WO2016192436A1 - 一种获取目标三维图像的方法及系统 - Google Patents

一种获取目标三维图像的方法及系统 Download PDF

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WO2016192436A1
WO2016192436A1 PCT/CN2016/076755 CN2016076755W WO2016192436A1 WO 2016192436 A1 WO2016192436 A1 WO 2016192436A1 CN 2016076755 W CN2016076755 W CN 2016076755W WO 2016192436 A1 WO2016192436 A1 WO 2016192436A1
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target
original image
image
camera
depth
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PCT/CN2016/076755
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English (en)
French (fr)
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黄源浩
肖振中
许宏淮
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深圳奥比中光科技有限公司
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    • 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

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  • the present invention relates to the field of three-dimensional technology, and in particular, to a method and system for acquiring a three-dimensional image of a target.
  • the technical problem to be solved by the present invention is to provide a method and system for acquiring a target three-dimensional image, which can accurately acquire three-dimensional images of targets in different scenes.
  • a technical solution adopted by the present invention is to provide a method for acquiring a target three-dimensional image, the method comprising: performing image acquisition on a target by a camera, and acquiring an original image corresponding to the target, wherein, when the target is in the first In a scene, the original image includes color information.
  • the original image includes color information and infrared information; the original image is processed according to the scene in which the target is located, and the depth image corresponding to the target is acquired; The color information in the original image is matched to obtain a three-dimensional image corresponding to the target;
  • Image acquisition is performed on the target by two cameras, and two original images corresponding to the target are obtained, which are recorded as the first original image and the second original image;
  • the step of processing the original image according to the scene in which the target is located, and obtaining the depth image corresponding to the target is specifically:
  • the step of processing the original image according to the scene in which the target is located, and obtaining the depth image corresponding to the target is specifically:
  • the target speckle pattern and the pre-stored reference speckle pattern are processed to obtain a depth image corresponding to the target.
  • the step of processing the first original image and the second original image to obtain the depth image corresponding to the target includes:
  • the depth image corresponding to the target is acquired according to the depth information of each pixel in the first original image or the second original image.
  • another technical solution adopted by the present invention is to provide a method for acquiring a target three-dimensional image, the method comprising: performing image acquisition on a target by a camera, and acquiring an original image corresponding to the target, wherein when the target is at In the first scene, the original image includes color information, and when the target is in the second scene, the original image includes color information and infrared information; the original image is processed according to the scene in which the target is located, and the depth image corresponding to the target is acquired; Matches the color information in the original image to obtain a three-dimensional image corresponding to the target.
  • Image acquisition is performed on the target by two cameras, and two original images corresponding to the target are obtained, which are recorded as the first original image and the second original image;
  • the step of processing the original image according to the scene in which the target is located, and obtaining the depth image corresponding to the target is specifically:
  • the step of processing the original image according to the scene in which the target is located, and obtaining the depth image corresponding to the target is specifically:
  • the target speckle pattern and the pre-stored reference speckle pattern are processed to obtain a depth image corresponding to the target.
  • the method further comprises the steps of:
  • the two cameras are calibrated so that the pixels of the first original image and the second original image corresponding to the same position of the target have the same vertical coordinates.
  • the method further comprises the steps of:
  • the light source is turned on to cause the light source to project infrared light to the target, so that the original image acquired by the camera includes infrared information.
  • the step of processing the first original image and the second original image to obtain the depth image corresponding to the target includes:
  • another technical solution adopted by the present invention is to provide a system for acquiring a target three-dimensional image, the system comprising:
  • a camera configured to perform image acquisition on the target, and obtain an original image corresponding to the target, wherein when the target is in the first scene, the original image includes color information, and when the target is in the second scene, the original image includes color information and infrared information;
  • a processor connected to the camera, configured to process the original image captured by the camera according to the scene in which the target is located, obtain a depth image corresponding to the target; and match the color information in the depth image and the original image to obtain a three-dimensional corresponding to the target image.
  • the camera comprises a first camera and a second camera
  • the first camera and the second camera synchronously perform image acquisition on the target, and acquire two original images corresponding to the target, which are recorded as the first original image and the second original image;
  • the processor processes the first original image and the second original image to obtain a depth image corresponding to the target;
  • the processor acquires a target speckle map of the target according to the infrared information in the original image, and then processes the target speckle pattern and the pre-stored reference speckle map to obtain a depth image corresponding to the target.
  • the first camera and the second camera Before the first camera and the second camera synchronize the image capturing operation on the target, the first camera and the second camera perform a calibration operation to make the pixels in the first original image and the second original image corresponding to the same position of the target Points have the same vertical coordinates.
  • the system further comprises a light source for projecting infrared light to the target such that the original image acquired by the camera comprises infrared information.
  • the processor pairs the same position of the first original image and the second original image corresponding to the target
  • the pixel is processed to obtain an offset of the pixel in the horizontal direction, and then the depth information of the pixel is obtained according to the offset and the distance information between the two cameras, and then according to the first original image or the second original image.
  • the depth information of each pixel point acquires a depth image corresponding to the target.
  • the beneficial effects of the present invention are: the method and system for acquiring a target three-dimensional image of the present invention firstly acquires an original image corresponding to a target by acquiring a target image by a camera, wherein when the target is in the first scene, the original image includes color information.
  • the original image includes color information and infrared information, and then the different information in the original image is processed according to the scene in which the target is located to obtain the depth image corresponding to the target, and finally the color in the depth image and the original image.
  • the information is matched to obtain a three-dimensional image corresponding to the target.
