TWI640744B - Depth sensing photography system - Google Patents

Abstract

The present invention relates to a depth-sensing photographic system, which is a photographic system that combines the dual advantages of dual visual images and flashing structured light to obtain depth information of an object to be measured. The present invention includes a light source unit, a first image capture unit, The second image capture unit, image comparison unit, image processing unit and depth calculation unit; thereby, the present invention uses stereo dual-vision photography to counter the ambient light source and calculate the depth distance information of the object to be measured, combined with the active The flashing optical pattern of the built-in light source enhances the feature and distance capture of the weaker texture area, effectively solving the disadvantage that the traditional depth sensing camera cannot capture the feature points of the object to be measured in a dark environment, resulting in the inability to measure depth information. To achieve the advantages of improving the accuracy of the depth and distance measurement of the object to be measured.

Description

Depth Sensing Photography System

The invention relates to a depth-sensing photography system, in particular to a photography system that combines the dual advantages of dual visual images and flashing structured light to obtain depth information of the object to be measured.

With the increasing popularity of 3D cameras, stereoscopic vision technology has been widely used in related fields such as scientific research, cultural analysis or audio-visual entertainment; generally speaking, the formation of stereoscopic images can be accomplished in the following ways, for example, by using The depth camera of the depth information is used to shoot the target object, or the dual-camera that simulates human binocular vision is used to shoot the target object, and then the two-dimensional image of the target object is processed through appropriate image processing to obtain a three-dimensional stereoscopic image; the so-called In addition to the general two-dimensional plane image, the stereoscopic image is also given different depth information to the objects in the image. In the traditional stereo matching technology where the two-dimensional image presented by dual vision is converted into a three-dimensional image , Usually one of the two images is used as the reference image, and the other image is used as the target image, and the disparity map of the target image relative to the reference image is output, and the disparity of each pixel is The distance of the object being shot is inversely proportional, so the parallax map can be used to describe the stereoscopic depth information of the captured image; however, the dual vision image capture system still has some shortcomings, such as a large white wall and other targets In terms of image capture of objects, due to the weak surface texture, it is impossible to effectively capture the depth information of the target object only by image vision; in addition, in extremely dark environments, due to the lack of light source assistance, The dual-vision image capture system can't capture the depth information of the target when it can't capture any images; therefore, how to effectively solve the problem that traditional depth-sensing cameras cannot be in a dark environment or through innovative hardware design The defect of capturing the feature points of the object to be measured in the area with weak surface texture and making it impossible to measure its depth information is still a problem that needs to be continuously overcome and solved by related industry developers and related researchers such as stereoscopic image capture systems.

Today, the inventor is considering that the traditional dual-vision image capture system still has many shortcomings in actual implementation, so it is a tireless spirit, supplemented by its rich professional knowledge and many years of practical experience. Improve, and research and create the present invention accordingly.

The main purpose of the present invention is to provide a depth-sensing photographic system, in particular to a photographic system that combines the dual advantages of dual visual images and flashing structured light to obtain depth information of an object to be measured, mainly by stereo dual-vision photography To counter the ambient light source and calculate the depth distance information of the object to be measured, combined with the flashing optical pattern with active light source to enhance the characteristics and distance of the weaker texture area, effectively solve the traditional depth sensing camera can not be in a dark environment The shortcomings of capturing the feature points of the object to be measured and making it impossible to measure its depth information have indeed achieved advantages such as improving the accuracy of the measurement of the depth of the object to be measured.

