CN109996008B - Method, device and equipment for reducing interference among multiple-depth camera systems - Google Patents
Method, device and equipment for reducing interference among multiple-depth camera systems Download PDFInfo
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- CN109996008B CN109996008B CN201910203643.9A CN201910203643A CN109996008B CN 109996008 B CN109996008 B CN 109996008B CN 201910203643 A CN201910203643 A CN 201910203643A CN 109996008 B CN109996008 B CN 109996008B
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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Abstract
The invention is suitable for the technical field of image acquisition, and provides a method, a device and equipment for reducing the interference among multi-depth camera systems, wherein the method for reducing the interference among the multi-depth camera systems comprises the steps of closing a light source of a first depth camera, controlling a camera of the first depth camera to acquire an image under background light in a target space, calculating the illumination intensity of the background light in the acquired image, obtaining a first illumination intensity value, judging whether the obtained first illumination intensity value exceeds a preset value, if the obtained first illumination intensity value exceeds the preset value, adjusting the acquisition frequency of the first depth camera, continuously acquiring the image according to the adjusted acquisition frequency, calculating the illumination intensity of the background light in the continuously acquired image, obtaining a second illumination intensity value, judging whether the obtained second illumination intensity value exceeds the preset value, and if the obtained second illumination intensity value does not exceed the preset value, the light source of the first depth camera is turned on and continues to acquire images at the current acquisition frequency.
Description
Technical Field
The present invention relates to the field of image acquisition technologies, and in particular, to a method, an apparatus, a device, and a computer-readable storage medium for reducing interference between multiple depth camera systems.
Background
A depth camera, also referred to as a 3D camera, is a camera that can detect a depth distance in a shooting space.
In order to enlarge the acquisition field of view, a plurality of depth cameras are generally adopted to acquire image data together, however, this approach often causes aliasing patterns to be included in the image acquired by each depth camera, which affects the calculation of the depth image.
In the prior art, methods for acquiring only projection patterns of a single light source or calculating depth information of overlapped patterns based on reference plane matching are complex and poor in anti-interference effect, and are not beneficial to rapidly improving the accuracy of depth calculation.
Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, an apparatus, and a device for reducing interference between multiple depth camera systems, which can reduce interference between cameras by changing only an acquisition frequency and a projection frequency of one camera in the multiple depth camera system, and is beneficial to rapidly improving accuracy of depth calculation.
A first aspect of embodiments of the present invention provides a method for reducing interference between multiple depth camera systems, the multiple depth camera system including at least two depth cameras, the depth cameras including a light source and a camera, a projection frequency of the depth cameras changing with a change in an acquisition frequency, the method including:
turning off a light source of a first depth camera, and controlling a camera of the first depth camera to acquire an image under background light in a target space;
calculating the illumination intensity of background light in the acquired image to obtain a first illumination intensity value;
judging whether the obtained first illumination intensity value exceeds a preset value or not;
if the obtained first illumination intensity value exceeds a preset value, adjusting the acquisition frequency of the first depth camera, and continuously acquiring images at the adjusted acquisition frequency;
calculating the illumination intensity of background light in the continuously acquired image to obtain a second illumination intensity value;
judging whether the obtained second illumination intensity value exceeds the preset value or not;
and if the obtained second illumination intensity value does not exceed the preset value, starting a light source of the first depth camera, and continuously acquiring images at the current acquisition frequency.
A second aspect of embodiments of the present invention provides an apparatus for reducing interference between multiple depth camera systems, the multiple depth camera system including at least two depth cameras, the depth cameras including a light source and a camera, a projection frequency of the depth cameras changing with a change in an acquisition frequency, the apparatus including:
the closing module is used for closing a light source of the first depth camera and controlling a camera of the first depth camera to collect images under background light in a target space;
the first calculation module is used for calculating the illumination intensity of the background light in the acquired image to obtain a first illumination intensity value;
the first judgment module is used for judging whether the obtained first illumination intensity value exceeds a preset value or not;
the adjusting module is used for adjusting the acquisition frequency of the first depth camera if the obtained first illumination intensity value exceeds a preset value, and continuously acquiring images at the adjusted acquisition frequency;
the second calculation module is used for calculating the illumination intensity of the background light in the continuously acquired image to obtain a second illumination intensity value;
the second judging module is used for judging whether the obtained second illumination intensity value exceeds the preset value or not;
and the starting module is used for starting the light source of the first depth camera and continuously acquiring the image at the current acquisition frequency if the obtained second illumination intensity value does not exceed the preset value.
