CN115190285A - 3D image acquisition system and method - Google Patents
3D image acquisition system and method Download PDFInfo
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- CN115190285A CN115190285A CN202210709300.1A CN202210709300A CN115190285A CN 115190285 A CN115190285 A CN 115190285A CN 202210709300 A CN202210709300 A CN 202210709300A CN 115190285 A CN115190285 A CN 115190285A
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/293—Generating mixed stereoscopic images; Generating mixed monoscopic and stereoscopic images, e.g. a stereoscopic image overlay window on a monoscopic image background
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Abstract
The invention provides a 3D image acquisition system and a method, wherein the system comprises: the system comprises a dot matrix projection device, a TOF imaging device and a data processing device, wherein the TOF imaging device is connected with the dot matrix projection device and the data processing device, and the dot matrix projection device is used for projecting a first uniform dot matrix to an object to be acquired; the lattice projection equipment after adjusting the parameters projects a second uniform lattice; the TOF imaging equipment is used for imaging an object to be acquired according to the first uniform dot matrix to acquire a first depth map; the first depth map is further used for imaging the first uniform dot matrix to obtain a second depth map; the data processing device is used for determining an interested area based on the first depth map, adjusting parameters of the dot matrix projection device according to the interested area, and fusing the first depth map and the second depth map to obtain a target image. The invention can realize the active acquisition of the object and improve the definition of image acquisition.
Description
Technical Field
The invention relates to the technical field of image acquisition, in particular to a 3D image acquisition system and a method.
Background
Three-dimensional (3D) time-of-flight cameras provide 3D imaging using cost-effective pixel arrays and active modulated light sources, and 3D vision systems include a perception side and a cognition side.
In the 3D visual system in the prior art, the perception end and the cognition end are split and cannot interact, so that perception is not understood, only passive acquisition is realized, and active acquisition cannot be realized. And because the demands of the cognitive tasks of the application side are not known in visual perception, the data can be collected in a full disc at the visual sensing data collection end, the data can be collected in a full view in spatial dimension without emphasis, and the data can be collected at the same frame rate and without difference in time dimension, so that the perception redundancy is large, the precision is low, meanwhile, the extremely high requirements are provided for the calculation power and the technology of the application side, the cost and the threshold of the cognitive side are high, the application development of the 3D visual sensing technology is severely restricted, the image collection definition is low, and the user experience is poor.
Disclosure of Invention
The invention provides a 3D image acquisition system and a method, which are used for solving the technical problems of low definition of image acquisition and poor user experience caused by only passive acquisition in the prior art so as to achieve the purposes of improving the definition of image acquisition and improving the user experience.
In a first aspect, the present invention provides a 3D image acquisition system comprising: a dot matrix projection device, a TOF imaging device connected to the dot matrix projection device and a data processing device, wherein,
the dot matrix projection equipment is used for projecting a first uniform dot matrix to the determined object to be collected; the device is also used for projecting a second uniform dot matrix to the object to be collected according to the dot matrix projection equipment after the parameters are adjusted;
the TOF imaging equipment is used for imaging an object to be acquired according to the first uniform dot matrix projected by the dot matrix projection equipment to acquire a first depth map; the first depth map is further used for imaging the first depth map according to the second uniform dot matrix projected by the dot matrix projection equipment after the parameters are adjusted, and a second depth map is obtained;
the data processing equipment is used for determining an interested area based on the first depth map, adjusting parameters of the dot matrix projection equipment according to the interested area and determining the dot matrix projection equipment after the parameters are adjusted; the depth image fusion device is further used for carrying out fusion processing on the first depth image and the second depth image to obtain a target image;
wherein the second uniform lattice is a uniform lattice having a lattice density different from that of the first uniform lattice.
Further, according to the 3D image acquisition system provided by the present invention, the dot matrix projection device is connected to a reflection dot matrix receiving device, and the reflection dot matrix receiving device is configured to perform focusing processing on the region of interest.
Further, according to the 3D image acquisition system provided by the present invention, the data processing device is further configured to perform positioning processing on the first depth map according to a target detection algorithm, and determine a region of interest.