  • FIG. 1 is a flowchart of a method of acquiring a target three-dimensional image according to a first embodiment of the present invention
  • FIG. 2 is a flowchart of a method of acquiring a target three-dimensional image according to a second embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of a system for acquiring a target three-dimensional image according to an embodiment of the present invention.
  • FIG. 1 is a flow chart of a method of acquiring a target three-dimensional image according to a first embodiment of the present invention. It should be noted that the method of the present invention is not limited to the sequence of the flow shown in FIG. 1 if substantially the same result is obtained. As shown in FIG. 1, the method includes the following steps:
  • Step S101 Perform image acquisition on the target by the camera to obtain an original image corresponding to the target;
  • step S101 when the target is in the first scene, the original image includes color information, and when the target is in the second scene, the original image includes color information and infrared information.
  • the first scene and the second The scene has different lighting environments, the first scene is a strong light environment, such as outdoor, and the second scene is a low light environment, such as indoors.
  • Step S102 processing the original image according to the scene in which the target is located, and acquiring the depth image corresponding to the target;
  • step S102 when the target is in the first scene, the color information in the original image is processed to acquire the depth image corresponding to the target.
  • the infrared information in the original image is processed to obtain the depth image corresponding to the target.
  • Step S103 Matching the color information in the depth image and the original image to obtain a three-dimensional image corresponding to the target.
  • the three-dimensional image is a color three-dimensional map.
  • the three-dimensional image is an RGB-D (color-depth) map.
  • the method for acquiring a target three-dimensional image according to the first embodiment of the present invention firstly performs image acquisition on a target by a camera to acquire an original image corresponding to the target, wherein when the target is in the first scene, the original image includes color information.
  • the original image includes color information and infrared information, and then the different information in the original image is processed according to the scene in which the target is located to obtain the depth image corresponding to the target, and finally the color in the depth image and the original image.
  • the information is matched to obtain a three-dimensional image corresponding to the target.
  • FIG. 2 is a flow chart of a method of acquiring a target three-dimensional image according to a second embodiment of the present invention. It should be noted that the method of the present invention is not limited to the sequence of the flow shown in FIG. 2 if substantially the same result is obtained. As shown in FIG. 2, the method includes the following steps:
  • Step S201 determining whether the target is in the first scene; if the target is in the first scene, step S202 is performed, otherwise step S205 is performed;
  • the first scene is a strong light environment, such as outdoor.
  • Step S202 performing calibration operations on two cameras
  • step S202 the step of performing the calibration operation on the two cameras is specifically: adjusting the angle and the distance between the two cameras, so that the two cameras are set at different positions, so that the two cameras are passed in the following step S203.
  • the pixels of the two original images acquired corresponding to the same position of the target have the same vertical coordinates.
  • Step S203 performing image acquisition on the target by using two cameras, and acquiring two original images corresponding to the target, which are recorded as the first original image and the second original image;
  • step S203 the two cameras are located at different positions.
  • the shooting directions of the lenses of the two cameras are the same with respect to the target.
  • the two cameras are triggered simultaneously, and the target is image-collected.
  • the pixel value of each pixel is color information.
  • the two original images are further subjected to optimization processing such as noise reduction processing, smoothing processing, etc., to improve the extraction precision of the depth image of the target.
  • Step S204 processing the first original image and the second original image to obtain a depth image corresponding to the target;
  • step S204 the first original image and the second original image are processed, and the step of acquiring the depth image corresponding to the target is specifically: performing pixel points corresponding to the same position of the target in the first original image and the second original image. Processing, obtaining an offset of the pixel in a horizontal direction, wherein the offset of the pixel in the horizontal direction is a horizontal coordinate of the pixel corresponding to the same position of the target in the first original image and in the second original The difference between the horizontal coordinates in the image; obtaining the depth information of the pixel point according to the offset and the distance information between the two cameras, wherein the distance information between the two cameras is specifically the center of the two camera imaging planes The distance between the pixels in the first original image or the second original image can be obtained as the depth image corresponding to the target.
  • the pixel points corresponding to the same position of the target in the first original image and the second original image are processed, and the step of acquiring the offset of the pixel in the horizontal direction is: the first original image and the second The original images are compared, and then the region-related search is performed, and finally according to the searched related regions.
  • the field gets the offset of the pixel in the horizontal direction.
  • the depth information of a pixel is calculated according to the following formula:
  • Z is the depth information of the pixel point
  • b is the distance between the centers of the two imaging planes
  • f is the focal length of the camera
  • d is the offset of the pixel point corresponding to the same position of the target in the horizontal direction.
  • the offset d of the pixel point corresponding to the same position of the target in the horizontal direction is between the horizontal coordinate of the pixel point corresponding to the same position of the target in the first original image and the horizontal coordinate in the second original image The difference.
  • d is the same position of the target imaged in the first original image relative to the amount of offset in the horizontal direction of the second original image.
  • Step S205 Turn on the light source to cause the light source to project infrared light to the target;
  • step S205 when it is determined in step S201 that the target is not in the first scene, that is, when the target is in the second scene, the light source is turned on to cause the light source to project infrared light toward the target.
  • the second scene is a low light environment, such as indoors. Among them, the infrared light is infrared light with a speckle pattern.
  • Step S206 performing image acquisition on the target by using a camera to obtain an original image corresponding to the target;
  • step S206 since the target is projected with infrared light, the original image corresponding to the target acquired by the camera includes color information and infrared information.