In order to achieve the above-mentioned implementation objective, the present inventor proposes a depth sensing photography system, which at least includes a light source unit, a first image capture unit, a second image capture unit, an image comparison unit, and an image processing Unit, and a depth calculation unit; the light source unit emits a scintillating light beam including at least one optical pattern, wherein the optical pattern is changed by being irradiated on at least one object to be measured; the first image capturing unit is provided at On one side of the light source unit, the first image capture unit includes a first optical lens and a connection to the first optical The first photosensitive element of the lens, wherein the first optical lens captures the first image and the second image of the test object and / or the optical pattern in continuous time to form images on the first photosensitive element; the second image capturing unit It is arranged on the other side of the light source unit corresponding to the first image capturing unit. The second image capturing unit includes a second optical lens and a second photosensitive element connected to the second optical lens, wherein the second optical The lens captures the third image and the fourth image of the continuous time of the object to be measured and / or the optical pattern to form images on the second photosensitive element; the image comparison unit is electrically connected to the first image capture unit With the second image capture unit, the image comparison unit receives the first image, the second image, the third image, and the fourth image, and compares the difference between the first image and the second image to obtain a fifth Image, and comparing the difference between the third image and the fourth image to obtain a sixth image; the image processing unit is electrically connected to the first image capturing unit, the second image capturing unit, and the image comparison, respectively Unit, the image processing unit includes a depth comparison module, and a depth calculation module electrically connected to the depth comparison module, the depth comparison module receives the first image, the second image, the third image, the first Four images, a fifth image, and a sixth image, and compare the difference between at least one characteristic point between the first image and the third image, the second image and the fourth image, and the fifth image and the sixth image, with each A seventh image, an eighth image, and a ninth image of the object to be measured with a first depth value, a second depth value, and a third depth value are obtained. The depth calculation module receives the seventh image, the first image The eight images and the ninth image, and the depth average of the images is calculated to obtain a tenth image with a final depth value.

The depth-sensing photography system as described above, wherein the depth-sensing photography system can be further disposed in a casing.

As described above in the depth-sensing photography system, the light source unit, the first image capturing unit, and the second image capturing unit are embedded on one end face of the housing.

As described above, in the depth-sensing photography system, the image comparison unit, the image processing unit, and the depth calculation unit are disposed inside the housing.

As described above in the depth sensing photography system, the light source unit is one of light emitting diode (LED), laser, or light emitting element for outputting a light beam.

In the depth sensing photography system as described above, the optical pattern is one of grid, straight line, regularly arranged points or irregularly arranged points.

As described above in the depth sensing photography system, the first optical lens and the second optical system are one of fisheye lens, wide-angle lens or standard lens.

The depth sensing photography system as described above, wherein the first photosensitive element and the second photosensitive element are photocoupled devices (Charge Coupled Device, CCD) or complementary metal oxide semiconductor (Complementary Metal-Oxide-Semiconductor, CMOS), etc. A device.

In the depth sensing photography system as described above, the frequency at which the first optical lens and the second optical lens capture images is equal to the flicker frequency of the light beam of the light source unit.

As described above in the depth sensing photography system, wherein the first image is when the light source unit is constantly bright, the first optical lens captures images of the object to be measured and the optical pattern.

As described above in the depth sensing photography system, wherein the second image is when the light source unit is dimmed, the first optical lens captures the image of the object to be measured.

As described above in the depth-sensing photography system, the fifth image is the difference between the first image and the second image, and is an image with only optical patterns.

As described above in the depth sensing photography system, wherein the third image is when the light source unit is constantly on, the second optical lens captures images of the object to be measured and the optical pattern.

As described above in the depth sensing photography system, wherein the fourth image is when the light source unit is dimmed, the second optical lens captures the image of the object to be measured.

In the above-mentioned depth-sensing photography system, the sixth image is the difference between the third image and the fourth image, and is an image with only optical patterns.

The depth sensing photography system as described above, wherein the image processing unit calculates the first depth by measuring the difference between the characteristic points of the images captured by the first optical lens and the second optical lens, using the method of parallax and triangle distance measurement Value, second depth value, and third depth value.

In this way, the depth-sensing photography system of the present invention mainly uses stereo dual-vision photography to counter the ambient light source and calculate the depth distance information of the object to be tested, combined with the flickering optical pattern with active light source to strengthen the weaker texture The feature and distance capture of the area effectively solves the defect that the traditional depth-sensing camera cannot capture the feature point of the object to be measured in a dark environment, which can not measure its depth information, and indeed achieves the improvement of the depth of the object to be measured. Advantages such as accuracy; in addition, the depth-sensing photography system of the present invention mainly uses the light source unit to emit at least one special optical pattern to enhance the feature point extraction of the target with weak surface texture features, effectively using the light source The light beam provided by the unit solves the shortcomings of the traditional depth camera, such as the inability to accurately measure the distance of the target in a dark environment, and indeed achieves the advantages of providing the required light source and accurately measuring the distance of the target; finally, the depth sensing photography of the present invention The system mainly uses the flickering light beam emitted by the light source unit to effectively subtract the two images before and after, to clearly identify the slight change of the shape of the target object to the optical pattern, and indeed calculate the depth information of the target object for user reference Advantage.