In a second aspect, the present invention further provides a 3D image capturing method implemented by the 3D image capturing system according to any one of the above embodiments, including:
the dot matrix projection equipment projects a first uniform dot matrix to the determined object to be collected;
the TOF imaging equipment carries out imaging processing on the object to be collected according to the first uniform dot matrix projected by the dot matrix projection equipment to obtain a first depth map;
the data processing equipment carries out region-of-interest positioning processing on the first depth map to obtain a region of interest, and parameter adjustment is carried out on the dot matrix projection equipment according to the region of interest;
projecting a second uniform dot matrix to the object to be acquired by using the dot matrix projection equipment after the parameters are adjusted, and performing imaging processing on the first depth map by using TOF imaging equipment according to the second uniform dot matrix to obtain a second depth map;
the data processing equipment carries out fusion processing on the first depth map and the second depth map to obtain a target image;
wherein the second uniform lattice is a uniform lattice having a lattice density different from that of the first uniform lattice.
Further, according to the 3D image acquisition method provided by the present invention, the data processing device performs region of interest positioning processing on the first depth map to acquire a region of interest, and the method includes:
and the data processing equipment carries out region-of-interest positioning on the first depth map according to a target detection algorithm to obtain a region of interest.
Further, according to the 3D image capturing method provided by the present invention, the adjusting the parameters of the dot matrix projection device according to the region of interest includes:
and adjusting parameters of the dot matrix projection equipment according to the region of interest, and determining to enhance the dot matrix density of the region of interest.
Further, according to the 3D image capturing method provided by the present invention, the adjusting the parameters of the dot matrix projection device according to the region of interest further includes:
and adjusting parameters of the reflection dot matrix receiving equipment according to the region of interest, and determining target parameters for focusing the region of interest.
The invention provides a 3D image acquisition system and a method, wherein the system comprises: the system comprises a dot matrix projection device, a TOF imaging device and a data processing device, wherein the TOF imaging device is connected with the dot matrix projection device and is connected with the data processing device, and the dot matrix projection device is used for projecting a first uniform dot matrix to an object to be collected; the lattice projection equipment after adjusting the parameters projects a second uniform lattice; the TOF imaging equipment is used for imaging the object to be acquired according to the first uniform dot matrix to obtain a first depth map; the first depth map is further used for imaging the first uniform dot matrix to obtain a second depth map; the data processing device is used for determining an interested area based on the first depth map, adjusting parameters of the dot matrix projection device according to the interested area, and fusing the first depth map and the second depth map to obtain a target image. The invention can realize the active acquisition of the object and improve the definition of image acquisition.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a 3D image acquisition system provided by the present invention;
FIG. 2 is a schematic flow chart of a 3D image acquisition method provided by the present invention;
FIG. 3 is an exemplary diagram of 3D image acquisition provided by the present invention;
FIG. 4 is a second exemplary diagram of 3D image acquisition provided by the present invention;
FIG. 5 is a third exemplary diagram of 3D image acquisition provided by the present invention;
fig. 6 is a fourth exemplary diagram of 3D image acquisition provided by the present invention.
Description of the reference numerals:
1-dot matrix projection equipment; a 2-TOF imaging device;
3-a data processing device;
11-a first homogeneous lattice; 12-a second uniform lattice;
21-a first depth map; 22-a second depth map;
31-target image.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a 3D image capturing system provided by the present invention, and as shown in fig. 1, the 3D image capturing system provided by the present invention includes: a dot matrix projection device 1, a TOF imaging device 2 and a data processing device 3, the TOF imaging device 2 being connected to the dot matrix projection device 1 and to the data processing device 3, wherein,
the lattice projection equipment 1 is used for projecting a first uniform lattice 11 to a determined object to be collected; the lattice projection equipment after adjusting the parameters projects a second uniform lattice 11 to the object to be collected;
the TOF imaging equipment 2 is used for imaging an object to be acquired according to the first uniform dot matrix 11 projected by the dot matrix projection equipment 1 to acquire a first depth map 21; the first depth map 21 is further used for performing imaging processing on the first depth map according to the second uniform dot matrix 11 projected by the dot matrix projection device 1 after the parameters are adjusted, and a second depth map 22 is obtained;
the data processing device 3 is configured to determine an area of interest based on the first depth map 21, adjust parameters of the dot matrix projection device 1 according to the area of interest, and determine the dot matrix projection device 1 after the parameters are adjusted; and is further configured to perform fusion processing on the first depth map 21 and the second depth map 22 to obtain a target image 31.