A third aspect of the embodiments of the present invention provides an apparatus for reducing inter-system interference of multiple depth cameras, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method mentioned in the first aspect when executing the computer program.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the method mentioned in the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: in the embodiment, the light source of the first depth camera is turned off first, and the camera of the first depth camera is controlled to collect the image under the background light in the target space, then calculating the illumination intensity of the background light in the acquired image to obtain a first illumination intensity value, then judging whether the obtained first illumination intensity value exceeds a preset value or not, if so, adjusting the acquisition frequency of the first depth camera and continuing to acquire images at the adjusted acquisition frequency, then calculating the illumination intensity of the background light in the continuously collected image to obtain a second illumination intensity value, finally judging whether the obtained second illumination intensity value exceeds the preset value or not, if the obtained second illumination intensity value does not exceed the preset value, the light source of the first depth camera is turned on and continues to acquire images at the current acquisition frequency. Compared with the prior art, the embodiment of the invention can reduce the mutual interference by only changing the acquisition frequency and the projection frequency of one camera in the multi-depth camera system, is favorable for rapidly improving the accuracy of depth calculation, and has stronger usability and practicability.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1-a is a flowchart illustrating a method for reducing interference between multiple depth camera systems according to an embodiment of the present invention;
FIG. 1-b is a schematic structural diagram of a multi-depth camera system according to an embodiment of the present invention;
FIG. 2-a is a flowchart illustrating a method for reducing interference between multiple depth camera systems according to a second embodiment of the present invention;
FIG. 2-b is a schematic diagram of randomly increasing the exposure duration of the first depth camera according to a second embodiment of the present invention;
FIG. 3-a is a flowchart illustrating a method for reducing interference between multiple depth camera systems according to a third embodiment of the present invention;
3-b is a schematic diagram of delaying multiple depth camera turn-on exposures in accordance with a third embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an apparatus for reducing interference between multiple depth camera systems according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an apparatus for reducing interference between multiple depth camera systems according to a fifth embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
It should be understood that, the sequence numbers of the steps in this embodiment do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of the embodiment of the present invention.
It should be noted that, the descriptions of "first" and "second" in this embodiment are used to distinguish different regions, modules, and the like, and do not represent a sequential order, and the descriptions of "first" and "second" are not limited to be of different types.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Example one
Fig. 1-a is a flowchart illustrating a method for reducing interference between multiple depth camera systems according to an embodiment of the present invention, where the method includes the following steps:
s101: and turning off a light source of the first depth camera, and controlling a camera of the first depth camera to acquire an image under background light in a target space.
The method for reducing the interference between the systems of the multiple depth cameras can be applied to the automobile industry to assist in driving the vehicle, and at the moment, the multiple depth cameras can be respectively deployed outside the body of the unmanned automobile to detect the distance between the depth cameras and the nearby object. Of course, the method can also be applied to other devices, such as a multi-depth camera system consisting of a plurality of mobile terminals (such as mobile phones).
The multi-depth camera system comprises at least two depth cameras; the first depth camera is any one of the depth cameras, selectable by an executing agent of the method (e.g., a processor of an automobile); the depth camera comprises a light source and a camera; the target space is a shooting space; the background light is used for illuminating light rays of the background and the surrounding environment of the shot object, including but not limited to ambient light and structured light projected by other depth cameras except the first depth camera; typically, the projection frequency of the depth camera is set to change as the acquisition frequency changes.
In one embodiment, the light source of the depth camera is configured to emit structured light, such as infrared light or ultraviolet light, which means that the infrared light generated by the light source is structured, such as speckle structured light consisting of a plurality of spots. In addition, the light source also refers broadly to emitters consisting of lasers or optics.