(1) ‧‧‧Light source unit

(11) ‧‧‧Optical pattern

(111) ‧‧‧light spot

(2) ‧‧‧ test object

(21) ‧‧‧Sphere

(3) ‧‧‧First image capture unit

(31) ‧‧‧First optical lens

(32) ‧‧‧The first photosensitive element

(4) ‧‧‧Second image capture unit

(41) ‧‧‧Second optical lens

(42) ‧‧‧Second photosensitive element

(5) ‧‧‧Image comparison unit

(6) ‧‧‧Image processing unit

(61) ‧‧‧Depth comparison module

(62) ‧‧‧Depth calculation module

(7) ‧‧‧case

(A) ‧‧‧Feature points

(A1) ‧‧‧First characteristic point

(A2) ‧‧‧Second characteristic point

(P1) ‧‧‧First image

(P2) ‧‧‧Second image

(P5) ‧‧‧ fifth image

Figure 1: Block diagram of the system architecture of a preferred embodiment of the depth sensing photography system of the present invention

Figure 2 (A) ~ (C): A schematic diagram of image capture of a first image capture unit of a preferred embodiment of the depth sensing photography system of the present invention

In order to facilitate your examination committee to understand the technical features, content, advantages and achievable effects of the present invention, the present invention is described in detail in conjunction with the drawings and in the form of expressions of the embodiments, and the drawings used therein, Its purpose is only for illustration and supplementary description, and may not be the true scale and precise configuration after the implementation of the present invention, so it should not be interpreted and limited to the relationship between the scale and the configuration of the attached drawings, and the scope of the present invention in the actual implementation is limited , He Xianming.