In this embodiment, the dot matrix projection device 1 is configured to project a first uniform dot matrix 11 to an object to be acquired, and the dot matrix projection device 1 after adjusting parameters projects a second uniform dot matrix 12 to the object to be acquired, where the projected light sources are uniform dot matrices, it should be noted that the dot matrix projected by the dot matrix projection device 1 is variable, and an area of interest may be determined according to the acquired first depth map, and the light spot density of the area of interest is adjusted by adjusting the parameters of the dot matrix projection device.
It should be noted that the dot matrix projection device 1 in this embodiment may be composed of an infrared dot laser and a MEMS micro-galvanometer.
In this embodiment, the TOF imaging device is configured to perform imaging processing on an object to be acquired according to a first uniform dot matrix 11 projected by the dot matrix projection device 1, and obtain a first depth map 21; the method is further used for imaging the first depth map 21 according to the second uniform dot matrix 11 projected by the dot matrix projection device 1 after the parameters are adjusted to obtain a second depth map 22, wherein a Time of Flight (TOF) technology is a 3D imaging technology applied to a mobile phone camera in 2018, and the TOF technology is used for acquiring depth information of a target object by transmitting continuous infrared light pulses with specific wavelengths to the target, receiving optical signals transmitted back by the object to be detected by a specific sensor, and calculating the back-and-forth Flight Time or phase difference of the light.
It should be noted that the data processing device 3 is configured to determine an area of interest based on the first depth map 21, adjust parameters of the dot matrix projection device 1 according to the area of interest, determine the dot matrix projection device 1 with the parameters adjusted, and simultaneously perform Fusion processing on the first depth map 21 and the second depth map 22 to obtain the target Image 3, where Image Fusion (Image Fusion) refers to a technique of performing Image processing and computer technology on Image data about the same target collected by multiple source channels, extracting beneficial information in respective channels to the maximum extent, and finally synthesizing a high-quality Image to improve utilization rate of Image information, improve accuracy and reliability of computer interpretation, and improve spatial resolution and spectral resolution of an original Image. In this embodiment, the image fusion processing method is a fusion technique of the prior art, and will not be described in detail here.
According to the 3D image acquisition system provided by the invention, through the cooperative use of the dot matrix projection equipment, the TOF imaging equipment and the data processing equipment, the definition of image acquisition and processing can be improved, and the user experience is improved.
Based on any of the above embodiments, in this embodiment, the dot matrix projection device 1 is connected to a reflection dot matrix receiving device, and the reflection dot matrix receiving device is configured to perform focusing processing on the region of interest.
In this embodiment, the dot matrix projection device 1 is connected to the reflection dot matrix receiving device, and the focus processing of the region of interest is realized by adjusting the focal length or the pointing direction of the lens of the reflection dot matrix receiving device, so as to improve the definition of image acquisition and improve the efficiency of image acquisition processing.
Based on any of the above embodiments, in this embodiment, the data processing device 3 is further configured to perform positioning processing on the first depth map 21 according to a target detection algorithm, and determine an area of interest.
In this embodiment, the data processing device 3 is further configured to perform positioning processing on the acquired first depth map 21 according to a target detection algorithm, and determine the region of interest. Firstly, defining the object type of the region of interest, and then, positioning by using a target detection algorithm to determine the region of interest. It should be noted that the target detection algorithm is used for detecting the region of interest, and the specific detection method may be YoLo (youonly Look one) or SSD (Single Shot multi box Detector), and different target detection methods may be specifically selected according to the actual needs of the user.
According to the 3D image acquisition system provided by the invention, the data processing equipment is used for positioning the first depth map according to the target detection algorithm and determining the region of interest, so that the image acquisition precision can be improved, and the image acquisition processing efficiency can be improved.