In one embodiment, the depth camera includes at least two cameras, which may be an RGB camera for collecting color images and an infrared camera for collecting infrared structured light images.
In one embodiment, an infrared camera of the first depth camera is controlled to capture an image in a target space under background light.
In one embodiment, the infrared camera of the first depth camera is controlled to acquire an image under background light in a target space according to a preset initial acquisition frequency.
S102: and calculating the illumination intensity of the background light in the acquired image to obtain a first illumination intensity value.
The illumination intensity refers to the luminous flux of visible light received on a unit area, and is called illuminance for short, and the unit is Lux (Lux/Lx) and is used for indicating the intensity of illumination and the degree of illumination of the surface area of an object.
In one embodiment, the illumination intensity of the background light in the acquired image may be calculated by a coarse statistical method.
S103: and judging whether the obtained first illumination intensity value exceeds a preset value.
In one embodiment, the preset value needs to be determined before step S103 is performed.
If the determination result in step S103 is yes, step S104 and the subsequent steps are executed; if the determination result in step S103 is "no", step S107 is executed.
S104: and adjusting the acquisition frequency of the first depth camera, and continuously acquiring images at the adjusted acquisition frequency.
The image that continues to be acquired is still the image in the background light in the target space in step S101.
It should be noted that, since the projection frequency of the depth camera changes with the change of the acquisition frequency, after the acquisition frequency of the first depth camera is adjusted, the projection frequency of the first depth camera is also adjusted accordingly.
S105: and calculating the illumination intensity of the background light in the continuously acquired image to obtain a second illumination intensity value.
In one embodiment, the second illumination intensity value may be obtained by the method of obtaining the first illumination intensity value in step S102.
S106: and judging whether the obtained second illumination intensity value exceeds the preset value.
If the determination result in step S106 is "no", step S107 is executed; if the determination result in the step S106 is yes, the step S104 and the subsequent steps are executed again until the obtained illumination intensity value does not exceed the preset value.
S107: and starting a light source of the first depth camera, and continuously acquiring a background image at the current acquisition frequency.
It should be understood that the current acquisition frequency may be an initial acquisition frequency or an adjusted acquisition frequency, and the adjusted acquisition frequency is a frequency after the last adjustment.
For convenience of description, the following is explained and illustrated only by taking as an example a multi-depth camera system composed of two depth cameras. As shown in fig. 1-b, the multi-depth camera system includes a depth camera 101 and a depth camera 102, the infrared camera of the depth camera 101 is 106, the infrared structured light source of the depth camera 101 is 108, the pattern projected by the infrared structured light source 108 is 103, the infrared camera of the depth camera 102 is 107, the infrared structured light source of the depth camera 102 is 109, the pattern projected by the infrared structured light source 109 is 104, and the overlapping area of the pattern 103 and the pattern 104 is 105, and the depth camera 101 and the depth camera 102 are both connected to a processor 110 on an automobile and are controlled by the processor 110. In the above application scenario, the method for reducing the interference between multiple depth camera systems may specifically include turning off the infrared structure light source 108 of the depth camera 101 (certainly, turning off the infrared structure light source 109 of the depth camera 102 is also possible), so that the infrared structure light source 108 does not project structure light temporarily, then turning on the infrared camera 106 of the depth camera 101 to collect an image under background light in a shooting space under the condition that the local infrared structure light source 108 does not emit light, and comparing the illumination intensity value at that time with a preset value, if the illumination intensity value exceeds the preset value, indicating that the infrared structure light source 109 of the depth camera 102 in the current shooting space is in an on state, in order to avoid the infrared structure light source 109, it is necessary to adjust the collection frequency of the depth camera 101 until the illumination intensity value of the background light in the finally collected image is smaller than the preset value, the infrared structured light source 108 of the depth camera 102 can be turned on, and the overlapping pattern 105 cannot be acquired even if the infrared structured light source 109 of the depth camera 102 is turned on continuously in the subsequent image acquisition process, and because the projection frequency of the depth camera 101 is changed when the acquisition frequency of the depth camera 101 is changed, the overlapping pattern 105 cannot be acquired even if the infrared camera 107 of the depth camera 102 acquires images synchronously, so that the depth camera 101 and the depth camera 102 can be prevented from interfering with each other.