First, please refer to FIGS. 1 to 2 (A) to (C), which is a block diagram of the system architecture of a preferred embodiment of the depth sensing photography system of the present invention, and the image capture of the first image capture unit Take a schematic diagram; the depth-sensing photography system of the present invention at least includes: a light source unit (1), which emits a scintillating light beam (not shown) including at least one optical pattern (11), wherein the optical pattern ( 11) The light source unit (1) is a light-emitting diode (LED), a laser, or a light-emitting element for outputting a light beam, etc. A device; furthermore, the optical pattern (11) is one of grid, line, regular arrangement point or irregular arrangement point, etc. In addition, the depth sensing photography system can be further provided in a casing (7 ), And the light source unit (1) is embedded in one end face of the casing (7); in a preferred embodiment of the present invention, the light source unit (1) presented in a laser form is embedded in the casing (7) The position of the center point of one of the end faces to emit the light beam including the optical pattern (11) presented in a regularly arranged dot pattern, wherein the beam and the optical pattern (11) have the same flicker frequency and the optical pattern (11 ) Is a change in shape due to irradiation on at least one object (2) in front of the light source unit (1), where The object to be measured (2) can be, for example but not limited to, a still life such as a sphere (21) placed on a plane; a first image capturing unit (3) is provided on one side of the light source unit (1), The first image capturing unit (3) includes a first optical lens (31) and a first photosensitive element (32) connected to the first optical lens (31), wherein the first optical lens (31) captures The first image (P1) and the second image (P2) of the continuous time of the test object (2) and / or the optical pattern (11) are respectively imaged on the first photosensitive element (32); in addition, the first optical lens (31) is one of the aspects such as fisheye lens, wide-angle lens or standard lens; furthermore, the first photosensitive element (32) is one of photoelectric coupling element (CCD) or complementary metal oxide semiconductor (CMOS), etc. A device; in addition, the frequency of the image captured by the first optical lens (31) is equal to the flashing frequency of the light beam of the light source unit (1); furthermore, the first image (P1) is when the light source unit (1) is constantly on, The first optical lens (31) captures images of the object to be measured (2) and the optical pattern (11), and the second image (P2) is when the light source unit (1) is dimmed, the first optical lens (31) captures Take an image of the object to be measured (2); in a preferred embodiment of the present invention, the first image capturing unit (3) corresponds to the light source unit (1) and is embedded on the same end surface of the housing (7) and The frequency of the first optical lens (31), which is arranged on the right side of the light source unit (1) and is presented in the form of a fisheye lens and built into the first image capture unit (3), is equal to the frequency of the light source unit ( 1) The frequency of the light beam flicker. When the light beam is constantly bright for the first time, the first optical lens (31) simultaneously captures the image of the object to be measured (2) and the optical pattern (11) of the sphere (21). The first image (P1) is formed, and when the beam of the second time continues to dim, the first optical lens (31) only captures the image of the object (2) of the sphere (21) to form the second image (P2); a second image capturing unit (4), corresponding to the first image capturing unit (3), is disposed on the other side of the light source unit (1), and the second image capturing unit (4) is It includes a second optical lens (41) and a second photosensitive element (42) connected to the second optical lens (41), wherein the second optical lens (41) captures the object to be measured (2) and / or optical The third continuous image of pattern (11) Marked) and the fourth image (not shown in the figure) are imaged on the second photosensitive element (42); in addition, the second optical lens (41) is one of the aspects such as fisheye lens, wide-angle lens or standard lens ; Furthermore, the second photosensitive element (42) is one of photoelectric coupling element (CCD) or complementary metal oxide semiconductor (CMOS) and other devices; in addition, the frequency of the second optical lens (41) to capture images is equal to The flicker frequency of the light beam of the light source unit (1); Furthermore, when the third image is the constant light of the light source unit (1), the second optical lens (41) captures the test object (2) and the optical pattern (11) Image, and the fourth image is when the light source unit (1) is dimmed, the second optical lens (41) captures the image of the object to be measured (2); in a preferred embodiment of the present invention, it is similar to the first 2 (A) ~ (C) shown, the second image capture unit (4) is located on the left side of the light source unit (1) relative to the first image capture unit (3), in a fisheye lens state The frequency of the image captured by the second optical lens (41) of the second image capturing unit (4) is equal to the flicker frequency of the beam. When the beam of the first time is constantly bright, the second optical lens ( 41) The images of the test object (2) and the optical pattern (11) of the sphere (21) are captured at the same time to form a third image, and when the beam of the second time continues to dim, the second optical lens ( 41) Only the image of the test object (2) of the sphere (21) is captured to form a fourth image; an image comparison unit (5) is electrically connected to the first image capture unit (3) and The second image capture unit (4) and the image comparison unit (5) receive the first image (P1), the second image (P2), the third image, and the fourth image, and compare the first image (P1) ) And the second image (P2) to obtain a fifth image (P5), and to compare the difference between the third image and the fourth image to obtain a sixth image (not shown); , The image comparison unit (5) is arranged inside the housing (7); furthermore, the fifth image (P5) is the difference between the first image (P1) and the second image (P2), it is It is an image with only an optical pattern (11); in addition, the sixth image is the difference between the third image and the fourth image, which is an image with only the optical pattern (11); Examples In the image comparison unit (5) is arranged inside the housing (7), the main function is to deal with the flashing light source unit (1) causing the first image capture unit (3) and the second image capture unit (4) ) The difference between the captured images, that is, the image comparison unit (5) compares the first image (P1) and the second image (P2) captured by the first image capture unit (3) To obtain the fifth image (P5) with only the optical pattern (11), where the original optical pattern (11) is composed of 40 regularly arranged light spots (111), when the optical pattern (11) hits The object under test (2) becomes an irregular shape as shown in Figure 2 (A). Similarly, the image comparison unit (5) also compares the third captured by the second image capture unit (4) The difference between the image and the fourth image to obtain the sixth image with only the optical pattern (11); and an image processing unit (6), which are electrically connected to the first image capturing unit (3) and the third Two image capturing units (4), and an image comparison unit (5), the image processing unit (6) includes a depth comparison module (61), and an electrical connection depth comparison module (61) The depth calculation module (62), the depth comparison module (61) receives the first image (P1), the second image (P2), the third image, the fourth image, the fifth image (P5), and the sixth Image, and compare the difference of at least one characteristic point (A) between the first image (P1) and the third image, the second image (P2) and the fourth image, and the fifth image (P5) and the sixth image, To obtain a seventh image (not shown in the figure) and an eighth image (not shown in the figure) of the object to be measured (2) each having a first depth value, a second depth value, and a third depth value , And the ninth image (not shown in the figure), the depth calculation module (62) receives the seventh image, the eighth image, and the ninth image, and calculates the depth average value of the image to obtain a final depth value The tenth image (not shown in the figure); in addition, the image processing unit (6) is provided inside the housing (7); furthermore, the image processing unit (6) is provided by the first optical lens (31) and The difference in feature points (A) of the image captured by the second optical lens (41), using the method of parallax and triangle distance measurement, to calculate the first depth value, the second depth value, and the third depth value; in the present invention In a preferred embodiment, the image processing unit The element (6) is arranged inside the casing (7), the main function is to compare the first image capturing unit (3) and the second image capturing unit (4) when the light source unit (1) is constantly on or off The feature point (A) difference between the captured images, that is, the depth comparison module (61) built in the image processing unit (6) is compared with the first optical lens when the light source unit (1) is constantly bright (31) The first feature point (A1) in the captured first image (P1) and the third feature point (not shown) in the third image captured by the second optical lens (41), A seventh image with a first depth value is obtained by using parallax and triangle distance measurement, where the first feature point (A1) and the third feature point are the same as the object to be measured (2) which is a sphere (21) The feature point (A) of the coordinate value, and the depth comparison module (61) also compares the second image (P2) in the second image (P2) captured by the first optical lens (31) when the light source unit (1) is dimmed The second feature point (A2) and the fourth feature point (not shown in the figure) in the fourth image captured by the second optical lens (41) also use the method of parallax and triangle distance measurement to obtain the second depth value The eighth image of the same, the depth comparison module (61) also compares the feature point (A) of the fifth image (P5) and the sixth image with the same coordinate value of the image with only the optical pattern (11) Image difference, and use the method of parallax and triangle distance measurement to obtain the ninth image with the third depth value; finally, the depth calculation module (62) built in the image processing unit (6) averages the first depth value, The second depth value and the third depth value to obtain the tenth image of the final depth value of the object (2) with the sphere (21), where the final depth value represents the object (2) of the sphere (21) ) And the depth sensing camera system of the present invention.

