WO2019184183A1

WO2019184183A1 - Target image acquisition system and method

Info

Publication number: WO2019184183A1
Application number: PCT/CN2018/099301
Authority: WO
Inventors: 许星; 钟亮洪
Original assignee: 深圳奥比中光科技有限公司
Priority date: 2018-03-31
Filing date: 2018-08-08
Publication date: 2019-10-03
Also published as: CN108540717A

Abstract

Provided are a target image acquisition system and method. The system comprises: a collection camera for collecting an image of a target region; a floodlighting unit for providing the target region with floodlighting; a structure light projector for projecting a structure light image to the target region; and a processor connected to the collection camera, the floodlighting unit and the structure light projector, and used for controlling the collection camera to collect a target floodlight image under the lighting of the floodlighting unit, for identifying a foreground target in the target floodlight image, and for controlling the collection camera to collect a target structure light image on a pixel corresponding to the foreground target under the projection of the structure light projector. Before a depth image is acquired, a structure light image is processed to be a target structure light image, and depth calculation is then carried out on the target structure light image to obtain a target depth image, thereby ensuring the high frame rate output of the depth image.

Description

Target image acquisition system and method

Technical field

The present invention relates to acquisition of a target image, and more particularly to a target image acquisition system and method.

Background technique

The emergence of consumer-grade depth cameras has revolutionized many areas, such as 3D modeling, gesture interaction, and face recognition. Different application scenarios have different performance requirements for depth cameras. For example, 3D modeling and face recognition often require depth cameras to output high-resolution depth images to improve the accuracy of modeling and face recognition algorithms. The depth camera's output frame rate has higher requirements, and the high frame rate depth image will reduce the delay and bring a better user experience.

At present, one of the problems faced by consumer-grade depth cameras is the contradiction between depth image resolution and output frame rate, especially for depth cameras based on structured light technology, when the depth image resolution is higher, due to depth The increase in the amount of calculation results in a large drop in the output frame rate, and high resolution and high frame rate cannot be achieved at the same time.

Summary of the invention

In order to solve the problem that the high resolution and the high frame rate cannot be simultaneously implemented in the prior art, the present invention provides a target image acquisition system and method.

In order to solve the above problems, the technical solution adopted by the present invention is as follows:

A target image acquisition system includes: an acquisition camera for acquiring an image of a target area; a floodlight illumination unit for providing flood illumination to the target area; and a structured light projector for projecting to the target area a structured light image; a processor, coupled to the acquisition camera, the floodlighting unit, and the structured light projector, configured to: control the collection camera to collect target floodlights under illumination of the floodlighting unit An image; identifying a foreground object in the target flood image; controlling the acquisition camera to acquire a target structured light image on a pixel corresponding to the foreground object under the projected light projector projection.

The present invention also provides a target image acquisition system, the floodlighting unit is a floodlight illuminator; or an illumination source independent of the target image acquisition system; the floodlighting unit and the structured light projector are cross-activated The acquisition camera performs exposure within the activation interval and acquires a target flood image or a structured light image; the activation time of the structured light projection unit is longer than the activation time of the flood illumination unit.

The present invention further provides a target image acquisition system, wherein the target floodlight image is acquired by the acquisition camera in a low resolution mode; and the target structured light image is acquired by the acquisition camera in a cropping mode; The processor is further configured to calculate a target depth image using the target structured light image.

The present invention provides a target image acquisition method, including: S1: acquiring a target flood image of a target area; S2: identifying a foreground target in the target flood image; S3: collecting a pixel corresponding to the foreground target Target structure light image. In step S1, the acquisition camera acquires the target flood image in a low resolution mode; in step S3, the acquisition camera acquires the target structured light image in a crop mode. The acquisition of the target flood image is performed in conjunction with the acquisition of the target structured light image.

The invention also provides a target image acquisition method, which further comprises the following steps:

S4: Calculate the target depth image by using the target structured light image.

The invention has the beneficial effects of providing a target image acquisition system and method, which first acquires a target floodlight image, then extracts a foreground target in the target floodlight image, and then collects a target structure on a pixel corresponding to the foreground target. The light image is processed into a target structured light image before the depth image is acquired. At this time, the target structured light image is subjected to depth calculation to obtain a target depth image. Since the amount of data is small relative to the full resolution, the depth is The algorithm also runs faster, ensuring high frame rate output for depth images.

DRAWINGS

1 is a schematic diagram of a target image acquisition system in accordance with one embodiment of the present invention.