Fig. 2 is a 3D image collecting method provided by the present invention, and as shown in fig. 2, a 3D image collecting method implemented by the 3D image collecting system provided by the present invention includes:
step 201: the dot matrix projection equipment projects a first uniform dot matrix to the determined object to be collected;
step 202: the TOF imaging equipment carries out imaging processing on the object to be collected according to the first uniform dot matrix projected by the dot matrix projection equipment to obtain a first depth map;
step 203: the data processing equipment carries out region-of-interest positioning processing on the first depth map to obtain a region of interest, and parameter adjustment is carried out on the dot matrix projection equipment according to the region of interest;
step 204: projecting a second uniform dot matrix to the object to be acquired by using the dot matrix projection equipment after the parameters are adjusted, and performing imaging processing on the first depth map by using TOF imaging equipment according to the second uniform dot matrix to obtain a second depth map;
step 205: the data processing equipment performs fusion processing on the first depth map and the second depth map to obtain a target image;
wherein the second uniform lattice is a uniform lattice having a lattice density different from that of the first uniform lattice.
In this embodiment, the dot matrix projection device projects a first uniform dot matrix to the determined object to be acquired, as shown in fig. 3, under the projection of the first uniform dot matrix, the TOF imaging device performs imaging processing on the object to be acquired to obtain a first depth map as shown in fig. 4, then the data processing device determines an area of interest according to the first depth map, and simultaneously adjusts parameters of the dot matrix projection device according to the determined area of interest, the dot matrix density of a second uniform dot matrix projected by the dot matrix device after the parameters are adjusted is different from that of the first uniform dot matrix, and the dot matrix density of the second uniform dot matrix is higher than that of the first uniform dot matrix. The dot density of the first uniform dot matrix and the dot density of the second uniform dot matrix may be set according to actual needs of a user, and are not specifically limited herein.
It should be noted that, as shown in fig. 5, a second uniform dot matrix is projected to the object to be acquired by using the dot matrix projection device with the adjusted parameters, and the TOF imaging device performs imaging processing on the first depth map according to the second uniform dot matrix to obtain a second depth map as shown in fig. 6; the data processing device performs a fusion process on the first depth map and the second depth map acquired by the TOF imaging device, and a specific processing manner is as described in the foregoing embodiments and will not be described in detail here.
It should be noted that, when the sharpness of the obtained target image is still not satisfactory after the operations of steps 201 to 205 are completed, steps 201 to 205 may be repeated until a sharp and satisfactory target image is obtained.
According to the 3D image acquisition method provided by the invention, through the cooperative use of the dot matrix projection equipment, the TOF imaging equipment and the data processing equipment, the definition of image acquisition and processing can be improved, and the user experience is improved.
Based on any one of the foregoing embodiments, in this embodiment, the performing, by the data processing device, region-of-interest positioning processing on the first depth map, and acquiring a region of interest includes:
and the data processing equipment carries out region-of-interest positioning on the first depth map according to a target detection algorithm to obtain a region of interest.
In this embodiment, the data processing device performs positioning processing on the acquired first depth map according to a target detection algorithm to determine an area of interest. It should be noted that, a specific target detection algorithm may select different target detection methods according to actual needs of a user, and the detailed description is given in the above embodiments and will not be described in detail here.
According to the 3D image acquisition method provided by the invention, the data processing equipment is used for positioning the first depth map according to the target detection algorithm and determining the region of interest, so that the image acquisition precision can be improved, and the image acquisition processing efficiency can be improved.
Based on any one of the foregoing embodiments, in this embodiment, the performing parameter adjustment on the dot matrix projection device according to the region of interest includes:
and adjusting parameters of the dot matrix projection equipment according to the region of interest, and determining to enhance the dot matrix density of the region of interest.
In this embodiment, parameters of the dot matrix projection device need to be adjusted according to the determined region of interest, and then it is determined that the intensity of the uniform dot matrix projected by the adjusted dot matrix projection device is higher than that before the adjustment, so as to enhance the dot matrix density of the region of interest.