  • Step S207 Acquire a target speckle map of the target according to the infrared information in the original image
  • step S207 the grayscale image formed by the infrared information of each pixel in the original image is the target speckle pattern of the target, wherein the infrared information is specifically the intensity information of the infrared rays projected on the target.
  • Step S208 processing the target speckle pattern and the pre-stored reference speckle pattern to obtain a depth image corresponding to the target;
  • step S208 the target speckle pattern and the pre-stored reference speckle pattern are processed, and the step of acquiring the depth image corresponding to the target is specifically: acquiring the infrared speckle region corresponding to each pixel point in the original image according to the target speckle pattern. Obtaining depth information of each pixel point according to the infrared speckle area corresponding to each pixel point and the reference speckle pattern; and acquiring the depth image corresponding to the target according to the depth information of each pixel point.
  • the obtaining the depth information of each pixel point according to the infrared speckle area and the reference speckle pattern corresponding to each pixel point specifically includes two steps: 1. searching each of the infrared speckle area and the reference speckle image corresponding to each pixel point. a nearest reference plane of the infrared speckle region corresponding to the pixel, and calculating a deviation value of the infrared speckle region corresponding to each pixel point from the nearest reference plane; 2. an infrared speckle region corresponding to each pixel point
  • the depth information of each pixel point is calculated by the deviation value from the nearest reference plane and the depth value of the nearest reference plane.
  • Step S209 Matching the color information in the depth image and the original image to obtain a three-dimensional image corresponding to the target.
  • step S209 when the target is in the first scene, since the depth information of each pixel point does not correspond to the color information of each pixel in the first original image or the second original image, the depth image and the original image are When the color information in the matching is matched, the color information of each pixel in the depth image and the first original image or the second original image needs to be aligned according to the distance information and the calibration information of the two cameras, and the aligned pixels are aligned. The depth information of the point and the color information are combined to obtain the RGB-D map corresponding to the target.
  • the depth information of each pixel point and the infrared information in the original image are in one-to-one correspondence, and the infrared information and the color information are integrally obtained, the depth information and the color information of each pixel point can be directly combined. Get the RGB-D map corresponding to the target.
  • the method for acquiring a target three-dimensional image acquires the first original image and the second original image corresponding to the target by performing image acquisition on the target by two cameras when the target is in the first scene. Combining the distance information of the two cameras to process the pixel points corresponding to the same position in the first original image and the second original image to obtain the depth image corresponding to the target; when the target is in the second scene, by a camera Image acquisition is performed on the target to obtain a target speckle map of the target, and the target speckle map and the pre-stored reference speckle map are processed to obtain a depth image corresponding to the target.
  • a camera Image acquisition is performed on the target to obtain a target speckle map of the target, and the target speckle map and the pre-stored reference speckle map are processed to obtain a depth image corresponding to the target.
  • FIG. 3 is a schematic structural diagram of a system for acquiring a target three-dimensional image according to an embodiment of the present invention.
  • the system includes a camera 1, a processor 2, and a light source 3, wherein the camera 1 includes a first camera 11 and a second camera 12.
  • the camera 1 is used for image acquisition of a target, and acquires an original image corresponding to the target.
  • the original image when the target is in the first scene, the original image includes color information, and when the target is in the second scene, the original image includes color information and infrared information.
  • the first scene and the second scene have different lighting environments.
  • the first scene is a strong light environment, such as outdoor, and the second scene is a low light environment, such as indoors.
  • the processor 2 is connected to the camera 1 for processing the original image collected by the camera 1 according to the scene where the target is located, acquiring the depth image corresponding to the target, and then matching the color information in the depth image and the original image to obtain the target corresponding 3D image.
  • the first camera 11 and the second camera 12 synchronously perform image acquisition on the target, thereby acquiring two original images corresponding to the target, which are recorded as the first original image and the second original image.
  • the first camera 11 and the second camera 12 perform a calibration operation to make the first original image and the second original image correspond to the target. Pixels at the same location have the same vertical coordinates.
  • the processor 2 first processes the first original image and the second original image to obtain a depth image corresponding to the target, and then The depth image and the color information in the first original image or the second original image are interpolated and matched to obtain a three-dimensional image corresponding to the target.
  • the operation of the processor 2 to process the first original image and the second original image to obtain the depth image corresponding to the target is specifically: the processor 2 firstly compares the same position corresponding to the target in the first original image and the second original image.
  • the pixel is processed to obtain the offset of the pixel in the horizontal direction, and then the depth information of the pixel is obtained according to the offset and the distance information between the two cameras, and then according to the first original image or the second
  • the depth information of each pixel in the original image acquires a depth image corresponding to the target.
  • the processor 2 first controls the light source 3 to be turned on so that The light source 3 projects infrared light toward the target.
  • the processor 2 controls one of the first camera 11 and the second camera 12 to perform image acquisition on the target to obtain an original image corresponding to the target.
  • the processor 2 After one of the first camera 11 and the second camera 12 completes the acquisition of the original image, the processor 2 first acquires the target speckle map of the target according to the infrared information in the original image, and further refers to the target speckle pattern and the pre-stored reference.
  • the speckle pattern is processed to obtain a depth image corresponding to the target, and finally the three-dimensional image corresponding to the target is obtained by interpolating and matching the color information in the depth image and the original image.
  • the operation of the processor 2 to process the target speckle pattern and the pre-stored reference speckle pattern to obtain the depth image corresponding to the target is specifically: the processor 2 acquires the infrared corresponding to each pixel in the original image according to the target speckle pattern.
  • the speckle region is obtained by acquiring depth information of each pixel point according to the infrared speckle region and the reference speckle pattern corresponding to each pixel point, and then acquiring the depth image corresponding to the target according to the depth information of each pixel point.