2 is a timing diagram of a floodlight illuminator, a structured light projector, and a acquisition camera, in accordance with one embodiment of the present invention.

FIG. 3 is a schematic diagram of a target image acquisition method according to an embodiment of the present invention.

4 is a schematic diagram of a target image acquisition method according to a second embodiment of the present invention;

FIG. 5 is a schematic diagram of an acquisition camera image acquisition principle according to an embodiment of the present invention.

FIG. 6 is a schematic diagram of an acquisition camera image acquisition principle according to still another embodiment of the present invention.

FIG. 7 is a schematic diagram of a target image acquisition method according to a third embodiment of the present invention.

FIG. 8 is a schematic diagram of a target image acquisition method according to a fourth embodiment of the present invention.

9 is a schematic diagram of a target image acquisition system in accordance with still another embodiment of the present invention.

FIG. 10 is a schematic diagram of a target image acquisition method according to a fifth embodiment of the present invention.

11 is a schematic diagram of a target image acquisition method according to a sixth embodiment of the present invention.

Among them, 10-processor, 11-flood illuminator, 12-structured light projector, 13-collector camera, 71-first acquisition camera, 72-structured light projector, 73-second acquisition camera.

detailed description

The present invention will be described in detail with reference to the accompanying drawings, in order to provide a better understanding of the invention. In addition, it should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention in a schematic manner, and only the components related to the present invention are shown in the drawings, instead of the number of components in actual implementation, The shape and size are drawn. In the actual implementation, the shape, number and proportion of each component can be a random change, and the component layout form may be more complicated.

1 is a schematic diagram of a target image acquisition system in accordance with one embodiment of the present invention. The target image acquisition system includes a processor 10 and a structured light projector 12 coupled thereto, and a collection camera 13 for projecting a structured light beam into the space, when the structured light beam is incident on the object, A corresponding structured light image is formed which is then acquired by the acquisition camera 13 and forms a structured light image of the object, and the processor 10 further calculates a depth image based on the structured light image.

The single structured light projector 12 and the single acquisition camera 13 form a monocular structured light depth imaging system, and the processor 10 will calculate a depth image based on the monocular structure optical trigonometry principle. In one embodiment, the processor 10 performs a matching calculation on the currently acquired object structured light image and the pre-stored reference structured light image to obtain a deviation value of the pixel between the two images, and further calculates the depth according to the deviation value. Value, the reference structured light image referred to herein is a plane placed at a known depth distance, which is acquired by the acquisition camera 13 or other acquisition camera when the structured light projector 12 projects a structured light beam onto the plane.

In some embodiments, two or more acquisition cameras 13 may also be included that form a binocular or multi-view structured light depth imaging system with the structured light projector 12. Taking a binocular structured light system composed of two acquisition cameras 13 and a single structured light projector 12 as an example, when the structured light projector 12 projects a structured light beam into space, the two acquisition cameras 13 collect left and right two. For the structured light image, the processor 10 can also obtain the depth image by matching the left and right structured light images based on the binocular vision algorithm; or calculate the left and right structured light images and the corresponding reference structured light images respectively. To obtain two depth images, the advantage of this is that in one embodiment, the left and right acquisition modules can be set to have different parameters, such as different resolutions, focal lengths, etc., so that simultaneous acquisitions can have different a structured light image of a resolution, an angle of view, or the like. Further, a depth image of a different resolution, an angle of view, or the like can be simultaneously acquired; in one embodiment, the acquired plurality of depth images can be merged into one frame and more A depth image of multiple information.

In some embodiments, the matching calculation refers to selecting a sub-region of a certain size centering on a certain pixel on the current structured light image (or reference structured light image), such as a sub-region of 7×7, 11×11 pixel size, and then in the reference structure. The light image (or the current structured light image) is searched for the sub-region most similar to the sub-region, and the difference between the pixel coordinates of the two sub-regions on the two images is the deviation value; secondly, the difference between the deviation value and the depth value is used. Correspondence relationship, the depth value can be calculated based on the deviation value, and the depth value of a plurality of pixels constitutes a depth image. The principle of matching calculation between two or more structured light images of the left and right is similar to the above principle.

