WO2021022775A1 - Procédé, appareil et dispositif de génération d'image de profondeur et support d'enregistrement lisible par ordinateur - Google Patents

Procédé, appareil et dispositif de génération d'image de profondeur et support d'enregistrement lisible par ordinateur Download PDF

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Publication number
WO2021022775A1
WO2021022775A1 PCT/CN2019/129176 CN2019129176W WO2021022775A1 WO 2021022775 A1 WO2021022775 A1 WO 2021022775A1 CN 2019129176 W CN2019129176 W CN 2019129176W WO 2021022775 A1 WO2021022775 A1 WO 2021022775A1
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Prior art keywords
projection
structured light
light pattern
depth image
display image
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PCT/CN2019/129176
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English (en)
Chinese (zh)
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吕思豪
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歌尔股份有限公司
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Publication of WO2021022775A1 publication Critical patent/WO2021022775A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3141—Constructional details thereof
    • H04N9/315—Modulator illumination systems
    • H04N9/3161—Modulator illumination systems using laser light sources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3179—Video signal processing therefor

Definitions

  • the present invention relates to the field of depth image display technology, in particular to a depth image generation method, device, equipment and computer readable storage medium.
  • the current projection system obtains the depth image through the depth module. To improve the resolution of the depth image, higher requirements are placed on the hardware of the depth module, and a receiver for receiving reflected light needs to be added, which leads to the entire projection.
  • the system structure is complex.
  • the main purpose of the present invention is to provide a depth image generation method, device, equipment, and computer readable storage medium, which are designed to solve the existing technical solutions to improve the depth image resolution, which requires the addition of reflected light receiving devices, resulting in an overly complex projection system structure The problem.
  • the present invention proposes a depth image generation method, the method includes the following steps:
  • Projection produces a structured light pattern, which is superimposed on the surface of the display image
  • the display image is generated based on the projection of an LBS projection module
  • the LBS projection module includes an infrared laser emitting unit
  • the projection generates a structured light pattern
  • the structured light pattern is superimposed on the surface of the display image
  • the infrared laser emitting unit is controlled to project to generate an infrared structured light pattern, and the infrared structured light pattern is superimposed on the surface of the display image.
  • the LBS projection module further includes an infrared camera unit, and the step of controlling the structured light pattern to produce a projection change, and obtaining projection change information of the structured light pattern includes:
  • the projection focus of the structured light pattern is controlled to change, and the infrared light imaging unit is controlled to obtain information about the projection focus of the structured light pattern.
  • the LBS projection module further includes an infrared camera unit, and the step of controlling the structured light pattern to produce a projection change, and obtaining projection change information of the structured light pattern includes:
  • the structured light pattern is controlled to produce displacement on the surface of the display image, and the infrared light camera unit is controlled to obtain displacement information of the structured light pattern.
  • the step of controlling the structured light pattern to produce a projection change and obtaining the projection change information of the structured light pattern includes:
  • the projection density of the structured light pattern is increased to obtain the projection density change information of the structured light pattern.
  • the step of obtaining the depth image of the display image according to the projection change information includes:
  • the depth image of the display image is obtained.
  • the present invention also provides a depth image generating device, the depth image generating device comprising:
  • a projection module for projecting to generate a display image, and for projecting to generate a structured light pattern, the structured light pattern superimposed on the surface of the display image;
  • the control module is used to control the projection change of the structured light pattern and obtain the projection change information of the structured light pattern
  • the calculation module is used to obtain the depth image of the display image according to the projection change information.
  • the display image is generated based on projection of an LBS projection module
  • the LBS projection module includes an infrared laser emitting unit
  • the control module is also used to control the infrared laser emitting unit to project and generate an infrared structured light pattern, so The infrared structured light pattern is superimposed on the surface of the display image.
  • the present invention also provides a depth image generation device, the depth image generation device comprising: a memory, a processor, and a depth image generation device stored in the memory and running on the processor Program; the depth image generation program is executed by the processor to implement the steps of the depth image generation method described above.
  • the present invention also provides a computer-readable storage medium having a depth image generation program stored on the computer-readable storage medium, and when the depth image generation program is executed by a processor, the implementation is as described above. The steps of the depth image generation method.