  • the system for acquiring a target three-dimensional image in the embodiment of the present invention can accurately acquire a three-dimensional image of a target in different scenarios. Specifically, when the scene is outdoor, the image can be accurately acquired without interference from outdoor glare. The three-dimensional image, when the scene is indoor, can obtain a high-precision three-dimensional image with the cooperation of the light source.

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Abstract

本发明公开了一种获取目标三维图像的方法及系统。该方法包括：通过摄像机对目标进行图像采集，获取目标对应的原始图像，其中，当目标处于第一场景时，原始图像包括色彩信息，当目标处于第二场景时，原始图像包括色彩信息和红外信息；根据目标所处的场景对原始图像进行处理，获取目标对应的深度图像；对深度图像和原始图像中的色彩信息进行匹配，获取目标对应的三维图像。通过上述方式，由于对处于不同场景的目标采用不同的方式进行处理，从而能够准确地获取处于不同场景的目标的三维图像。

Description

一种获取目标三维图像的方法及系统 【技术领域】
本发明涉及三维技术领域，特别是涉及一种获取目标三维图像的方法及系统。
【背景技术】
随着3D技术的发展，越来越多的领域需要获取目标的三维图像。其中，由于目标所处的场景存在差异性，例如处于室内的目标和处于室外的目标存在较大的场景差异，如何准确地获取处于不同的场景的目标的三维图像是个亟待解决的问题。
【发明内容】
本发明主要解决的技术问题是提供一种获取目标三维图像的方法及系统，能够准确地获取处于不同的场景的目标的三维图像。
为解决上述技术问题，本发明采用的一个技术方案是：提供一种获取目标三维图像的方法，该方法包括：通过摄像机对目标进行图像采集，获取目标对应的原始图像，其中，当目标处于第一场景时，原始图像包括色彩信息，当目标处于第二场景时，原始图像包括色彩信息和红外信息；根据目标所处的场景对原始图像进行处理，获取目标对应的深度图像；对深度图像和原始图像中的色彩信息进行匹配，获取目标对应的三维图像；
其中，当目标处于第一场景时：
通过摄像机对目标进行图像采集，获取目标对应的原始图像的步骤具体为：
对两个摄像机进行校准操作，以使第一原始图像和第二原始图像中对应于目标的同一位置的像素点具有相同的垂直坐标；
通过两个摄像机对目标进行图像采集，获取目标对应的两个原始图像，记为第一原始图像和第二原始图像；
根据目标所处的场景对原始图像进行处理，获取目标对应的深度图像的步骤具体为：
对第一原始图像和第二原始图像进行处理，获取目标对应的深度图像；
当目标处于第二场景时：
通过摄像机对目标进行图像采集，获取目标对应的原始图像的步骤具体为：
开启光源以使光源向目标投射红外光；
通过一个摄像机对目标进行图像采集，获取目标对应的原始图像；
根据目标所处的场景对原始图像进行处理，获取目标对应的深度图像的步骤具体为：
根据原始图像中的红外信息获取目标的目标散斑图；
对目标散斑图和预存储的参考散斑图进行处理，获取目标对应的深度图像。
其中，对第一原始图像和第二原始图像进行处理，获取目标对应的深度图像的步骤包括：
对第一原始图像和第二原始图像中对应于目标的同一位置的像素点进行处理，获取像素点在水平方向的偏移量；
根据该偏移量和两个摄像机之间的距离信息获取该像素点的深度信息；
根据第一原始图像或第二原始图像中各像素点的深度信息获取目标对应的深度图像。
为解决上述技术问题，本发明采用的另一个技术方案是：提供一种获取目标三维图像的方法，该方法包括：通过摄像机对目标进行图像采集，获取目标对应的原始图像，其中，当目标处于第一场景时，原始图像包括色彩信息，当目标处于第二场景时，原始图像包括色彩信息和红外信息；根据目标所处的场景对原始图像进行处理，获取目标对应的深度图像；对深度图像和原始图像中的色彩信息进行匹配，获取目标对应的三维图像。
其中，当目标处于第一场景时：
通过摄像机对目标进行图像采集，获取目标对应的原始图像的步骤具体为：
通过两个摄像机对目标进行图像采集，获取目标对应的两个原始图像，记为第一原始图像和第二原始图像；
根据目标所处的场景对原始图像进行处理，获取目标对应的深度图像的步骤具体为：
对第一原始图像和第二原始图像进行处理，获取目标对应的深度图像；
当目标处于第二场景时：
通过摄像机对目标进行图像采集，获取目标对应的原始图像的步骤具体为：
通过一个摄像机对目标进行图像采集，获取目标对应的原始图像；
根据目标所处的场景对原始图像进行处理，获取目标对应的深度图像的步骤具体为：
根据原始图像中的红外信息获取目标的目标散斑图；
对目标散斑图和预存储的参考散斑图进行处理，获取目标对应的深度图像。