It should be noted that the number of the processors 110 may be more than one, and when the processor 110 is a processor of the depth camera 101 or the depth camera 102, the processor 110 may also be connected to an external processor (e.g., a processor in an automobile). Of course, the processor 110 may be other processors with similar functions.
Therefore, in the embodiment of the invention, the interference between the cameras can be reduced by only changing the acquisition frequency and the projection frequency of one camera in the multi-depth camera system, the accuracy of depth calculation can be rapidly improved, and the method has strong usability and practicability.
Example two
Fig. 2-a is a schematic flow chart of a method for reducing interference between multiple depth camera systems according to a second embodiment of the present invention, which is a further refinement and description of step S104 in the first embodiment, and the method may include the following steps:
s201: and turning off a light source of the first depth camera, and controlling a camera of the first depth camera to acquire an image under background light in a target space.
The step S201 is the same as the step S101 in the first embodiment, and the specific implementation process thereof can refer to the description of the step S101, which is not repeated herein.
S202: and calculating the illumination intensity of the background light in the acquired image to obtain a first illumination intensity value.
In an embodiment, step S202 may specifically be:
drawing a corresponding brightness histogram according to the acquired image;
and calculating the illumination intensity of the background light in the acquired image according to the drawn brightness histogram.
It should be noted that the horizontal axis of the luminance histogram may be the overall luminance variation trend of the image, for example, from left to right, the horizontal axis is from full black to full white, and the vertical axis of the luminance histogram may be the total number of all the pixels in a certain luminance interval.
It should be understood that the brightness of the image can be quickly known from the plotted luminance histogram, so as to count the first illumination intensity value.
S203: and judging whether the obtained first illumination intensity value exceeds a preset value.
In an embodiment, step S203 may specifically be:
controlling a camera of the first depth camera to acquire an image under ambient light in a target space;
calculating the illumination intensity of the acquired image to obtain a third illumination intensity value, wherein the image is the acquired image under the environment light in the target space;
and determining the preset value according to the obtained third illumination intensity value.
It should be understood that the light sources of all depth cameras in the multi-depth camera system should be in an off state when the third illumination intensity value is acquired.
In general, in order to reduce the influence of the ambient light on the structured light during projection to the maximum, the illumination intensity of the structured light is often set to be greater than the illumination intensity of the ambient light. Therefore, if the obtained first illumination intensity value exceeds the preset value on the premise of turning off the local light source, it indicates that the background light in the target space necessarily contains structured light of other depth cameras.
It should be noted that, the third illumination intensity value may be obtained by the method of obtaining the first illumination intensity value or the second illumination intensity value in the first embodiment.
S204: randomly increasing or decreasing the exposure duration of the first depth camera to enable the acquisition frequency of the first depth camera to be different from the acquisition frequencies of other depth cameras except the first depth camera, and continuously acquiring images at the adjusted acquisition frequency.
It should be appreciated that by randomly increasing or decreasing the exposure duration of the first depth camera without knowing the projection frequency of the depth cameras other than the first depth camera, the exposure duration of the first depth camera can be staggered (partially or completely staggered) from the pulse occurrence durations of the depth cameras other than the first depth camera, thereby reducing the likelihood that the first depth camera will capture the pattern projected by the depth cameras other than the first depth camera, and since the projection frequency of the first depth camera will change with the capture frequency of the first depth camera, the patterns projected by the first depth camera will not be captured by the depth cameras other than the first depth camera, thereby reducing the interference between each other.
Fig. 2-b is a schematic diagram of randomly increasing the exposure duration of the first depth camera according to a second embodiment of the present invention, in which 201 is a timing diagram corresponding to the acquisition frequency of the first depth camera, 202 is a pulse timing diagram corresponding to the projection frequency of the depth camera other than the first depth camera, 203 is a complete pulse period, 204 is a complete acquisition period, and 205 is a pulse width.