  • the structured light pattern is projected on the surface of the displayed image, the structured light pattern is controlled to produce projection changes, and the display details of the displayed image are obtained according to the projection change information. It can be seen that the resolution of the depth image can be further improved, that is According to the technical solution of the present invention, there is no need to add a complicated structured light laser emitting device to avoid the complicated structure of the projection system, and can effectively improve the resolution of the depth image.
  • FIG. 1 is a schematic flowchart of the first embodiment of the depth image generation method of the present invention
  • FIG. 2 is a schematic flowchart of a second embodiment of the depth image generation method of the present invention.
  • FIG. 3 is a schematic flowchart of a third embodiment of the depth image generation method of the present invention.
  • FIG. 4 is a schematic flowchart of a fourth embodiment of the depth image generation method of the present invention.
  • FIG. 5 is a schematic flowchart of a fifth embodiment of the depth image generation method of the present invention.
  • FIG. 6 is a schematic flowchart of a sixth embodiment of the depth image generation method of the present invention.
  • FIG. 7 is a schematic diagram of the superposition of the display image and the structured light pattern in the depth image generation method of the present invention in FIG. 1;
  • FIG. 8 is a schematic diagram of the structured light pattern density increase in the depth image generating method of the present invention in FIG. 5;
  • FIG. 9 is a schematic diagram of the structure of the depth image generating device of the present invention.
  • Label name Label name 100 Projection module 123 Third pattern 110 Display image 200 Control module 120 Structured light pattern 300 Calculation module 121 First pattern 410 Infrared laser emitting unit
  • a first embodiment of the present invention is a depth image generation method.
  • the method includes the following steps:
  • Step S10 projecting to generate a display image
  • the display image is generated by projection by a projection module
  • the projection module is generally an LBS (Laser Bean Scanning) projection module, which has high efficiency and power consumption Low advantage
  • the projection module in the present invention is not limited to the LBS projection module.
  • Step S20 projecting to generate a structured light pattern, the structured light pattern is superimposed on the surface of the displayed image, the structured light pattern is generated by a light emitting unit, wherein the light emitting unit generally refers to an infrared laser emitting unit, and the structured light It is a system that transmits specific light information to the surface of an object, and calculates the position and depth of the object by collecting changes in the light signal.
  • the structured light pattern can be any of points, lines, and surfaces, or points, lines, and surfaces.
  • the structured light pattern has multiple vertical stripes.
  • the structured light pattern can also be designed according to its own pattern shape to increase the coverage of the display image details, so as to further improve the display details of the depth image.
  • Step S30 Control the structured light pattern to produce projection changes to obtain projection change information of the structured light pattern.
  • the projection changes include the change of the structured light pattern itself, for example, the structured light pattern of multiple vertical stripes is transformed into multiple horizontal stripes.
  • the structured light pattern that is, the pattern of the structured light pattern itself can be arbitrarily deformed. Through this arbitrary shape deformation, the coverage of the display image details can be increased, and the depth can be obtained by projecting the information before and after the change of the structured light pattern. The image shows more details.
  • Step S40 Obtain the depth image of the displayed image according to the projection change information, where the projection change information includes the offset of the structured light pattern covering position, and also the change of the structured light pattern itself. Through the change of the structured light pattern, the analysis and calculation can be Further improve the resolution of the depth image.
  • the structured light pattern is projected on the surface of the display image, the structured light pattern is controlled to produce projection changes, and the display details of the displayed image are obtained according to the projection change information. It can be seen that the resolution of the depth image can be further improved, that is According to the technical solution of the present invention, there is no need to add a complicated structured light laser emitting device to avoid the complicated structure of the projection system, and can effectively improve the resolution of the depth image.
  • the display image is generated based on the projection of the LBS projection module.
  • the LBS projection module includes an infrared laser emitting unit, wherein the infrared laser
  • the emitting unit is an infrared laser
  • the structured light pattern is generated by projection, and the step S20 of superimposing the structured light pattern on the surface of the display image includes:
  • Step S21 controlling the projection of the infrared laser emitting unit to generate an infrared structured light pattern, the infrared structured light pattern is superimposed on the surface of the displayed image, and the infrared light cannot be recognized by the naked eye, so as to avoid affecting the display effect of the displayed image when the depth image is obtained.
  • the LBS projection module also includes an infrared light camera unit.