其中，通过两个摄像机对目标进行图像采集的步骤之前，该方法还包括步骤：
对两个摄像机进行校准操作，以使第一原始图像和第二原始图像中对应于目标的同一位置的像素点具有相同的垂直坐标。
其中，通过一个摄像机对目标进行图像采集的步骤之前，该方法还包括步骤：
开启光源以使光源向目标投射红外光，进而使得通过摄像机采集得到的原始图像包括红外信息。
其中，对第一原始图像和第二原始图像进行处理，获取目标对应的深度图像的步骤包括：
对第一原始图像和第二原始图像中对应于目标的同一位置的像素点进行处理，获取像素点在水平方向的偏移量；
根据该偏移量和两个摄像机之间的距离信息获取该像素点的深度信息；
根据第一原始图像或第二原始图像中各像素点的深度信息获取目标对应的 深度图像。
为解决上述技术问题，本发明采用的再一个技术方案是：提供一种获取目标三维图像的系统，该系统包括：
摄像机，用于对目标进行图像采集，获取目标对应的原始图像，其中，当目标处于第一场景时，原始图像包括色彩信息，当目标处于第二场景时，原始图像包括色彩信息和红外信息；
处理器，与摄像机连接，用于根据目标所处的场景对摄像机采集的原始图像进行处理，获取目标对应的深度图像；以及对深度图像和原始图像中的色彩信息进行匹配，获取目标对应的三维图像。
其中，摄像机包括第一摄像机和第二摄像机；
当目标处于第一场景时：
第一摄像机和第二摄像机同步对目标进行图像采集，获取目标对应的两个原始图像，记为第一原始图像和第二原始图像；
处理器对第一原始图像和第二原始图像进行处理，获取目标对应的深度图像；
当目标处于第二场景时：
开启第一摄像机和第二摄像机中的一个，对目标进行图像采集，获取目标对应的原始图像；
处理器根据原始图像中的红外信息获取目标的目标散斑图，进而对目标散斑图和预存储的参考散斑图进行处理，获取目标对应的深度图像。
其中，第一摄像机和第二摄像机同步对目标进行图像采集的操作之前，第一摄像机和第二摄像机进行校准操作，以使第一原始图像和第二原始图像中对应于目标的同一位置的像素点具有相同的垂直坐标。
其中，该系统进一步包括光源，光源用于向目标投射红外光，以使摄像机采集得到的原始图像包括红外信息。
其中，处理器对第一原始图像和第二原始图像中对应于目标的同一位置的 像素点进行处理以获取该像素点在水平方向的偏移量，接着根据偏移量和两个摄像机之间的距离信息获取该像素点的深度信息，随后根据第一原始图像或第二原始图像中各像素点的深度信息获取目标对应的深度图像。
本发明的有益效果是：本发明的获取目标三维图像的方法及系统首先通过摄像机对目标进行图像采集以获取目标对应的原始图像，其中，当目标处于第一场景时，原始图像包括色彩信息，当目标处于第二场景时，原始图像包括色彩信息和红外信息，接着根据目标所处的场景对原始图像中不同信息进行处理以获取目标对应的深度图像，最后对深度图像和原始图像中的色彩信息进行匹配获取目标对应的三维图像。通过上述方式，由于对处于不同场景的目标采用不同的方式进行处理，从而能够准确地获取处于不同场景的目标的三维信息。
【附图说明】
图1是本发明第一实施例的获取目标三维图像的方法的流程图；
图2是本发明第二实施例的获取目标三维图像的方法的流程图；
图3是本发明实施例的获取目标三维图像的系统的结构示意图。
【具体实施方式】
在说明书及权利要求书当中使用了某些词汇来指称特定的组件，所属领域中的技术人员应可理解，制造商可能会用不同的名词来称呼同样的组件。本说明书及权利要求书并不以名称的差异来作为区分组件的方式，而是以组件在功能上的差异来作为区分的基准。下面结合附图和实施例对本发明进行详细说明。
图1本发明第一实施例的获取目标三维图像的方法的流程图。需注意的是，若有实质上相同的结果，本发明的方法并不以图1所示的流程顺序为限。如图1所示，该方法包括如下步骤：
步骤S101：通过摄像机对目标进行图像采集，获取目标对应的原始图像；
在步骤S101中，当目标处于第一场景时，原始图像包括色彩信息，当目标处于第二场景时，原始图像包括色彩信息和红外信息。其中，第一场景和第二 场景具有不同的光照环境，第一场景为强光环境，例如室外，第二场景为弱光环境，例如室内。
步骤S102：根据目标所处的场景对原始图像进行处理，获取目标对应的深度图像；
在步骤S102中，当目标处于第一场景时，对原始图像中的色彩信息进行处理以获取目标对应的深度图像。当目标处于第二场景时，对原始图像中的红外信息进行处理以获取目标对应的深度图像。
步骤S103：对深度图像和原始图像中的色彩信息进行匹配，获取目标对应的三维图像。
在步骤S103中，三维图像为彩色三维图。具体来说，三维图像为RGB-D(色彩-深度)图。
通过上述实施方式，本发明第一实施例的获取目标三维图像的方法首先通过摄像机对目标进行图像采集以获取目标对应的原始图像，其中，当目标处于第一场景时，原始图像包括色彩信息，当目标处于第二场景时，原始图像包括色彩信息和红外信息，接着根据目标所处的场景对原始图像中不同信息进行处理以获取目标对应的深度图像，最后对深度图像和原始图像中的色彩信息进行匹配获取目标对应的三维图像。通过上述方式，由于对处于不同场景的目标采用不同的方式进行处理，从而能够准确地获取处于不同的场景的目标的三维图像。
图2本发明第二实施例的获取目标三维图像的方法的流程图。需注意的是，若有实质上相同的结果，本发明的方法并不以图2所示的流程顺序为限。如图2所示，该方法包括如下步骤：
