CN107025666A - Depth detection method and device and electronic installation based on single camera - Google Patents
Depth detection method and device and electronic installation based on single camera Download PDFInfo
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- CN107025666A CN107025666A CN201710138684.5A CN201710138684A CN107025666A CN 107025666 A CN107025666 A CN 107025666A CN 201710138684 A CN201710138684 A CN 201710138684A CN 107025666 A CN107025666 A CN 107025666A
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Abstract
The embodiment of the invention discloses a kind of depth detection method based on single camera.Depth detection method includes：Control camera shoots current scene to obtain the first image in first position；Control camera is moved to behind the second place the second image for controlling camera to shoot current scene from first position along the axially direction perpendicular to camera；The first image and the second image is handled to obtain the depth information of current scene.The invention also discloses a kind of depth measurement device and electronic installation of single camera.Depth detection method, the depth detection apparatus of single camera and the electronic installation of the single camera of embodiment of the present invention are based on moveable single camera and carry out image taking, on the one hand the stereo pairs more matched can be obtained, the limitation of the relative position of camera is smaller when on the other hand being shot for stereo pairs, camera one-movement-freedom-degree is big, can avoid the problem of depth detection is inaccurate caused by relative position changes.
Description
Technical field
The present invention relates to imaging technique, more particularly to a kind of depth detection method and device and electronics based on single camera
Device.
Background technology
In depth detection method based on binocular stereo vision, it is ensured that the specification of two cameras is more to be matched
Stereo pairs, and to ensure that the relative position between two cameras is fixed, so just can ensure that the accurate of depth data
Degree.But current manufacturing for camera is difficult to ensure that the specification of two cameras is identical.In addition, the phase of two cameras
To position probably due to the reason such as dropping and causing relative position to change, so that accurate depth data can not be obtained.
The content of the invention
The embodiment provides a kind of depth detection method based on single camera and device and electronic installation.
The depth detection method of the single camera of embodiment of the present invention.The depth detection method includes following step
Suddenly：
The camera is controlled to shoot current scene to obtain the first image in first position；
The camera is controlled to be moved to second from the first position along the axially direction perpendicular to the camera
The camera is controlled to shoot the second image of the current scene behind position；With
Described first image and second image is handled to obtain the depth information of the current scene.
The depth detection apparatus of the single camera of embodiment of the present invention, for electronic installation.The depth detection dress
Put including the first control module, the second control module and processing module.First control module is used to control the camera
Shoot current scene to obtain the first image in first position；Second control module is used in the camera from described the
One position is moved to behind the second place along the axially direction perpendicular to the camera controls the camera to shoot described work as
Second image of preceding scene；The processing module is described current to obtain for handling described first image and second image
The depth information of scene.
The electronic installation of embodiment of the present invention includes camera, motion sensor and above-mentioned depth detection apparatus.Institute
Depth detection apparatus is stated to electrically connect with the camera and the motion sensor.
The depth detection method based on single camera, the depth detection apparatus based on single camera of embodiment of the present invention
Moveable single camera is based on electronic installation and carries out image taking, on the one hand can obtain the stereo-picture more matched
Right, the limitation of the relative position of camera is smaller when on the other hand being shot for stereo pairs, camera one-movement-freedom-degree
Greatly, it can avoid the problem of depth detection is inaccurate caused by relative position changes.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from description of the accompanying drawings below to embodiment is combined
Obtain substantially and be readily appreciated that, wherein：
Fig. 1 is the schematic flow sheet of the depth detection method based on single camera of embodiment of the present invention；
Fig. 2 is the high-level schematic functional block diagram of the electronic installation of embodiment of the present invention；
Fig. 3 is the view of the depth detection method of some embodiments of the invention；
Fig. 4 is the view of the depth detection method of some embodiments of the invention；
Fig. 5 is the view of the depth detection method of some embodiments of the invention；
Fig. 6 is the schematic flow sheet of the depth detection method of some embodiments of the invention；
Fig. 7 is the high-level schematic functional block diagram of the second control module of some embodiments of the invention；
Fig. 8 is the schematic flow sheet of the depth detection method of some embodiments of the invention；
Fig. 9 is the high-level schematic functional block diagram of the second control module of some embodiments of the invention；
Figure 10 is the view of the depth detection method of some embodiments of the invention；
Figure 11 is the schematic flow sheet of the depth detection method of some embodiments of the invention；
Figure 12 is the high-level schematic functional block diagram of the processing module of some embodiments of the invention；With
Figure 13 is the view of the depth detection method of some embodiments of the invention.
Embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning
Same or similar element or element with same or like function are represented to same or similar label eventually.Below by ginseng
The embodiment for examining accompanying drawing description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
Also referring to Fig. 1 to 2, the depth detection method based on single camera of embodiment of the present invention includes following step
Suddenly：
S11：Control camera 20 shoots current scene to obtain the first image in first position；
S12：Control camera 20 is moved to the second place from first position along the axially direction perpendicular to camera 20
Control camera 20 shoots the second image of current scene afterwards；
S13：The first image and the second image is handled to obtain the depth information of current scene.
The depth detection that the depth detection method based on single camera of embodiment of the present invention is used for single camera is filled
Put 10.Depth detection apparatus 10 based on single camera includes the first control module 11, the second control module 12 and processing module
13.Step S11 can be realized that step S12 can realize that step S13 can by the second control module 12 by the first control module 11
To be realized by processing module 13.
In other words, the first control module 11 is used to control camera 20 to shoot current scene in first position to obtain the
One image；Second control module 12 is used to control camera 20 to move from first position along the axially direction perpendicular to camera 20
The second image that control camera 20 shoots current scene is moved to the second place；Processing module 13 be used for handle the first image and
Second image is to obtain the depth information of current scene.
The depth detection apparatus 10 based on single camera of embodiment of the present invention is applied to the electricity of embodiment of the present invention
Sub-device 100.In other words, the electronic installation 100 of embodiment of the present invention include embodiment of the present invention based on single shooting
The depth detection apparatus 10 of head.Certainly, the electronic installation 100 of embodiment of the present invention also includes camera 20 and motion sensor
30.Wherein, depth detection apparatus 10 is electrically connected with camera 20 and motion sensor 30.
In some embodiments, electronic installation 100 includes mobile phone, tablet personal computer, notebook computer, intelligent watch, intelligence
Energy bracelet, intelligent glasses etc., any limitation is not done herein.In a particular embodiment of the present invention, electronic installation 100 is mobile phone.
Specifically, X in Fig. 3 to 5, figure is referred tolFor the beeline at bottom of cups midpoint in image to image high order end,
XrFor the beeline at bottom of cups midpoint in image to image low order end, C is the width of image.Specifically, first first
Position Ol shoots the first image, and subsequent dollying first 20 to second place Or shoots the second image.Wherein, first position Ol with
Second place Or connecting line direction is vertical with the axial direction of camera 20.In this way, obtain the first image and the second image this
A pair of stereo pairs, then the depth information of current scene can be obtained to above-mentioned stereo pairs progress processing.
It should be noted that the optical axis when axially direction of camera 20 refers to shooting current scene with camera 20
The parallel direction in direction.
It is appreciated that the depth detection method based on binocular stereo vision is difficult to ensure that the specification of two cameras complete one
Cause, and relative position between two cameras is probably due to electronic installation 100 external factor such as is dropped and changed, from
And the accuracy of influence depth detection.The depth detection method of the single camera of embodiment of the present invention is based on moveable single
Individual camera carries out image taking, the stereo pairs more matched on the one hand can be obtained, on the other hand for stereo pairs
The limitation of the relative position of camera is smaller during shooting, and camera one-movement-freedom-degree is big, can avoid because relative position changes
The problem of caused depth detection is inaccurate.