In some embodiments, the target image acquisition system further includes a floodlight illuminator 11 coupled to the processor 10, the floodlight illuminator 11 being used as a floodlighting illumination unit to provide floodlight illumination. The processor 10 controls the flood illuminator 11, the structured light projector 12, and the acquisition camera 13 through a bus or the like, and can also be connected through some data transmission interfaces, such as an interface connected to the acquisition camera 13 through MIPI, VGA, etc., to receive The image captured by the camera 13 is acquired. In one embodiment, floodlight illuminator 11 and structured light projector 12 are used to emit light beams of the same wavelength, such as infrared light, while acquisition camera 13 is comprised of pixels for collecting light beams of that wavelength. The processor 10 can realize the collection of different images by controlling the timing between the three, and specifically can control the target camera to collect the target flood image under the illumination of the floodlighting unit; and identify the foreground in the target flood image. Target; controlling the acquisition camera to acquire a target structured light image on a pixel corresponding to the foreground object under the projection of the structured light projector. In some embodiments, the floodlighting unit can also be other light sources in the environment, such as ambient light can be used as floodlighting. That is, the floodlight illumination may be active light emitted by a light source such as an infrared light source, or may be ambient light. In the following specific embodiments, some are described in the case where the system includes a floodlight illuminator, and some are described as ambient light as a floodlighting unit. It should be understood that, depending on the situation, The specific form of floodlighting is chosen, but the method is universal, and no specific distinction is made below.

The processor 10 may be implemented by a depth calculation processor disposed inside the system, which may be a dedicated processor such as a SOC, an FPGA, or the like, or may be a general purpose processor. In some embodiments, an external computing device, such as a computer, a mobile terminal, a server, or the like, may be utilized. The external computing device receives the structured light image from the acquisition module 13 and performs depth calculation, and the obtained depth image may be directly used for the Other applications for the device. In one embodiment, when the system is integrated as an embedded device to other computing terminals, such as a target image acquiring device such as a computer, a tablet, a mobile phone, or a television, the functions implemented by the processor may be implemented by a processor or an application in the terminal. For example, the depth calculation function is stored in the memory in the form of a software module, and is called by a processor in the terminal to implement depth calculation. It is to be understood that the target image acquisition system provided by the present invention and/or the target image acquisition device employing the target image acquisition method provided by the present invention should be considered as the scope of protection of the present invention.

The structured light image may be a stripe pattern, a two-dimensional pattern, a speckle pattern (speckle pattern), or the like, and the structured light wavelength may be a visible light wavelength, an infrared light wavelength, an ultraviolet light wavelength, or the like.

Figure 2 shows a schematic diagram of the timing control of a floodlight illuminator, a structured light projector, and a acquisition camera. The timing diagrams 20, 21, and 22 correspond to the flood illuminator 11, the structured light projector 12, and the acquisition camera 13, respectively, and the raised portions in the figure indicate that the corresponding device is in an active state, such as the flood illuminator 11 and the structured light projection. The instrument 12 is in a projection state and the acquisition camera is in an exposure state. As can be seen from FIG. 2, in the present embodiment, the processor 10 controls the flood illuminator 11 and the structured light projector 12 to perform cross-activation, while controlling the acquisition camera to perform exposure in each activation interval and collect corresponding images. The floodlight image A is acquired under the illumination of the floodlight illuminator 11, and the structured light image B is acquired by the structured light projector 12, and the floodlight image A and the structured light image B are sequentially output to the processor for processing. In some embodiments, by arranging a reasonable setting of the activation time of the flood illuminator 11 and the structured light projector 12 to acquire a higher quality image, such as setting the activation time of the structured light projector 12 to be longer, To ensure that sufficient exposure time is met to acquire a higher quality structured light image; in some embodiments, the activation order of the floodlight illuminator 11 and the structured light projector 12 may also be set to other forms, depending on the actual application needs. For example, after the floodlight illuminator 11 is activated twice, the structured light projector 12 is activated.

In some applications, it is required to obtain a high resolution depth image of the measured object. However, limited by the depth calculation algorithm and the limitation of the computing power of the processor, achieving high resolution depth image acquisition often requires a high cost. A method of acquiring a high resolution target depth image based on the system of FIG. 1 will be provided in one embodiment of the present invention. 3 is a schematic diagram of a method of acquiring a target image, which is executed by the processor 10 to implement a corresponding function, in accordance with one embodiment of the present invention.