步骤S201：判断目标是否处于第一场景；若目标处于第一场景，执行步骤S202，否则执行步骤S205；
在步骤S201中，第一场景为强光环境，例如室外。
步骤S202：对两个摄像机进行校准操作；
在步骤S202中，对两个摄像机进行校准操作的步骤具体为：调节两个摄像机之间的夹角和距离，以使两个摄像机设置在不同位置，进而使得下述步骤S203中通过两个摄像机获取的两个原始图像中对应于目标的同一位置的像素点具有相同的垂直坐标。
步骤S203：通过两个摄像机对目标进行图像采集，获取目标对应的两个原始图像，记为第一原始图像和第二原始图像；
在步骤S203中，两个摄像机位于不同的位置。相对于目标，两个摄像机的镜头的拍摄方向一致。在对目标进行图像采集时，两个摄像机同步触发，同时对目标进行图像采集。
另外，对目标进行图像采集后得到的第一原始图像和第二原始图像中，各像素点的像素值为色彩信息。
优选地，在获取到目标对应的两个原始图像后，进一步对两个原始图像进行降噪处理、平滑处理等优化处理，以提高目标的深度图像的提取精度。
步骤S204：对第一原始图像和第二原始图像进行处理，获取目标对应的深度图像；
在步骤S204中，对第一原始图像和第二原始图像进行处理，获取目标对应的深度图像的步骤具体为：对第一原始图像和第二原始图像中对应于目标的同一位置的像素点进行处理，获取该像素点在水平方向的偏移量，其中，该像素点在水平方向的偏移量为对应于目标的同一位置的像素点在第一原始图像中的水平坐标与在第二原始图像中的水平坐标之间的差值；根据该偏移量和两个摄像机之间的距离信息获取像素点的深度信息，其中，两个摄像机之间的距离信息具体为两个摄像机成像面中心之间的距离；结合第一原始图像或第二原始图像中各像素点的深度信息即可得到目标对应的深度图像。
具体来说，对第一原始图像和第二原始图像中对应于目标的同一位置的像素点进行处理，获取该像素点在水平方向的偏移量的步骤为：对第一原始图像和第二原始图像进行比较，进而进行区域相关搜索，最后根据搜索到的相关区 域获取像素点在水平方向的偏移量。
具体来说，像素点的深度信息根据如下公式进行计算：
Figure PCTCN2016076755-appb-000001
其中，Z为像素点的深度信息，b为两个摄像机成像面中心之间的距离，f为摄像机的焦距，d为对应于目标的同一位置的像素点在水平方向的偏移量。
其中，对应于目标的同一位置的像素点在水平方向的偏移量d为对应于目标的同一位置的像素点在第一原始图像中的水平坐标与在第二原始图像中的水平坐标之间的差值。换个角度来说，d为目标的同一位置成像在第一原始图像中相对于成像在第二原始图像中在水平方向的偏移量。
步骤S205：开启光源以使光源向目标投射红外光；
在步骤S205中，当步骤S201判断目标不是处于第一场景时，也即目标处于第二场景时，开启光源以使光源向目标投射红外光。其中，第二场景为弱光环境，例如室内。其中，红外光为带有散斑图案的红外光。
步骤S206：通过一个摄像机对目标进行图像采集，获取目标对应的原始图像；
在步骤S206中，由于目标被投射红外光，摄像机获取到的目标对应的原始图像包括色彩信息和红外信息。
步骤S207：根据原始图像中的红外信息获取目标的目标散斑图；
在步骤S207中，原始图像中各像素点的红外信息构成的灰度图即为目标的目标散斑图，其中，红外信息具体为投射在目标上的红外线的强度信息。
步骤S208：对目标散斑图和预存储的参考散斑图进行处理，获取目标对应的深度图像；
在步骤S208中，对目标散斑图和预存储的参考散斑图进行处理，获取目标对应的深度图像的步骤具体为：根据目标散斑图获取原始图像中各像素点对应的红外散斑区域；根据各像素点对应的红外散斑区域和参考散斑图获取各像素点的深度信息；根据各像素点的深度信息获取目标对应的深度图像。
其中，根据各像素点对应的红外散斑区域和参考散斑图获取各像素点的深度信息具体包括两个步骤：1.根据各像素点所对应的红外散斑区域和参考散斑图像搜寻各像素点所对应的红外散斑区域的最近的参考平面，并计算出各像素点所对应的红外散斑区域与最近的参考平面的偏离值；2.根据各像素点所对应的红外散斑区域与最近的参考平面的偏离值，以及最近的参考平面的深度值计算出各像素点的深度信息。
步骤S209：对深度图像和原始图像中的色彩信息进行匹配，获取目标对应的三维图像。
在步骤S209中，当目标处于第一场景时，由于各像素点的深度信息与第一原始图像或第二原始图像中各像素点的色彩信息不是一一对应的，则对深度图像和原始图像中的色彩信息进行匹配时，需要根据两个摄像机的距离信息和校准信息对深度图像和第一原始图像或第二原始图像中各像素点的色彩信息进行对准，将对准后的各像素点的深度信息和色彩信息相结合即可得到目标对应的RGB-D图。
当目标处于第二场景时，由于各像素点的深度信息和原始图像中红外信息一一对应，同时红外信息和色彩信息是一体获得的，因此直接结合各像素点的深度信息和色彩信息即可得到目标对应的RGB-D图。
通过上述实施方式，本发明第二实施例的获取目标三维图像的方法通过当目标处于第一场景时，由两台摄像机对目标进行图像采集以获取目标对应的第一原始图像和第二原始图像，结合两个摄像机的距离信息对第一原始图像和第二原始图像中对应于目标的同一位置的像素点进行处理以获取目标对应的深度图像；当目标处于第二场景时，由一台摄像机对目标进行图像采集获取目标的目标散斑图，对目标散斑图和预存储的参考散斑图进行处理，获取目标对应的深度图像。通过上述方式，由于对处于不同场景的目标采用不同的处理方法，从而能够准确地获取处于不同的场景的目标的三维信息。