Referring to Fig. 6, in some embodiments, step S12 controls camera 20 from first position along perpendicular to shooting
First 20 axially direction, which is moved to the step of controlling camera 20 to shoot the second image of current scene behind the second place, to be included
Following steps：
S121：Determine camera 20 whether from first position along perpendicular to shooting according to the detecting data of motion sensor 30
First 20 axially direction is moved to the second place；
S122：In camera 20 from first position along when being moved to the second place perpendicular to the axially direction of camera 20
Camera 20 is controlled to shoot the second image；With
S123：The second place is not moved in camera 20 from first position along the axially direction perpendicular to camera 20
When control electronic installation 100 send prompting.
Referring to Fig. 7, in some embodiments, the second control module 12 includes judging unit 121, control unit 122
With Tip element 123.Step S121 can be realized that step S122 can be realized by control unit 122 by judging unit 121, step
Rapid S123 can be realized by Tip element 123.
In other words, judging unit 121 be used for according to the detecting data of motion sensor 30 determine camera 20 whether from
First position is moved to the second place along the axially direction perpendicular to camera 20；Control unit 122 is used in camera 20
Control camera 20 shoots the second figure when being moved to the second place along the axially direction perpendicular to camera 20 from first position
Picture；Tip element 123 is used to not be moved to the from first position along the axially direction perpendicular to camera 20 in camera 20
Electronic installation 100 is controlled to send prompting during two positions.
8 are referred to, specifically, rectangular coordinate system in space X-Y-Z is set up in the space residing for electronic installation 100.At this
In the specific embodiment of invention, the axial direction of camera 20 is considered as the Y direction in rectangular coordinate system in space.X-axis side
To for first moving direction vertical with the axially direction of camera 20, Y-axis is parallel with the axial direction of camera 20
Second moving direction, Z axis is threeth moving direction vertical with the axial direction of camera 20.To keep camera 20 from first
Position Ol is moved along the axially direction perpendicular to camera 20, and camera 20 is shown as in rectangular coordinate system in space
Moved in X-direction on i.e. the first moving direction or in Z-direction on i.e. the 3rd moving direction.In this way, obtaining two frames point
The image not shot under diverse location is to obtain stereo pairs, and this stereo pairs is handled in subsequent step to be obtained
Depth information.If the moving direction of camera deviates X-direction or Z-direction, electronic installation 100 is needed to send prompt message
To remind user to find correct camera site so that it is guaranteed that obtaining qualified stereo pairs.
In some embodiments, motion sensor 30 includes gyroscope or acceleration transducer.In the specific of the present invention
In embodiment, motion sensor 30 is gyroscope.
It is appreciated that gyroscope can detect the deflection state of electronic installation 100.Aided in by the detecting data of gyroscope
User corrects the moving direction of camera 20 and determines second place Or, can be used for carrying out depth letter in subsequent step to obtain
Cease the second image obtained.
Referring to Fig. 9, in some embodiments, step S122 is in camera 20 from first position along perpendicular to camera
Control camera 20 to shoot the second image when 20 axially direction is moved to the second place to comprise the following steps：
S1221：In camera 20 second place is moved to from first position along the axially direction perpendicular to camera 20
When detection current scene whether be kept in motion；With
S1222：Camera 20 is controlled to shoot the second image of current scene when current scene is not in motion state.
Referring to Fig. 10, in some embodiments, control unit 122 includes detection sub-unit 1221 and control subelement
1222.Step S1221 can be realized that step S1222 can be realized by control subelement 1222 by detection sub-unit 1221.
In other words, detection sub-unit 1221 is used in camera 20 from first position along perpendicular to the axial direction of camera 20
Direction when being moved to the second place detection current scene whether be kept in motion；Subelement 1222 is controlled to be used in current field
Control camera 20 shoots the second image of current scene when scape is not in motion state.