  • the infrared light camera unit is an infrared camera, The camera shoots the infrared structured light pattern, controls the structured light pattern to produce projection changes, and obtains the projection change information of the structured light pattern.
  • the step S30 includes:
  • Step S31 controlling the structured light pattern projection focus to change, and controlling the infrared light camera unit to obtain information about the change of the projection focus of the structured light pattern.
  • the focus of the structured light pattern changes, the light pattern presented on the display image surface changes.
  • the camera shoots the structured light pattern with the change in focus.
  • the change information of the structured light pattern can be obtained.
  • the focus change of the structured light pattern is not limited to one change. Including multiple consecutive times, multiple focus changes can further obtain more change information, which is more conducive to obtaining higher precision image resolution.
  • the LBS projection module also includes an infrared light camera unit.
  • the infrared light camera unit is an infrared camera, The camera shoots the infrared structured light pattern, controls the structured light pattern to produce projection changes, and obtains the projection change information of the structured light pattern.
  • the step S30 includes:
  • Step S32 control the structured light pattern to produce displacement on the surface of the displayed image, control the infrared light camera unit to obtain the displacement information of the structured light pattern, for example, the structured light pattern moves in the horizontal direction, and record the horizontal movement distance of the structured light pattern to control the infrared
  • the camera captures the images before and after the displacement of the structured light pattern to obtain the displacement information of the structured light pattern, and obtains the projection change information of the structured light pattern according to the displacement information.
  • the movement of the structured light pattern is not limited to one movement, and may include multiple times
  • the structured light pattern can also be moved in the vertical direction or tilted every time the infrared camera is moved.
  • the infrared camera will shoot every time the structured light pattern moves by a certain distance. Both the movement direction and the number of movement of the structured light pattern need to be set according to requirements, in order to further obtain more change information, which is more conducive to obtaining higher precision image resolution.
  • a fifth embodiment of the present invention is proposed to control the projection change of the structured light pattern, and obtain the projection change information of the structured light pattern after step S30 include:
  • Step S50 increase the projection density of the structured light pattern, obtain the projection density change information of the structured light pattern, and increase the projection density to obtain more detailed laser reflection information, that is, the infrared camera can obtain a wider range of coverage and display image surface Information.
  • increasing the projection density of the structured light pattern can be gradually increased.
  • the projection density of the structured light pattern is increased to include the first pattern, the second pattern and the third pattern in turn, and the projection density of the structured light pattern is increased in three times. In this way, more projection density change information can be obtained, which is conducive to obtaining finer and more accurate image resolution.
  • the step S40 of obtaining the depth image of the display image according to the projection change information includes:
  • Step S41 Obtain the depth image of the displayed image according to the projection change information and the projection density change information. That is, by obtaining the projection change information and the projection density change information, the projection change information and the projection density change information are combined. The combined analysis of the change information can obtain more comprehensive change information, which can further improve the resolution of the obtained depth image.
  • the present invention also provides a depth image generation device.
  • the depth image generation device includes: a projection module 100, a control module 200 and a calculation module 300.
  • the projection module 100 is used for projecting to generate a display image 110, and for projecting to generate a structured light pattern 120, which is superimposed on the surface of the display image 110, wherein the projection module is generally an LBS projection module
  • the LBS projection module has the advantages of high efficiency and low power consumption.
  • the projection module in the present invention is not limited to the LBS projection module.
  • the structured light pattern 120 is generated by a light emitting unit, wherein the light emitting unit is generally Refers to the infrared laser emitting unit 410.
  • the structured light is a system that transmits specific light information to the surface of an object, and calculates the position and depth of the object by collecting changes in the light signal.
  • the structured light pattern 120 can be a point, line, Any of the planes can also be a combination of dots, lines, and planes.
  • the structured light pattern 120 is a plurality of vertical stripes.
  • the structured light pattern 120 can also design its own pattern shape as needed to increase the details of the displayed image 110 In order to further improve the display details of the depth image.
  • the control module 200 is used to control the structured light pattern 120 to produce a projection change, and obtain projection change information of the structured light pattern 120.
  • the projection change includes the change of the structured light pattern 120 itself, such as the structure of multiple vertical stripes.
  • the light pattern 120 is transformed into a structured light pattern 120 with multiple horizontal stripes, that is to say, the pattern of the structured light pattern 120 itself can be arbitrarily deformed, and this arbitrary shape deformation can increase the coverage of the details of the displayed image 110 , To obtain the information before and after the projection change of the structured light pattern 120, and obtain more display details of the depth image.