S205: and calculating the illumination intensity of the background light in the continuously acquired image to obtain a second illumination intensity value.
S206: and judging whether the obtained second illumination intensity value exceeds the preset value.
S207: and if the obtained second illumination intensity value does not exceed the preset value, starting a light source of the first depth camera, and continuously acquiring images at the current acquisition frequency.
The above steps S205 to S207 are the same as the steps S105 to S107 in the first embodiment, and the specific implementation process thereof can refer to the description of the steps S105 to S107, which is not repeated herein.
As can be seen from the above, compared with the first embodiment of the present invention in which a specific implementation manner for adjusting the acquisition frequency of the first depth camera is provided, on the premise that the projection frequencies of other depth cameras except the first depth camera are unknown, the purpose of adjusting the acquisition frequency and the projection frequency of the first depth camera can be achieved by randomly increasing or decreasing the exposure duration of the first depth camera, which is beneficial to rapidly improving the accuracy of depth calculation, and has strong usability and practicability.
EXAMPLE III
Fig. 3-a is a schematic flowchart of a method for reducing interference between multiple depth camera systems according to a third embodiment of the present invention, which is further detailed and described in step S104 in the first embodiment, where the method may include the following steps:
s301: and turning off a light source of the first depth camera, and controlling a camera of the first depth camera to acquire an image under background light in a target space.
S302: and calculating the illumination intensity of the background light in the acquired image to obtain a first illumination intensity value.
S303: and judging whether the obtained first illumination intensity value exceeds a preset value.
The above steps S301 to S303 are the same as the steps S201 to S203 in the second embodiment, and the specific implementation process thereof can refer to the description of the steps S201 to S203, which is not repeated herein.
S304: and delaying to start the exposure starting time of the first depth camera according to a preset time interval so that the acquisition frequency of the first depth camera is different from the acquisition frequencies of other depth cameras except the first depth camera, and continuously acquiring images at the adjusted acquisition frequency.
In one embodiment, a complete sampling period T may be equally divided into a plurality of delay intervals, and then a delay interval is randomly selected as the time interval for the first depth camera to delay the start of exposure, for example, if the complete sampling period T is 33ms and the initial exposure time T of the first depth camera is 1.5ms, the number n of equally divided delay intervals is 33/1.5 is 22, which indicates that the first depth camera may have 22 possibilities of delayed exposure, and then one of them may be randomly selected.
Of course, if it is selected to process multiple depth cameras simultaneously, 22 depth cameras in the multiple depth camera system may be controlled to delay the on-exposure according to the delay intervals n1, n2., and n22, where n1, n2., and n22 are different from each other and may be any one of the set {1,2. It will be appreciated that since this approach is a delayed on exposure operation for each depth camera, the acquisition and projection frequencies for each depth camera will be changed, which will further reduce interference between the multi-depth camera systems as compared to changing only the acquisition and projection frequencies of the first depth camera. In addition, since the method randomly selects one delay interval, the exposure sequence among a plurality of depth cameras is indirectly changed.
Fig. 3-b is a schematic diagram of delaying the on-exposure of a plurality of depth cameras according to a third embodiment of the present invention.
S305: and calculating the illumination intensity of the background light in the continuously acquired image to obtain a second illumination intensity value.
S306: and judging whether the obtained second illumination intensity value exceeds the preset value.
S307: and if the obtained second illumination intensity value does not exceed the preset value, starting a light source of the first depth camera, and continuously acquiring images at the current acquisition frequency.
The above steps S305 to S307 are the same as the steps S205 to S207 in the first embodiment, and the specific implementation process thereof can refer to the description of the steps S205 to S207, which is not repeated herein.