Next, in order to enable your reviewer to further understand the purpose, features, and desired effects of the present invention, the following specific practical embodiments of the depth-sensing photography system of the present invention are used to further prove the depth-sensing photography system of the present invention. The range of practical application, but it is not intended to limit the scope of the present invention in any form; when a user wants to measure the distance of an object (2), the depth sensing camera system of the present invention can be used to measure, mainly By stereoscopic dual vision photography To counter the ambient light source and calculate the depth distance information of the object to be measured (2), combined with the flashing optical pattern (11) with active light source to strengthen the feature and distance capture of the weaker texture area, effectively solve the traditional depth sensing The camera is unable to capture the feature points of the object to be measured in a dark environment, which results in the inability to measure the depth information. It does achieve the advantages of improving the accuracy of the depth measurement of the object to be measured (2); first, prepare a light source unit (1), wherein the light source unit (1) emits a scintillating light beam including at least one optical pattern (11), and the optical pattern (11) is changed by being irradiated on at least one object to be measured (2); Next, prepare a first image capturing unit (3), wherein the first image capturing unit (3) is disposed on a side of the light source unit (1), and the first image capturing unit (3) includes a first An optical lens (31) and a first photosensitive element (32) connected to the first optical lens (31), wherein the first optical lens (31) captures the object to be measured (2) and / or the optical pattern (11) ) Continuous time of the first image (P1) and the second image (P2) are imaged on the first photosensitive element (32); then, prepare a second image capture unit (4), wherein the second image capture The fetching unit (4) corresponds to the first image capturing unit (3) and is disposed on the other side of the light source unit (1). The second image capturing unit (4) includes a second optical lens (41). And a second photosensitive element (42) connected to the second optical lens (41), wherein the second optical lens (41) is the third in continuous time to capture the object to be measured (2) and / or the optical pattern (11) The image and the fourth image are respectively imaged on the second photosensitive element (42); after that, an image comparison unit (5) is prepared, wherein the image comparison unit (5) is electrically connected to the first image capture unit respectively (3) With the second image capture unit (4), the image comparison unit (5) receives the first image (P1), the second image (P2), the third image (P3), and the fourth image, and Comparing the difference between the first image (P1) and the second image (P2) to obtain a fifth image (P5), and comparing the difference between the third image and the fourth image to obtain a sixth image; Finally, prepare an image processing unit (6), wherein the image processing unit (6) is electrically connected to the first image capture unit (3), the second image capture unit (4), and the image comparison unit ( 5), Image Department The processing unit (6) includes a depth comparison module (61) and a depth calculation module (62) electrically connected to the depth comparison module (61). The depth comparison module (61) receives the first An image (P1), a second image (P2), a third image, a fourth image, a fifth image (P5), and a sixth image, and compare the first image (P1) with the third image and the second image (P2) the difference between at least one feature point (A) and the fourth image, and between the fifth image (P5) and the sixth image to obtain a first depth value, a second depth value, and a The seventh image, the eighth image, and the ninth image of the object to be measured (2) of the third depth value, the depth calculation module (62) receives the seventh image, the eighth image, and the ninth image, and calculates the image The average depth value to obtain a tenth image with a final depth value; in addition, the depth sensing camera system of the present invention is set in a housing (7), mainly by the first image acquisition unit ( 3) Stereo dual-vision photography with the second image capture unit (4), effectively counters the ambient light source and calculates the depth distance information of the test object (2), combined with the flashing optical pattern of the light source unit (1) ) Strengthen the feature and distance capture of the weaker texture area, and indeed achieve the advantages of improving the accuracy of the depth and distance measurement of the object (2).