It is appreciated that when being moved to the second place along the axially direction perpendicular to camera 20 in camera 20, if working as
Preceding scene is kept in motion, i.e., the people in current scene or thing be motion, then shot with camera 20 come the second figure
As being probably fuzzy.In this way, may of character pair point that goes out in the second fuzzy image of None- identified in subsequent step
With pixel, so that the first image and the second image can not be used to obtain depth information.Therefore, it is in motion shape in current scene
Shooting processing wouldn't be carried out during state.If current scene is not in motion state, control camera 20 carries out the bat of current scene
Take the photograph to obtain the second image.
Figure 11 is referred to, in some embodiments, step S13 handles the first image and the second image to obtain current field
The step of depth information of scape, comprises the following steps：
S131：Linear range between first position and the second place is obtained according to the detecting data of motion sensor 30；
S132：Obtain characteristic point and correspondence of the focusing main body of current scene on the first image and on the second image special
Levy matched pixel a little；
S133：Focusing main body is calculated according to the coordinate of the parameter of camera 20, linear range and characteristic point and matched pixel
Depth information.
Figure 12 is referred to, in some embodiments, processing module 13 includes first acquisition unit 131, second and obtains single
Member 132 and computing unit 133.Step S131 can be realized that step S132 can obtain single by second by first acquisition unit 131
Member 132 realizes that step S133 can be realized by computing unit 133.
In other words, acquiring unit 131 is used to obtain first position and second according to the detecting data of motion sensor 30
Linear range between position；Second acquisition unit 132 be used to obtain the focusing main body of current scene on the first image and
The matched pixel of characteristic point and character pair point on second image；Computing unit 133 be used for according to the parameter of the camera,
The linear range and the coordinate of the characteristic point and the matched pixel calculate the depth information of the focusing main body.
Also referring to Fig. 4, Fig. 5 and Figure 13, in a particular embodiment of the present invention, the moving direction of camera 20 is edge
X-direction is translated.P is a certain pixel of the focusing main body of user's concern in current scene in figure, and F is to shoot first
The focal length of camera 20 when image and the second image.It is appreciated that the corresponding depth information of current scene is by multiple pixels
Depth information combine, in other words need the depth information for obtaining multiple pixels could to obtain the depth of current scene
Spend information.In addition, when camera 20 is in first position Ol and second place Or, the picture of finding a view of camera 20 is essentially identical,
In other words, when camera 20 is respectively at first position Ol and second place Or, the focusing main body of current scene is respectively positioned on
Camera 20 is found a view in picture, in this way, the first image and the second image to shooting carry out Feature point recognition and characteristic point
The matching of corresponding pixel, wherein, characteristic point is the characteristic point of the focusing main body of user's concern in current scene, for example, Fig. 4
I.e. the first image and Fig. 5 are that the midpoint of the bottom of cups shown in the second image is cup in the characteristic point to be recognized, two images
The corresponding pixel in midpoint of sub- bottom is matched pixel.Then according to the parameter of camera 20, linear range S and identify
The information such as the coordinate of characteristic point and matched pixel calculate the depth information of each matched pixel.Specifically, it can be passed according to motion
The detecting data of sensor 30 obtains the linear range S between first position Ol and second place Or, then can according to linearly away from
From the depth information D that S calculates the corresponding matched pixel of some characteristic point in image.Depth information D computational methods are：In this way, calculating the depth letter of each matched pixel in current scene using above-mentioned calculation formula
Cease after D, you can by these there is the matched pixel of depth information to constitute the corresponding depth information of current scene.
In further embodiments, camera 20 also can be moved to the second place from first position along Z-direction.Then,
According further still to the linear range S between first position and the second place, the parameter of camera 20 and characteristic point and matched pixel
The information such as coordinate calculate depth information.
Electronic installation 100 also includes housing, memory, circuit board and power circuit.Wherein, circuit board is placed in housing and enclosed
Into interior volume, processor and memory are set on circuit boards；Power circuit is used for each circuit for electronic installation 100
Or device is powered；Memory is used to store executable program code；What depth detection apparatus 10 was stored by reading in memory
Executable program code is to run program corresponding with executable program code to realize above-mentioned any embodiment of the present invention
Depth detection method.