According to the 3D image acquisition method provided by the invention, the acquired precision of the region of interest can be ensured by enhancing the lattice density of the region of interest, and the image acquisition processing efficiency is improved.
Based on any one of the above embodiments, in this embodiment, the performing parameter adjustment on the dot matrix projection device according to the region of interest further includes:
and adjusting parameters of the reflection dot matrix receiving equipment according to the region of interest, and determining target parameters for focusing the region of interest.
In this embodiment, parameters of the reflection dot matrix receiving device need to be adjusted according to the region of interest, and target parameters for focusing the region of interest are determined, where the target parameters include information such as a focal length and a pointing direction of a lens. It should be noted that the target parameters may specifically include other parameters, which are not described in detail herein.
According to the 3D image acquisition method provided by the invention, the target parameters of the interested region for focusing are determined by adjusting the parameters of the reflection dot matrix receiving equipment, so that the efficiency of image acquisition and processing can be improved.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should 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 scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. A 3D image acquisition system, comprising: a dot matrix projection device, a TOF imaging device and a data processing device, wherein the TOF imaging device is connected with the dot matrix projection device and the data processing device, wherein,
the dot matrix projection equipment is used for projecting a first uniform dot matrix to the determined object to be acquired; the device is also used for projecting a second uniform dot matrix to the object to be collected according to the dot matrix projection equipment after the parameters are adjusted;
the TOF imaging equipment is used for imaging an object to be acquired according to the first uniform dot matrix projected by the dot matrix projection equipment to acquire a first depth map; the first depth map is further used for imaging the first depth map according to the second uniform dot matrix projected by the dot matrix projection equipment after the parameters are adjusted, and a second depth map is obtained;
the data processing equipment is used for determining an interested area based on the first depth map, adjusting parameters of the dot matrix projection equipment according to the interested area and determining the dot matrix projection equipment after the parameters are adjusted; the depth image fusion device is further used for carrying out fusion processing on the first depth image and the second depth image to obtain a target image;
wherein the second uniform lattice is a uniform lattice having a lattice density different from that of the first uniform lattice.
2. The 3D image acquisition system according to claim 1, characterized in that the dot matrix projection device is connected to a reflection dot matrix reception device for focusing the region of interest.
3. The 3D image acquisition system according to claim 1, wherein the data processing device is further configured to perform a positioning process on the first depth map according to a target detection algorithm to determine a region of interest.
4. A 3D image acquisition method implemented on the basis of the 3D image acquisition system according to any one of claims 1 to 3, comprising:
the dot matrix projection equipment projects a first uniform dot matrix to the determined object to be collected;
the TOF imaging equipment carries out imaging processing on the object to be collected according to the first uniform dot matrix projected by the dot matrix projection equipment to obtain a first depth map;
the data processing equipment carries out region-of-interest positioning processing on the first depth map to obtain a region of interest, and parameter adjustment is carried out on the dot matrix projection equipment according to the region of interest;
projecting a second uniform dot matrix to the object to be acquired by using the dot matrix projection equipment after the parameters are adjusted, and performing imaging processing on the first depth map by using TOF imaging equipment according to the second uniform dot matrix to obtain a second depth map;
the data processing equipment performs fusion processing on the first depth map and the second depth map to obtain a target image;
wherein the second uniform lattice is a uniform lattice having a lattice density different from that of the first uniform lattice.
5. The 3D image acquisition method according to claim 4, wherein the data processing device performs region-of-interest positioning processing on the first depth map, and acquires a region of interest, including:
and the data processing equipment carries out region-of-interest positioning on the first depth map according to a target detection algorithm to obtain a region of interest.
6. The 3D image acquisition method according to claim 4, wherein the performing parameter adjustment on the lattice projection device according to the region of interest comprises:
and adjusting parameters of the dot matrix projection equipment according to the region of interest, and determining to enhance the dot matrix density of the region of interest.
7. The 3D image acquisition method according to claim 6, wherein the performing parameter adjustment on the dot matrix projection device according to the region of interest further comprises:
and adjusting parameters of the reflection dot matrix receiving equipment according to the region of interest, and determining target parameters for focusing the region of interest.
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