图3是本发明实施例的获取目标三维图像的系统的结构示意图。如图3所 示，该系统包括：摄像机1、处理器2和光源3，其中，摄像机1包括第一摄像机11和第二摄像机12。
摄像机1用于对目标进行图像采集，获取目标对应的原始图像。其中，当目标处于第一场景时，原始图像包括色彩信息，当目标处于第二场景时，原始图像包括色彩信息和红外信息。其中，第一场景和第二场景具有不同的光照环境，第一场景为强光环境，例如室外，第二场景为弱光环境，例如室内。
处理器2与摄像机1连接，用于根据目标所处的场景对摄像机1采集的原始图像进行处理，获取目标对应的深度图像，接着对深度图像和原始图像中的色彩信息进行匹配，获取目标对应的三维图像。
具体来说，当目标处于第一场景时，第一摄像机11和第二摄像机12同步对目标进行图像采集，从而获取目标对应的两个原始图像，记为第一原始图像和第二原始图像。其中，第一摄像机11和第二摄像机12同步对目标进行图像采集的操作之前，第一摄像机11和第二摄像机12进行校准操作，以使第一原始图像和第二原始图像中对应于目标的同一位置的像素点具有相同的垂直坐标。
当第一摄像机11和第二摄像机12完成第一原始图像和第二原始图像的采集后，处理器2首先对第一原始图像和第二原始图像进行处理以获取目标对应的深度图像，接着对深度图像和第一原始图像或者第二原始图像中的色彩信息进行插值匹配即可获得目标对应的三维图像。
其中，处理器2对第一原始图像和第二原始图像进行处理以获取目标对应的深度图像的操作具体为：处理器2首先对第一原始图像和第二原始图像中对应于目标的同一位置的像素点进行处理以获取该像素点在水平方向的偏移量，接着根据该偏移量和两个摄像机之间的距离信息获取该像素点的深度信息，随后根据第一原始图像或第二原始图像中各像素点的深度信息获取目标对应的深度图像。
具体来说，当目标处于第二场景时，首先处理器2控制光源3开启以使得 光源3向目标投射红外光。接着处理器2控制第一摄像机11和第二摄像机12中的一个对目标进行图像采集从而获得目标对应的原始图像。
当第一摄像机11和第二摄像机12中的一个完成原始图像的采集后，处理器2首先根据原始图像中的红外信息获取目标的目标散斑图，进而对目标散斑图和预存储的参考散斑图进行处理以获取目标对应的深度图像，最后对深度图像和原始图像中的色彩信息进行插值匹配即可获得目标对应的三维图像。
其中，处理器2对目标散斑图和预存储的参考散斑图进行处理以获取目标对应的深度图像的操作具体为：处理器2根据目标散斑图获取原始图像中各像素点对应的红外散斑区域，接着根据各像素点对应的红外散斑区域和参考散斑图获取各像素点的深度信息，随后根据各像素点的深度信息获取目标对应的深度图像。
通过上述实施方式，本发明实施例的获取目标三维图像的系统可以准确地获取不同场景下目标的三维图像，具体来说，当场景为室外时，其可以不受室外强光的干扰而获取准确的三维图像，当场景为室内时，其可以在光源的配合下获取高精度的三维图像。
以上所述仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (12)

  1. 一种获取目标三维图像的方法，其特征在于，所述方法包括：
    通过摄像机对所述目标进行图像采集，获取所述目标对应的原始图像，其中，当所述目标处于第一场景时，所述原始图像包括色彩信息，当所述目标处于第二场景时，所述原始图像包括色彩信息和红外信息；
    根据所述目标所处的场景对所述原始图像进行处理，获取所述目标对应的深度图像；
    对所述深度图像和所述原始图像中的所述色彩信息进行匹配，获取所述目标对应的三维图像；
    当所述目标处于所述第一场景时：
    所述通过摄像机对所述目标进行图像采集，获取所述目标对应的原始图像的步骤具体为：
    对两个摄像机进行校准操作，以使所述第一原始图像和所述第二原始图像中对应于所述目标的同一位置的所述像素点具有相同的垂直坐标；
    通过所述两个摄像机对所述目标进行图像采集，获取所述目标对应的两个原始图像，记为第一原始图像和第二原始图像；
    所述根据所述目标所处的场景对所述原始图像进行处理，获取所述目标对应的深度图像的步骤具体为：
    对所述第一原始图像和所述第二原始图像进行处理，获取所述目标对应的深度图像；
    当所述目标处于所述第二场景时：
    所述通过摄像机对所述目标进行图像采集，获取所述目标对应的原始图像的步骤具体为：
    开启光源以使所述光源向所述目标投射红外光；
    通过一个摄像机对所述目标进行图像采集，获取所述目标对应的原始图像；
    所述根据所述目标所处的场景对所述原始图像进行处理，获取所述目标对应的深度图像的步骤具体为：
    根据所述原始图像中的所述红外信息获取所述目标的目标散斑图；
    对所述目标散斑图和预存储的参考散斑图进行处理，获取所述目标对应的深度图像。
  2. 根据权利要求1所述的方法，其特征在于，所述对所述第一原始图像和所述第二原始图像进行处理，获取所述目标对应的深度图像的步骤包括：
    对所述第一原始图像和所述第二原始图像中对应于所述目标的同一位置的像素点进行处理，获取所述像素点在水平方向的偏移量；