First, the acquisition camera 13 is controlled to acquire a target floodlight image under the illumination of the floodlighting unit; the target floodlight image referred to herein refers to a target floodlight image containing the target. In the prior art, for example, the depth camera of Microsoft kinect, Intel realsense, etc., the output depth image resolution is often VGA, that is, 640x480, or lower resolution. Therefore, in the present invention, the HD resolution 1280x960 is taken as an example, and It is understood that other resolutions are also suitable for use in the present invention. In this step, the processor 10 applies a synchronization trigger signal to the floodlight illuminator 11 and the acquisition camera 13 to use the floodlight image A captured by the acquisition camera 13 to the target area while the floodlight illuminator 11 provides floodlight illumination. At this time, the acquisition camera 13 may be a full resolution output, that is, output a 1280×960 resolution floodlight image A. In one embodiment, the acquisition camera 13 may also be controlled to use a binning mode or a skipping mode. The low resolution mode acquires a low resolution image of the full field of view. Under the premise that the output frame rate requirement is high and the output interface transmission speed is constant, if the full-resolution image cannot achieve high frame rate output, the low-resolution output mode as described above can be adopted.

Generally, the floodlight image contains foreground objects of interest, such as faces, human bodies, objects, etc., and also contains some background objects, such as the scene in which the person is located. For some applications, such as face recognition, 3D modeling, etc., only foreground target information is needed, and the background needs to be removed.

Second, identify foreground targets in the target flood image. In this step, the foreground and background in the floodlight image need to be segmented, and many image segmentation algorithms can be applied to this step, such as threshold segmentation, mean shift, clustering, and the like. When selecting the image segmentation algorithm, it is necessary to balance the calculation efficiency and the calculation accuracy, especially the calculation efficiency. The slow image segmentation speed will reduce the final image output frame rate (depth image output frame rate). After the foreground region is segmented, the foreground region is identified, or the foreground pixel region where the foreground region is located is identified.

Finally, the acquisition camera is controlled to acquire a target structured light image on the pixel corresponding to the foreground object under the projection of the structured light projector. Since the foreground pixel area is acquired in the previous step, in this step, the acquisition camera will only sample the pixel corresponding to the foreground area in the cropping mode, that is, output only the foreground image corresponding to the foreground area. Since the structured light projector is in the on state at this time, the acquired foreground image is the target structured light image. It should be noted that for a dynamic target, such as a moving human body, the pixels corresponding to the target between the two images will be different. Therefore, when the pixel corresponding to the foreground region is selected, the camera can be moved according to the moving speed of the human body. The parameters appropriately expand the pixel area. In fact, in the case of a large frame rate (such as 30fps, 60fps, etc.), the foreground areas in adjacent frame images are nearly identical.

After each of the above steps, the processor 10 will acquire the target structured light image required by the current application, although the structured light image includes only a small field of view, yet has a higher resolution.

As shown in FIG. 4, in an alternative embodiment of the present invention, a depth image is calculated based on the structured light image to obtain a target depth image. Since the amount of data is small relative to the full resolution, the depth algorithm may be faster. Thereby, a high frame rate output of the depth image can be ensured.

Now use a more intuitive embodiment to illustrate the above steps. For example, the acquisition camera can output images up to 1280x960@60fps. If the acquisition camera is used as the structured light image acquisition, only 1280x960 can be realized due to the limitations of the depth calculation algorithm and hardware. The depth image output of @10fps is too low for the depth image frame rate to meet the needs of some applications. By using the method described above, that is, when the floodlight image and the structured light projector are turned on at the cross timing, the acquisition camera can acquire a flood image of 1280×960@30 fps, and combine the high-speed image segmentation algorithm to identify the foreground target. After the region (assuming that the target region is located in the middle of the field of view of the acquisition camera and accounts for 50% of the entire field of view), the target structured light image of 640x480@30fps can be obtained, and the real-time pair can be satisfied according to the current depth calculation algorithm and related hardware. The target structured light image of 640x480@30fps is processed and a depth image of 640x480@30fps is output. Compared with the acquisition camera directly adopting 640x480@30fps, the depth image acquired in this embodiment only includes the target, and the detailed information is more abundant, and the step of image segmentation is omitted.

In the embodiment shown in FIG. 2 and FIG. 3 and FIG. 4, the flood illuminator 11 and the structured light projector 12 project light beams of the same wavelength, and the acquisition camera is configured to respectively acquire the flood image A and the structured light image at different timings. B.