As can be seen from the above, compared with the third embodiment of the present invention, another specific implementation manner of adjusting the acquisition frequency of the first depth camera is provided, and the acquisition frequency and the projection frequency of the first depth camera can be adjusted by delaying the start of exposure of the first depth camera; in addition, the method for starting exposure in a delayed mode can be applied to a plurality of depth cameras in the multi-depth camera system, so that the acquisition frequency and the projection frequency of each depth camera are changed, interference among the depth cameras is favorably reduced, the accuracy of depth calculation is further improved, and the method has high usability and practicability.
Example four
Fig. 4 is a schematic structural diagram of an apparatus for reducing interference between multiple depth camera systems according to a fourth embodiment of the present invention, and for convenience of description, only the relevant portions to the fourth embodiment of the present invention are shown.
The device for reducing the interference between the systems of the multi-depth cameras can be a software unit, a hardware unit or a unit combining software and hardware which is arranged in equipment for reducing the interference between the systems of the multi-depth cameras, and can also be integrated into the equipment for reducing the interference between the systems of the multi-depth cameras as an independent pendant.
The multi-depth camera system includes at least two depth cameras, the depth cameras including a light source and a camera, a projection frequency of the depth cameras changing with a change in an acquisition frequency, the apparatus to reduce inter-multi-depth camera system interference includes:
a closing module 41, configured to close a light source of a first depth camera and control a camera of the first depth camera to acquire an image in a target space under background light;
the first calculating module 42 is configured to calculate the illumination intensity of the background light in the acquired image, so as to obtain a first illumination intensity value;
a first judging module 43, configured to judge whether the obtained first illumination intensity value exceeds a preset value;
an adjusting module 44, configured to adjust the acquisition frequency of the first depth camera if the obtained first illumination intensity value exceeds a preset value, and continue to acquire an image at the adjusted acquisition frequency;
the second calculating module 45 is configured to calculate the illumination intensity of the background light in the image that is continuously acquired, so as to obtain a second illumination intensity value;
a second judging module 46, configured to judge whether the obtained second illumination intensity value exceeds the preset value;
and the starting module 47 is configured to start the light source of the first depth camera and continue to acquire the image at the current acquisition frequency if the obtained second illumination intensity value does not exceed the preset value.
In one embodiment, the adjusting module 44 is specifically configured to:
if the obtained first illumination intensity value exceeds a preset value, the exposure duration of the first depth camera is randomly increased or decreased, so that the acquisition frequency of the first depth camera is different from the acquisition frequencies of other depth cameras except the first depth camera, and the image acquisition is continued at the adjusted acquisition frequency.
In one embodiment, the adjusting module 44 is specifically configured to:
if the obtained first illumination intensity value exceeds a preset value, delaying to start the exposure starting time of the first depth camera according to a preset time interval, so that the acquisition frequency of the first depth camera is different from the acquisition frequencies of other depth cameras except the first depth camera, and continuously acquiring images at the adjusted acquisition frequency.
In one embodiment, the background light includes ambient light and/or structured light projected by a depth camera other than the first depth camera.
In one embodiment, the first calculation module 42 is specifically configured to:
drawing a corresponding brightness histogram according to the acquired image;
and calculating the illumination intensity of the background light in the acquired image according to the drawn brightness histogram.
In one embodiment, the horizontal axis of the luminance histogram is the overall luminance variation trend of the image, and the vertical axis of the luminance histogram is the total number of all pixel points in a certain luminance interval.
In one embodiment, the apparatus further comprises:
the determining module is used for controlling a camera of the first depth camera to collect an image under the environment light in a target space, calculating the illumination intensity of the collected image to obtain a third illumination intensity value, wherein the image is the collected image under the environment light in the target space, and determining the preset value according to the obtained third illumination intensity value.
EXAMPLE five
Fig. 5 is a schematic structural diagram of an apparatus for reducing interference between multiple depth camera systems according to a fifth embodiment of the present invention. As shown in fig. 5, an apparatus 5 for reducing interference between multi-depth camera systems of this embodiment includes: a processor 50, a memory 51 and a computer program 52 stored in said memory 51 and executable on said processor 50. The processor 50, when executing the computer program 52, implements the steps of the first embodiment of the method described above, such as the steps S101 to S107 shown in fig. 1-a. Alternatively, the steps in the second embodiment of the method described above, for example, steps S201 to S207 shown in fig. 2-a, are implemented. Alternatively, the steps in the third embodiment of the method described above, for example, steps S301 to S307 shown in fig. 3-a, are implemented. The processor 50, when executing the computer program 52, implements the functions of the modules/units in the above-described device embodiments, such as the functions of the modules 41 to 47 shown in fig. 4.