In the description of this specification, reference term " embodiment ", " some embodiments ", " schematically implementation
The description of mode ", " example ", " specific example " or " some examples " etc. means with reference to the embodiment or example description
Specific features, structure, material or feature are contained at least one embodiment of the present invention or example.In this specification
In, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.Moreover, the specific spy of description
Levy, structure, material or feature can in an appropriate manner be combined in any one or more embodiments or example.
Any process described otherwise above or method description are construed as in flow chart or herein, represent to include
Module, fragment or the portion of the code of one or more executable instructions for the step of realizing specific logical function or process
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not be by shown or discussion suitable
Sequence, including according to involved function by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Represent in flow charts or logic and/or step described otherwise above herein, for example, being considered use
In the order list for the executable instruction for realizing logic function, it may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system including the system of processor or other can be held from instruction
The system of row system, device or equipment instruction fetch and execute instruction) use, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress for combining these instruction execution systems, device or equipment and using
Put.The more specifically example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wirings
Connecting portion (electronic installation), portable computer diskette box (magnetic device), random access memory (RAM), read-only storage
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, can even is that can be in the paper of printing described program thereon or other are suitable for computer-readable medium
Medium, because can then enter edlin, interpretation or if necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, the software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage
Or firmware is realized.If, and in another embodiment, can be with well known in the art for example, realized with hardware
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, the application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that to realize all or part of step that above-described embodiment method is carried
Rapid to can be by program to instruct the hardware of correlation to complete, described program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing module, can also
That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, it would however also be possible to employ the form of software function module is realized.The integrated module is such as
Fruit is realized using in the form of software function module and as independent production marketing or in use, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..Although having been shown and retouching above
Embodiments of the present invention are stated, it is to be understood that above-mentioned embodiment is exemplary, it is impossible to be interpreted as to the present invention's
Limitation, one of ordinary skill in the art can be changed to above-mentioned embodiment, change, replaces within the scope of the invention
And modification.
Claims (11)
1. a kind of depth detection method based on single camera, it is characterised in that the depth detection method comprises the following steps：
The camera is controlled to shoot current scene to obtain the first image in first position；
The camera is controlled to be moved to the second place from the first position along the axially direction perpendicular to the camera
The camera is controlled to shoot the second image of the current scene afterwards；With
Described first image and second image is handled to obtain the depth information of the current scene.
2. depth detection method as claimed in claim 1, it is characterised in that the camera is applied to electronic installation, described
Electronic installation includes motion sensor, and the control camera is from the first position along the axle perpendicular to the camera
To direction be moved to behind the second place the second image for controlling the camera to shoot the current scene the step of include with
Lower step：
Determine the camera whether from the first position along perpendicular to described according to the detecting data of the motion sensor
The axially direction of camera is moved to the second place；
In the camera second is moved to from the first position along the axially direction perpendicular to the camera
The camera is controlled to shoot second image when putting；With
Described second is not moved in the camera from the first position along the axially direction perpendicular to the camera
The electronic installation is controlled to send prompting during position.
3. depth detection method as claimed in claim 2, it is characterised in that it is described in the camera from the first position
Along controlling the camera to shoot described second when being moved to the second place perpendicular to the axially direction of the camera
The step of image, is further comprising the steps of：
In the camera second is moved to from the first position along the axially direction perpendicular to the camera
Detect whether the current scene is kept in motion when putting；With
The camera is controlled to shoot the second image of the current scene when the current scene is not in motion state.
4. depth detection method as claimed in claim 2, it is characterised in that the processing described first image and described second
The step of depth information of the image to obtain the current scene, comprises the following steps：
Linear range between the first position and the second place is obtained according to the detecting data of the motion sensor；
Obtain characteristic point of the focusing main body of the current scene in described first image and on second image and right
Answer the matched pixel of the characteristic point；With
Institute is calculated according to the coordinate of the parameter of the camera, the linear range and the characteristic point and the matched pixel
State the depth information of focusing main body.