5 and 6 are schematic diagrams of acquisition camera acquisition principles in accordance with some embodiments of the present invention. In Figure 5, the acquisition camera can simultaneously acquire beams of two wavelengths, which have W pixels that are sensitive to white light (light of all wavelengths) and IR pixels that are sensitive to infrared light. When the floodlighting unit is ambient light, structure When the light projector is used to project infrared structured light, the acquisition camera can simultaneously collect the floodlight image and the structured light image, except that the effective pixels of the floodlight image and the structured light image are lower than the overall pixels of the acquisition camera. In this embodiment, the effective pixel is half of the whole pixel. In other embodiments, the flood image and the structured light image pixel may also be other ratios, such as W:IR=1:3, thereby ensuring the structured light image. With more image detail, the acquired depth image has more detailed information. In FIG. 6, the acquisition camera can simultaneously acquire color images (RGB) and infrared images. For example, a color flood image and an infrared structure light image can be simultaneously acquired, or a color structure light image and an infrared flood image.

It can be understood that FIG. 5 and FIG. 6 are only used as an example to illustrate that when the wavelengths of the beams emitted by the flood illuminator 11 and the structured light projector 12 are different, the acquisition cameras that simultaneously sensitize the two wavelengths can be simultaneously acquired. The target flood image and the structured light image are not limited to the examples of FIGS. 5 and 6 in actual use. 7 is a schematic diagram of a target image acquisition method for simultaneously acquiring target floodlight images and structured light images of different wavelengths based on a collection camera, the method being executed by the processor 10 to implement a corresponding function.

First, the acquisition camera is controlled to collect the target flood image and the structured light image under the illumination of the flood illuminator 11 and the structured light projector 12; the flood illuminator 11 and the structured light projector 12 can be always turned on. It can also be turned on according to the frequency and pulsed with a certain gap, and its frequency should be consistent with the exposure frequency of the acquisition camera. Assume that the acquisition camera can output an image of 1280x960@30fps. Under the illumination of the floodlight illuminator and the structured light projector, each image acquired contains the target flood image information and the structured light image information, as shown in FIG. In the case of the acquisition camera, the floodlight image information and the structured light image information are each half of each image, and the acquisition camera then separately extracts the pixels corresponding to the respective images, and fills other blank pixels according to the upsampling algorithm, and finally obtains 1280x960@ A 30fps flood image and a structured light image of 1280x960@30fps, and there is no parallax between the flood image and the structured light image.

Finally, a pixel region corresponding to the foreground object in the structured light image is extracted to obtain a target structured light image. Since there is no parallax between the target flood image and the structured light image, the foreground region in the target flood image recognized in the previous step is also the foreground region in the structured light image, and the structured light image in this region is extracted. The pixel is the target structured light image.

As shown in FIG. 8, in an alternative embodiment of the present invention, a depth image can be obtained based on the structured light image to obtain a target depth image. Since the amount of data is small relative to the full resolution, the operation speed of the depth algorithm is also Faster, thus ensuring high frame rate output of depth images.

7 and FIG. 8 Compared with the methods shown in FIG. 3 and FIG. 4, there is a time difference between the target flood image and the structured light image in the methods of FIGS. 3 and 4, when the target is a moving object. When the motion speed is fast, the algorithm may be invalidated. The target floodlight image and the structured light image of Figure 7 and Figure 8 are synchronously acquired, so they can adapt to fast moving objects, but the structured light collected by the acquisition camera The image contains only a portion of the pixels, so the details of the resulting depth image are lost.

9 is a schematic diagram of a target image acquisition system in accordance with still another embodiment of the present invention. The target image acquisition system includes a processor 10 and a first acquisition camera 71, a second acquisition camera 73, and a structured light projector 72 and a floodlighting unit connected thereto, because the floodlighting unit uses ambient light in the system. So it is not shown in the picture. The first acquisition camera 71 and the second acquisition camera 73 are respectively used to acquire images of different wavelengths. In one embodiment, the first acquisition camera is configured to acquire a target floodlight image of the first wavelength of the target region; the second acquisition camera is configured to acquire the structured light image of the target region. It will be appreciated that in one embodiment, a floodlight illuminator or an illumination source independent of the target image acquisition system may also be included. The following is an example in which ambient light is used as a floodlight.

In one embodiment, the first acquisition camera is an RGB camera for acquiring RGB images; the second acquisition camera is an infrared camera for acquiring IR images; and the structured light projector is for emitting infrared structured light images. Since there is parallax between the RGB camera and the infrared camera, it is necessary to calibrate the two cameras, which can be calibrated by any calibration method of the prior art. The purpose of the calibration is to obtain the mutual positional relationship between one camera and the other camera. (translation and placement matrix, R and T). FIG. 10 is a schematic diagram of a target image acquisition method according to another embodiment of the present invention. The method is performed by processor 10 to implement the corresponding functions.