It can be seen from the above implementation description that the depth sensing photography system of the present invention has the following advantages compared with the prior art:

1. The depth-sensing photography system of the present invention mainly uses stereo dual-vision photography to counter the ambient light source and calculate the depth distance information of the object to be tested, combined with the flashing optical pattern with active light source to strengthen the weaker texture area The feature and distance capture effectively solves the disadvantage that traditional depth sensing cameras cannot capture the feature points of the object to be measured in a dark environment, resulting in the inability to measure the depth information of the object. Degree advantage.

2. The depth-sensing photography system of the present invention is mainly transmitted by the light source unit to One less special optical pattern is used to enhance the feature point acquisition of the target with weak surface texture features, effectively using the light beam provided by the light source unit to solve the shortcomings of the traditional depth camera, such as the inability to accurately measure the distance of the target in a dark environment. The advantages of providing the required light source and accurately measuring the distance of the target are indeed achieved.

3. The depth-sensing photography system of the present invention mainly uses the flashing light beam emitted by the light source unit to effectively subtract the two images before and after, to clearly identify the small changes in the shape of the optical pattern of the target object, and indeed calculate the target In-depth information of objects to provide users with the advantage of reference.

In summary, the depth-sensing photography system of the present invention can indeed achieve the expected use effect through the embodiments disclosed above, and the present invention has not been disclosed before the application, and has fully complied with the provisions of the Patent Law With requirements. I filed an application for a patent for invention in accordance with the law, pleaded for the review, and granted the patent.

However, the illustrations and descriptions disclosed above are only preferred embodiments of the present invention, and are not intended to limit the scope of protection of the present invention; those who are familiar with the art, according to the characteristic scope of the present invention, do other things Equivalent changes or modifications should be regarded as not departing from the design scope of the present invention.