  • the calculation module 300 is used to obtain the depth image of the display image 110 according to the projection change information, where the projection change information includes the offset of the coverage position of the structured light pattern 120, and also includes the change of the structured light pattern 120 itself. Analysis and calculation of changes in the structured light pattern 120 can further improve the resolution of the depth image.
  • the structured light pattern 120 is projected on the surface of the display image 110, the structured light pattern 120 is controlled to produce projection changes, and the display details of the display image 110 are obtained according to the projection change information, which can further improve the resolution of the depth image.
  • the technical solution of the present invention does not need to add a complicated structured light laser emitting device, so as to avoid the complicated structure of the projection system, and can effectively improve the resolution of the depth image.
  • the display image 110 is generated based on the projection of an LBS projection module.
  • the LBS projection module includes an infrared laser emitting unit 410.
  • the control module 200 is also used to control the infrared laser emitting unit 410 to project and generate infrared structured light.
  • the pattern 120, the infrared structured light pattern 120 is superimposed on the surface of the display image 110, and the infrared light cannot be recognized by naked eyes, so as to avoid affecting the display effect of the display image 110 when the depth image is obtained.
  • control module 200 is also used to control the projection focus of the structured light pattern 120 to change, and control the infrared light camera unit 420 to obtain information about the change in the projection focus of the structured light pattern 120.
  • the focus of the structured light pattern 120 changes, the display The light on the surface of the display image 110 changes, and the structured light pattern 120 with the changed focus is photographed by an infrared camera.
  • the change information of the structured light pattern 120 can be obtained.
  • the focus change of the structured light pattern 120 is not limited to one change, but may include multiple times. Multiple focus changes can further obtain more change information, which is more conducive to obtaining higher precision image resolution.
  • control module 200 is also used to control the structured light pattern 120 to produce displacement on the surface of the display image 110, and control the infrared light camera unit 420 to obtain the displacement information of the structured light pattern 120, for example, the structured light pattern 120 moves in a horizontal direction , And record the horizontal movement distance of the structured light pattern 120, control the infrared camera to capture images before and after the displacement of the structured light pattern 120, obtain the displacement information of the structured light pattern 120, and obtain the projection change of the structured light pattern 120 according to the displacement information Information, in addition, the movement of the structured light pattern 120 is not limited to one movement, and may include multiple times. Each time the infrared camera is moved, one shot is taken. In addition, the structured light pattern 120 can also be moved vertically or tilted.
  • the infrared camera will shoot.
  • the moving direction and the number of movements of the structured light pattern 120 need to be set according to requirements, so as to obtain more change information. It is more conducive to obtain higher precision image resolution.
  • the control module 200 is also used to increase the projection density of the structured light pattern 120, obtain the projection density change information of the structured light pattern 120, and increase the projection density to obtain more detailed laser reflection information, that is, In other words, the infrared camera can obtain a wider range of information covering the surface of the displayed image 110.
  • increasing the projection density of the structured light pattern 120 can gradually increase.
  • the projection density of the structured light pattern 120 can be increased to the first pattern 121 and the second pattern in turn.
  • the third pattern 122 and the third pattern 123 are divided into three times to increase the projection density of the structured light pattern 120, so that more projection density change information can be obtained, which is conducive to obtaining finer and more accurate image resolution.
  • the calculation module 300 is also used to obtain the depth image of the display image 110 according to the projection change information and the projection density change information, that is, by obtaining the projection change information and the projection density change information, the projection change information.
  • the combined analysis of the two kinds of change information and the projection density change information can obtain more comprehensive change information, which can further improve the resolution of the obtained depth image.
  • the present invention also provides a depth image generation device, the depth image generation device includes: a memory, a processor, and a depth image generation program stored on the memory and running on the processor; the depth image generation The device calls the depth image generation program stored in the memory and performs the following operations:
  • Projection produces a structured light pattern, which is superimposed on the surface of the display image
  • the display image is generated based on the projection of an LBS projection module
  • the LBS projection module includes an infrared laser emitting unit
  • the processor calls a depth image generation program stored in a memory and executes the following operations:
  • the infrared laser emitting unit is controlled to project to generate an infrared structured light pattern, and the infrared structured light pattern is superimposed on the surface of the display image.