    根据所述偏移量和所述两个摄像机之间的距离信息获取所述像素点的深度信息；
    根据所述第一原始图像或所述第二原始图像中各所述像素点的所述深度信息获取所述目标对应的深度图像。
  3. 一种获取目标三维图像的方法，其特征在于，所述方法包括：
    通过摄像机对所述目标进行图像采集，获取所述目标对应的原始图像，其中，当所述目标处于第一场景时，所述原始图像包括色彩信息，当所述目标处于第二场景时，所述原始图像包括色彩信息和红外信息；
    根据所述目标所处的场景对所述原始图像进行处理，获取所述目标对应的深度图像；
    对所述深度图像和所述原始图像中的所述色彩信息进行匹配，获取所述目标对应的三维图像。
  4. 根据权利要求3所述的方法，其特征在于，
    当所述目标处于所述第一场景时：
    所述通过摄像机对所述目标进行图像采集，获取所述目标对应的原始图像的步骤具体为：
    通过两个摄像机对所述目标进行图像采集，获取所述目标对应的两个原始 图像，记为第一原始图像和第二原始图像；
    所述根据所述目标所处的场景对所述原始图像进行处理，获取所述目标对应的深度图像的步骤具体为：
    对所述第一原始图像和所述第二原始图像进行处理，获取所述目标对应的深度图像；
    当所述目标处于所述第二场景时：
    所述通过摄像机对所述目标进行图像采集，获取所述目标对应的原始图像的步骤具体为：
    通过一个摄像机对所述目标进行图像采集，获取所述目标对应的原始图像；
    所述根据所述目标所处的场景对所述原始图像进行处理，获取所述目标对应的深度图像的步骤具体为：
    根据所述原始图像中的所述红外信息获取所述目标的目标散斑图；
    对所述目标散斑图和预存储的参考散斑图进行处理，获取所述目标对应的深度图像。
  5. 根据权利要求4所述的方法，其特征在于，所述通过两个摄像机对所述目标进行图像采集的步骤之前，所述方法还包括步骤：
    对两个摄像机进行校准操作，以使所述第一原始图像和所述第二原始图像中对应于所述目标的同一位置的所述像素点具有相同的垂直坐标。
  6. 根据权利要求4所述的方法，其特征在于，所述通过一个摄像机对所述目标进行图像采集的步骤之前，所述方法还包括步骤：
    开启光源以使所述光源向所述目标投射红外光，进而使得通过所述摄像机采集得到的所述原始图像包括所述红外信息。
  7. 根据权利要求4所述的方法，其特征在于，所述对所述第一原始图像和所述第二原始图像进行处理，获取所述目标对应的深度图像的步骤包括：
    对所述第一原始图像和所述第二原始图像中对应于所述目标的同一位置的像素点进行处理，获取所述像素点在水平方向的偏移量；
    根据所述偏移量和所述两个摄像机之间的距离信息获取所述像素点的深度信息；
    根据所述第一原始图像或所述第二原始图像中各所述像素点的所述深度信息获取所述目标对应的深度图像。
  8. 一种获取目标三维图像的系统，其特征在于，所述系统包括：
    摄像机，用于对所述目标进行图像采集，获取所述目标对应的原始图像，其中，当所述目标处于第一场景时，所述原始图像包括色彩信息，当所述目标处于第二场景时，所述原始图像包括色彩信息和红外信息；
    处理器，与所述摄像机连接，用于根据所述目标所处的场景对所述摄像机采集的所述原始图像进行处理，获取所述目标对应的深度图像；以及对所述深度图像和所述原始图像中的所述色彩信息进行匹配，获取所述目标对应的三维图像。
  9. 根据权利要求8所述的系统，其特征在于，所述摄像机包括第一摄像机和第二摄像机；
    当所述目标处于所述第一场景时：
    所述第一摄像机和所述第二摄像机同步对所述目标进行图像采集，获取所述目标对应的两个原始图像，记为第一原始图像和第二原始图像；
    所述处理器对所述第一原始图像和所述第二原始图像进行处理，获取所述目标对应的深度图像；
    当所述目标处于所述第二场景时：
    开启所述第一摄像机和所述第二摄像机中的一个，对所述目标进行图像采集，获取所述目标对应的原始图像；
    所述处理器根据所述原始图像中的所述红外信息获取所述目标的目标散斑图，进而对所述目标散斑图和预存储的参考散斑图进行处理，获取所述目标对应的深度图像。
  10. 根据权利要求9所述的系统，其特征在于，所述第一摄像机和所述第二 摄像机同步对所述目标进行图像采集的操作之前，所述第一摄像机和所述第二摄像机进行校准操作，以使所述第一原始图像和所述第二原始图像中对应于所述目标的同一位置的所述像素点具有相同的垂直坐标。
  11. 根据权利要求9所述的系统，其特征在于，所述系统进一步包括光源，所述光源用于向所述目标投射红外光，以使所述摄像机采集得到的所述原始图像包括所述红外信息。
  12. 根据权利要求9所述的系统，其特征在于，所述处理器对所述第一原始图像和所述第二原始图像中对应于所述目标的同一位置的像素点进行处理以获取所述像素点在水平方向的偏移量，接着根据所述偏移量和所述两个摄像机之间的距离信息获取所述像素点的深度信息，随后根据所述第一原始图像或所述第二原始图像中各所述像素点的所述深度信息获取所述目标对应的深度图像。
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