Claims (16)

A depth-sensing photography system at least includes: a light source unit that emits a flashing light beam including at least one optical pattern, wherein the optical pattern is changed by being irradiated on at least one object to be measured; a first An image capturing unit is disposed on a side of the light source unit. The first image capturing unit includes a first optical lens and a first photosensitive element connected to the first optical lens, wherein the first The optical lens captures the first image and the second image of the object to be measured in continuous time, and images the first photosensitive element respectively; a second image capturing unit corresponds to the first image capturing unit and Located on the other side of the light source unit, the second image capturing unit includes a second optical lens and a second photosensitive element connected to the second optical lens, wherein the second optical lens captures the The third image and the fourth image of the object to be tested in continuous time are imaged on the second photosensitive element respectively; an image comparison unit is electrically connected to the first image acquisition unit and the second image respectively The capturing unit, the image comparison unit receives the first image, the second image, the third image, and the fourth image, and compares the difference between the first image and the second image to obtain A fifth image of the object to be tested, and a difference between the third image and the fourth image to obtain a sixth image of the object to be tested; and an image processing unit, which are electrically connected respectively The first image capturing unit, the second image capturing unit, and the image comparison unit, the image processing unit includes a depth comparison module, and a depth calculation electrically connected to the depth comparison module Module, the depth comparison module receives the first image, the second image, the third image, the fourth image, the fifth image, and the sixth image, and compares the first image with Differences of at least one feature point between the third image, the second image and the fourth image, and the fifth image and the sixth image to obtain a first depth value and a second depth value, respectively , And a third depth value of the seventh image, the eighth image, and the ninth image of the object to be measured, the depth calculation module receives the seventh image, the eighth image, and the ninth image, and The depth average of the images is calculated to obtain a tenth image with a final depth value. The depth-sensing photography system as described in item 1 of the patent application scope, wherein the depth-sensing photography system is further provided in a casing. The depth-sensing photography system as described in item 1 or 2 of the patent application scope, wherein the light source unit, the first image capturing unit, and the second image capturing unit are embedded on one end face of the housing. The depth sensing photography system as described in item 1 or 2 of the patent application scope, wherein the image comparison unit and the image processing unit are disposed inside the casing. The depth-sensing photography system as described in item 1 of the patent application scope, wherein the light source unit is one of a light-emitting diode, a laser, or a light-emitting element for outputting a light beam. The depth sensing photography system as described in item 1 of the patent application scope, wherein the optical pattern is one of a grid, a straight line, a regularly arranged point or an irregularly arranged point. The depth sensing photography system as described in item 1 of the patent application scope, wherein the first optical lens and the second optical system are one of a fisheye lens, a wide-angle lens, or a standard lens. The depth sensing photography system as described in item 1 of the patent application range, wherein the first photosensitive element and the second photosensitive element are one of a photoelectric coupling element or a complementary metal oxide semiconductor. The depth-sensing photography system as described in item 1 of the patent application range, wherein the frequency at which the first optical lens and the second optical lens capture images is equal to the flicker frequency of the light beam of the light source unit. As described in item 1 of the patent application scope of the depth sensing photography system, wherein the first image is the light source unit is constantly bright, the first optical lens captures the image of the object to be measured and the optical pattern. As described in item 1 of the patent application scope of the depth sensing photography system, wherein the second image is when the light source unit is dimmed, the first optical lens captures the image of the object to be measured. The depth sensing photography system as described in items 1, 10, and 11 of the patent application scope, wherein the fifth image is the difference between the first image and the second image, and is the image with only the optical pattern . According to the depth sensing photography system described in item 1 of the patent application scope, wherein the third image is the constant light of the light source unit, the second optical lens captures images of the object to be measured and the optical pattern. As described in item 1 of the patent application scope of the depth sensing photography system, wherein the fourth image is when the light source unit is dimmed, the second optical lens captures the image of the object to be measured. The depth sensing photography system as described in items 1, 13, and 14 of the patent application, wherein the sixth image is the difference between the third image and the fourth image, and is an image with only the optical pattern . The depth sensing photography system as described in item 1 of the patent application scope, wherein the image processing unit utilizes the difference between the characteristic points of the images captured by the first optical lens and the second optical lens, using the parallax and the triangular distance The measuring method calculates the first depth value, the second depth value, and the third depth value.