  • the LBS projection module further includes an infrared light camera unit, and the processor calls the depth image generation program stored in the memory and performs the following operations:
  • the projection focus of the structured light pattern is controlled to change, and the infrared light imaging unit is controlled to obtain information about the projection focus of the structured light pattern.
  • the LBS projection module further includes an infrared light camera unit, and the processor calls the depth image generation program stored in the memory and performs the following operations:
  • the structured light pattern is controlled to produce displacement on the surface of the display image, and the infrared light camera unit is controlled to obtain displacement information of the structured light pattern.
  • the processor calls the depth image generation program stored in the memory and performs the following operations:
  • the projection density of the structured light pattern is increased to obtain the projection density change information of the structured light pattern.
  • the processor calls the depth image generation program stored in the memory and performs the following operations:
  • the depth image of the display image is obtained.
  • the structured light pattern is projected on the surface of the display image, the structured light pattern is controlled to produce projection changes, and the display details of the displayed image are obtained according to the projection change information. It can be seen that the resolution of the depth image can be further improved, that is According to the technical solution of the present invention, there is no need to add a complicated structured light laser emitting device to avoid the complicated structure of the projection system, and can effectively improve the resolution of the depth image.
  • the present invention also provides a computer-readable storage medium having a depth image generation program stored on the computer-readable storage medium, and the depth image generation program can be executed by one or more processors for:
  • Projection produces a structured light pattern, which is superimposed on the surface of the display image
  • the display image is generated based on the projection of an LBS projection module
  • the LBS projection module includes an infrared laser emitting unit
  • the depth image generation program is executed by the processor to achieve the following operations:
  • the infrared laser emitting unit is controlled to project to generate an infrared structured light pattern, and the infrared structured light pattern is superimposed on the surface of the display image.
  • the LBS projection module further includes an infrared camera unit, and the following operations are also implemented when the depth image generation program is executed by the processor:
  • the projection focus of the structured light pattern is controlled to change, and the infrared light imaging unit is controlled to obtain information about the projection focus of the structured light pattern.
  • the LBS projection module further includes an infrared camera unit, and the following operations are also implemented when the depth image generation program is executed by the processor:
  • the structured light pattern is controlled to produce displacement on the surface of the display image, and the infrared light camera unit is controlled to obtain displacement information of the structured light pattern.
  • the projection density of the structured light pattern is increased to obtain the projection density change information of the structured light pattern.
  • the depth image of the display image is obtained.
  • the structured light pattern is projected on the surface of the display image, the structured light pattern is controlled to produce projection changes, and the display details of the displayed image are obtained according to the projection change information. It can be seen that the resolution of the depth image can be further improved, that is According to the technical solution of the present invention, there is no need to add a complicated structured light laser emitting device to avoid the complicated structure of the projection system, and can effectively improve the resolution of the depth image.
  • the technical solution of the present invention essentially or the part that contributes to the existing technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM/RAM) as described above. , Magnetic disk, optical disk), including several instructions to make a terminal device (can be a mobile phone, computer, server, or network device, etc.) execute the method described in each embodiment of the present invention.

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Abstract

L'invention concerne un procédé, un appareil et un dispositif de génération d'image de profondeur, et un support d'enregistrement lisible par ordinateur. Le procédé de génération d'image de profondeur comprend les étapes suivantes : la réalisation d'une projection pour générer une image d'affichage ; la réalisation d'une projection pour générer un motif de lumière structurée, le motif de lumière structurée étant superposé sur la surface de l'image d'affichage ; la commande du motif de lumière structurée pour générer un changement de projection afin d'obtenir des informations de changement de projection du motif de lumière structurée ; et l'obtention d'une image de profondeur de l'image d'affichage selon les informations de changement de projection. Selon la présente invention, un dispositif d'émission de laser à lumière structurée complexe n'a pas besoin d'être ajouté, de telle sorte qu'une structure de système de projection complexe est évitée, et la résolution d'une image de profondeur peut être efficacement améliorée.
PCT/CN2019/129176 2019-08-05 2019-12-27 Procédé, appareil et dispositif de génération d'image de profondeur et support d'enregistrement lisible par ordinateur WO2021022775A1 (fr)

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