. Problems such as deterioration of quality and application of compensation algorithms can be solved.

In addition, in an embodiment according to the present invention, by rotating the laser diode at an intermediate angle between the X-axis and the Y-axis, the light point transmitted to the image sensor is made diagonal, so that the number of pixels occupied by the light spot transmitted to the image sensor By increasing the depth recognition rate can be improved.

In addition, in an embodiment according to the present invention, a plurality of surface light laser arrays are applied to configure a camera, and by applying different focusing distances of the respective surface light lasers, the surface light laser optimized according to the distance to the object Depth information can be easily obtained by using.

13 is a flow chart for explaining step-by-step the image acquisition method of the image acquisition device according to an embodiment of the present invention.

Referring to FIG. 13, first, the light emitting unit 110 emits a plurality of proximity lights (step 101). At this time, all of the emitted structural light have different characteristics. In other words, the light emitting unit 110 emits a plurality of lights focused at different positions.

Thereafter, the light receiving unit 120 receives the emitted plurality of proximity lights (step 102).

Next, the light receiving unit 120 acquires and transmits an RGB image and an IR proximity light image for each of the received plurality of proximity lights. Then, the image processing unit 130 uses the images obtained in correspondence to the respective proximity lights, selects the proximity lights focused at a distance from the object, and based on this, generates a stereoscopic image using the corresponding images (Step 103).

In addition, although the preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention belongs without departing from the gist of the present invention claimed in the claims. In addition, various modifications can be implemented by those having ordinary knowledge in the course, and these modifications should not be individually understood from the technical idea or prospect of the present invention.

110: light emitting unit
111: light emitting element 112: lens 113: diffraction optical element
120: light receiving unit
130: image processing unit
140: interface

Claims (9)

A light emitting unit that emits a plurality of light to the object; And
It includes a light receiving unit for obtaining a color image and depth information using any one of a plurality of light emitted through the light emitting unit,
The light emitting unit emits a plurality of light,
And a surface light laser (Vcsel) composed of a plurality of light emitting elements, and a diffraction optical element that diffracts light emitted through the plurality of light emitting elements, respectively.
The diffraction optical element is composed of a plurality of pieces corresponding to the plurality of light emitting elements, so that light emitted through the light emitting element is focused at different positions,
Image acquisition device. delete delete According to claim 1,
Each of the plurality of light emitting elements,
Generating light having different wavelengths,
As the light having the different wavelengths is generated, light diffracted through the diffraction optical element is focused at different positions.
Image acquisition device. According to claim 1,
The surface light laser,
The light is generated while rotated at a specific angle between the X-axis and the Y-axis.
Image acquisition device. According to claim 1,
The light receiving unit,
Including sensors with R, G, B and IR pixels
Image acquisition device. Generating a plurality of lights that are focused at different positions; And
And obtaining color image and depth information using any one of the generated plurality of lights,
The step of generating the plurality of light
A surface light laser (Vcsel) composed of a plurality of light emitting elements emitting a plurality of lights; And diffracting by passing through the diffractive optical element so that each of the light emitted through the plurality of light emitting elements is focused at a different location.
The diffractive optical element is composed of a plurality of corresponding to the plurality of light emitting elements, the obtaining step,
And acquiring the color image and depth information using light focused from a target object among the plurality of lights.
Image acquisition method of the image acquisition device. The method of claim 7,
The step of generating the plurality of light
Generating light having the same characteristics in a surface light laser (Vcsel) composed of the plurality of light emitting elements;
Diffracting each of the plurality of lights within different conditions so that the generated plurality of lights are focused at different positions.
Image acquisition method of the image acquisition device. The method of claim 7,
The step of generating the plurality of light
And generating light having different wavelengths from the surface light laser (Vcsel) composed of the plurality of light emitting elements.
Image acquisition method of the image acquisition device.

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