First, the RGB camera and the infrared camera are controlled to acquire RGB images and infrared structured light images. The processor 10 controls the RGB camera and the infrared camera to extract RGB images and infrared structured light images at the same frame rate. The resolutions of the RGB images and the infrared images may be the same or different. Generally, the RGB cameras in the system are required to perform photographing. Such tasks, so RGB images have higher resolution, but in this embodiment, the acquired RGB images are used for foreground target recognition, so RGB images can be acquired in low resolution mode. It can improve the frame rate of image acquisition and reduce the difficulty of subsequent foreground target recognition.

Secondly, the foreground object in the RGB image is identified; in this step, the foreground and the background in the RGB image need to be segmented, and many image segmentation algorithms can be applied to this step, such as threshold segmentation and mean shift (mean shift). ), clustering, and so on. When selecting the image segmentation algorithm, it is necessary to balance the calculation efficiency and the calculation accuracy, especially the calculation efficiency. The slow image segmentation speed will reduce the final image output frame rate (depth image output frame rate). After the foreground region is segmented, the foreground region is identified, or the foreground pixel region where the foreground region is located is identified.

Finally, based on the relative positional relationship between the RGB camera and the infrared camera, the target structured light image on the pixel corresponding to the foreground target on the infrared structured light image is extracted. After confirming the region where the foreground target is located in the RGB image, according to the relative positional relationship between the RGB camera and the infrared camera, the region of the corresponding foreground target in the target structured light image can be located, and the pixel of the region can be further extracted as a target. Structured light image.

As shown in FIG. 11, after the above various steps, the processor 10 will acquire the target structured light image required by the current application, and then calculate the depth value of each pixel in the target structured light image by using a depth algorithm to generate a target depth image. . In the present embodiment, also because the final target structure light image has a small total number of pixels, the depth calculation can be performed in real time, thereby achieving high frame rate output. In the step of collecting the RGB image and the infrared image, the RGB image and the infrared image may also be acquired asynchronously, and the RGB image and the infrared image may be separately collected at a certain timing according to a form similar to the embodiment shown in FIG. 3 and FIG. At this time, the requirements for the storage and computing power of the processor 10 can be reduced. In the time series acquisition mode, the infrared camera can acquire the infrared structured light image by using the cropping mode based on the foreground target area identified in the RGB image, thereby further reducing the amount of data to ensure high-speed output.

The above is a further detailed description of the present invention in connection with the specific preferred embodiments, and the specific embodiments of the present invention are not limited to the description. It will be apparent to those skilled in the art that <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt;

Claims

A target image acquisition system, comprising:

a collection camera for acquiring an image of a target area;

a floodlighting unit for providing floodlighting to the target area;

a structured light projector for projecting a structured light image to the target area;

a processor coupled to the acquisition camera, the floodlighting unit, and the structured light projector for:

Controlling the acquisition camera to acquire a target floodlight image under illumination of the floodlighting unit;

Identifying a foreground target in the target flood image;

The acquisition camera is controlled to acquire a target structured light image on a pixel corresponding to the foreground object under projection of the structured light projector.
The target image acquisition system according to claim 1, wherein the floodlighting unit is a floodlight illuminator; or an illumination source that is independent of the target image acquisition system.
The target image acquisition system according to claim 1, wherein said target floodlight image is acquired by said acquisition camera in a low resolution mode; said target structured light image is said acquisition camera in a cropping mode Collected under.
The target image acquisition system according to claim 1, wherein said flood illumination unit and said structured light projector are cross-activated; said acquisition camera performs exposure in an activation interval and acquires a target flood image or a structured light image. .
The target image acquisition system according to claim 1, wherein an activation time of said structured light projection unit is longer than an activation time of said flood illumination unit.
The target image acquisition system according to claim 1, wherein said processor is further configured to calculate a target depth image using said target structured light image.
A target image acquisition method, comprising:

S1: collecting a target flood image of the target area;

S2: identifying a foreground target in the target flood image;

S3: Acquire a target structured light image on a pixel corresponding to the foreground target.
The target image acquisition method according to claim 7, wherein in step S1, the acquisition camera acquires the target flood image in a low resolution mode; in step S3, the acquisition camera acquires the target in a crop mode Structured light image.
The target image acquisition method according to claim 7, wherein the capturing of the target floodlight image is performed by intersecting the acquisition of the target structured light image.
The target image acquisition method according to claim 7, further comprising the steps of:

S4: Calculate the target depth image by using the target structured light image.