Illustratively, the computer program 52 may be partitioned into one or more modules/units that are stored in the memory 51 and executed by the processor 50 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 52 in the apparatus 5 for reducing interference between multiple depth camera systems. For example, the computer program 52 may be divided into a closing module, a first calculating module, a first judging module, an adjusting module, a second calculating module, a second judging module and an opening module, and the specific functions of the modules are as follows:
the closing module is used for closing a light source of the first depth camera and controlling a camera of the first depth camera to collect images under background light in a target space;
the first calculation module is used for calculating the illumination intensity of the background light in the acquired image to obtain a first illumination intensity value;
the first judgment module is used for judging whether the obtained first illumination intensity value exceeds a preset value or not;
the adjusting module is used for adjusting the acquisition frequency of the first depth camera if the obtained first illumination intensity value exceeds a preset value, and continuously acquiring images at the adjusted acquisition frequency;
the second calculation module is used for calculating the illumination intensity of the background light in the continuously acquired image to obtain a second illumination intensity value;
the second judging module is used for judging whether the obtained second illumination intensity value exceeds the preset value or not;
and the starting module is used for starting the light source of the first depth camera and continuously acquiring the image at the current acquisition frequency if the obtained second illumination intensity value does not exceed the preset value.
The apparatus for reducing interference between multiple depth camera systems may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that fig. 5 is merely an example of a device 5 for reducing inter-system interference of multiple depth cameras and does not constitute a limitation of a device 5 for reducing inter-system interference of multiple depth cameras and may include more or fewer components than shown, or combine certain components, or different components, for example the device for reducing inter-system interference of multiple depth cameras may also include input output devices, network access devices, buses, etc.
The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may be an internal storage unit of the device 5 for reducing the inter-system interference of the multi-depth camera, for example, a hard disk or a memory of the device 5 for reducing the inter-system interference of the multi-depth camera. The memory 51 may also be an external storage device of the device 5 for reducing the interference between the multi-depth camera systems, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), or the like, provided on the device 5 for reducing the interference between the multi-depth camera systems. Further, the memory 51 may also include both an internal storage unit and an external storage device of the device 5 for reducing the interference between multi-depth camera systems. The memory 51 is used for storing the computer program and other programs and data required by the apparatus for reducing the interference between multi-depth camera systems. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art would appreciate that the modules, elements, and/or method steps of the various embodiments described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium includes content that can be appropriately increased or decreased according to the requirements of legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunication signals according to legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and the tendency of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.
Claims (9)
1. A method of reducing interference between multiple depth camera systems, the multiple depth camera system including at least two depth cameras, the depth cameras including a light source and a camera, a projection frequency of the depth cameras varying with a change in an acquisition frequency, the method comprising:
turning off a light source of a first depth camera, and controlling a camera of the first depth camera to acquire an image under background light in a target space;
calculating the illumination intensity of background light in the acquired image to obtain a first illumination intensity value;
judging whether the obtained first illumination intensity value exceeds a preset value or not;
if the obtained first illumination intensity value exceeds a preset value, adjusting the acquisition frequency of the first depth camera, and continuously acquiring images at the adjusted acquisition frequency;
calculating the illumination intensity of background light in the continuously acquired image to obtain a second illumination intensity value;
judging whether the obtained second illumination intensity value exceeds the preset value or not;
if the obtained second illumination intensity value does not exceed the preset value, starting a light source of the first depth camera, and continuously acquiring images at the current acquisition frequency;
if the obtained first illumination intensity value exceeds a preset value, the adjusted acquisition frequency is used, and the step of continuously acquiring the image according to the adjusted acquisition frequency further comprises the following steps:
if the obtained first illumination intensity value exceeds a preset value, simultaneously controlling a plurality of depth cameras to delay and start exposure according to different delay intervals in a complete sampling period, so that the acquisition frequency of the first depth camera is different from the acquisition frequencies of other depth cameras except the first depth camera, and continuously acquiring images at the adjusted acquisition frequency; wherein the one complete sampling period is equally divided into a plurality of the delay intervals.