5. a kind of depth detection apparatus based on single camera, for electronic installation, it is characterised in that the depth detection apparatus
Including：
First control module, first control module is used to control the camera to shoot current scene to obtain in first position
Obtain the first image；
Second control module, second control module is used to take the photograph perpendicular to described from first position edge in the camera
As the axially direction of head is moved to behind the second place the second image for controlling the camera to shoot the current scene；With
Processing module, the processing module is used to handle described first image and second image to obtain the current scene
Depth information.
6. depth detection apparatus as claimed in claim 5, it is characterised in that the camera is applied to electronic installation, described
Electronic installation includes motion sensor, and second control module includes：
Judging unit, the judging unit be used for according to the detecting data of the motion sensor determine the camera whether from
The first position is moved to the second place along the axially direction perpendicular to the camera；
Control unit, described control unit is used in the camera from the first position along the axle perpendicular to the camera
To direction be moved to the second place when control the camera to shoot second image；With
Tip element, the Tip element is used in the camera not from the first position along perpendicular to the camera
Axially direction controls the electronic installation to send prompting when being moved to the second place.
7. depth detection apparatus as claimed in claim 6, it is characterised in that described control unit includes：
Detection sub-unit, the detection sub-unit is used in the camera from the first position along perpendicular to the camera
Axially direction detect whether the current scene is kept in motion when being moved to the second place；With
Subelement is controlled, the control subelement is used to control the camera when the current scene is not in motion state
Shoot the second image of the current scene.
8. depth detection apparatus as claimed in claim 6, it is characterised in that the processing module includes：
First acquisition unit, the first acquisition unit is used to obtain described first according to the detecting data of the motion sensor
Linear range between position and the second place；
Second acquisition unit, obtains the focusing main body of the current scene in described first image and on second image
Characteristic point and the correspondence characteristic point matched pixel；With
Computing unit, the computing unit be used for according to the parameter of the camera, the linear range and the characteristic point and
The coordinate of the matched pixel calculates the depth information of the focusing main body.
9. depth detection apparatus as claimed in claim 6, the motion sensor includes gyroscope or acceleration transducer.
10. a kind of electronic installation, it is characterised in that the electronic installation includes：
Camera；
Motion sensor；With
Depth detection apparatus as described in claim 5 to 9 any one, the depth detection apparatus and the camera and institute
Motion sensor is stated to electrically connect.
11. electronic installation as claimed in claim 10, it is characterised in that the electronic installation includes mobile phone and/or flat board electricity
Brain.
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| CN107749069A (en) * | 2017-09-28 | 2018-03-02 | 联想(北京)有限公司 | Image processing method, electronic equipment and image processing system |
| CN110800023A (en) * | 2018-07-24 | 2020-02-14 | 深圳市大疆创新科技有限公司 | Image processing method and equipment, camera device and unmanned aerial vehicle |
| CN111213364A (en) * | 2018-12-21 | 2020-05-29 | 深圳市大疆创新科技有限公司 | Shooting equipment control method, shooting equipment control device and shooting equipment |
| CN109889709A (en) * | 2019-02-21 | 2019-06-14 | 维沃移动通信有限公司 | A kind of camera module control system, method and mobile terminal |
| CN110517305A (en) * | 2019-08-16 | 2019-11-29 | 兰州大学 | A kind of fixed object 3-D image reconstructing method based on image sequence |
| CN110517305B (en) * | 2019-08-16 | 2022-11-04 | 兰州大学 | Image sequence-based fixed object three-dimensional image reconstruction method |
| CN112771576A (en) * | 2020-05-06 | 2021-05-07 | 深圳市大疆创新科技有限公司 | Position information acquisition method, device and storage medium |
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