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Depth sensing method, device and system based on symbols array plane structured light

  • US 9,829,309 B2
  • Filed: 07/23/2015
  • Issued: 11/28/2017
  • Est. Priority Date: 12/23/2014
  • Status: Active Grant
First Claim
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1. A depth sensing method of symbols array plane structured light, comprising:

  • obtaining the encoded image of the input symbols of the symbols array plane structured light;

    achieving adaptive preprocessing of the encoded image of the input symbols;

    performing symbols location of the preprocessed encoded image of the input symbols to identify the location of the center of all symbols in the coded image of the input symbols;

    conducting symbols recognition of the preprocessed encoded image of the input symbols, mapped as the corresponding number;

    correcting identified symbols in accordance with the corresponding number to complete the decoding of the encoded image of the input symbols;

    making symbols match between the corrected decoded image of the input symbols and the decoded image of the reference symbols of the known distance to generate the corresponding disparity of the symbols;

    determining depth of the center of the symbols in the encoded image of the input symbols in accordance with the known distance of the decoded image of the reference symbols and the disparity,wherein making the symbols match between the corrected decoded of the input symbols and the decoded image of the reference symbols of the known distance to generate the corresponding disparity of the symbols, and determining the depth of the center of symbols in the encoded image of the input symbols in accordance with the said known distance and the disparity, comprise;

    the input symbols and their surrounding symbols forming an input symbols template, searching for an optimal match template in a search window of the decoded image of the reference symbols and obtaining the match symbols of the input symbols, so as to obtain the disparity (Δ

    x, Δ

    y) between the input symbols and the match symbols; and

    using the disparity Δ

    m (Δ

    x or Δ

    y) in X or Y direction, in combination with the known distance parameter d of the decoded image of the reference symbols, the baseline distance S between the laser pattern projector and the image sensor, the focal length f and the dot pitch parameter μ

    of the image sensor, calculating a depth information d′

    of a center o of the input symbols according to the following formula;

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