2. The method of claim 1, wherein if the obtained first illumination intensity value exceeds a preset value, adjusting the acquisition frequency, and continuing to acquire images at the adjusted acquisition frequency comprises:
if the obtained first illumination intensity value exceeds a preset value, the exposure duration of the first depth camera is randomly increased or decreased, so that the acquisition frequency of the first depth camera is different from the acquisition frequencies of other depth cameras except the first depth camera, and the image acquisition is continued at the adjusted acquisition frequency.
3. The method of claim 1 or 2, wherein the background light comprises ambient light and/or structured light projected by a depth camera other than the first depth camera.
4. The method of claim 1, wherein calculating an illumination intensity of background light in the acquired image, obtaining a first illumination intensity value comprises:
drawing a corresponding brightness histogram according to the acquired image;
and calculating the illumination intensity of the background light in the acquired image according to the drawn brightness histogram.
5. The method according to claim 4, wherein the horizontal axis of the luminance histogram is the overall luminance variation trend of the image, and the vertical axis of the luminance histogram is the total number of all pixel points in a certain luminance interval.
6. The method according to claim 1, before determining whether the obtained first illumination intensity value exceeds a preset value, further comprising:
controlling a camera of the first depth camera to acquire an image under ambient light in a target space;
calculating the illumination intensity of the acquired image to obtain a third illumination intensity value, wherein the image is the acquired image under the environment light in the target space;
and determining the preset value according to the obtained third illumination intensity value.
7. An apparatus for reducing interference between multiple depth camera systems, the multiple depth camera system including at least two depth cameras, the depth cameras including a light source and a camera, a projection frequency of the depth cameras varying with a change in an acquisition frequency, the apparatus comprising:
the closing module is used for closing a light source of the first depth camera and controlling a camera of the first depth camera to collect images under background light in a target space;
the first calculation module is used for calculating the illumination intensity of the background light in the acquired image to obtain a first illumination intensity value;
the first judgment module is used for judging whether the obtained first illumination intensity value exceeds a preset value or not;
the adjusting module is used for adjusting the acquisition frequency of the first depth camera if the obtained first illumination intensity value exceeds a preset value, and continuously acquiring images at the adjusted acquisition frequency;
the second calculation module is used for calculating the illumination intensity of the background light in the continuously acquired image to obtain a second illumination intensity value;
the second judging module is used for judging whether the obtained second illumination intensity value exceeds the preset value or not;
the starting module is used for starting a light source of the first depth camera and continuously acquiring images at the current acquisition frequency if the obtained second illumination intensity value does not exceed the preset value;
the adjustment module is specifically configured to:
if the obtained first illumination intensity value exceeds a preset value, simultaneously controlling a plurality of depth cameras to delay and start exposure according to different delay intervals in a complete sampling period, so that the acquisition frequency of the first depth camera is different from the acquisition frequencies of other depth cameras except the first depth camera, and continuously acquiring images at the adjusted acquisition frequency; wherein one complete sampling period is equally divided into a plurality of said delay intervals.
8. An apparatus for reducing inter-system interference of a multi-depth camera, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of the method according to any one of claims 1 to 6.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
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| CN112104858B (en) * | 2020-09-15 | 2022-05-27 | 佛山显扬科技有限公司 | Three-dimensional machine vision system ambient light inhibition imaging method |
| CN115423714B (en) * | 2022-09-02 | 2024-06-25 | 点昀技术(南通)有限公司 | Camera self-adaptive adjustment method and device, electronic equipment and storage medium |
| CN115524714A (en) * | 2022-09-08 | 2022-12-27 | 奥比中光科技集团股份有限公司 | iTOF depth measurement system and depth measurement method |
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