JP6132510B2 - 三次元映像獲得装置、及び三次元映像獲得装置における奥行き情報の算出方法 - Google Patents
三次元映像獲得装置、及び三次元映像獲得装置における奥行き情報の算出方法 Download PDFInfo
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- 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
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
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- H04N5/2224—Studio circuitry; Studio devices; Studio equipment related to virtual studio applications
- H04N5/2226—Determination of depth image, e.g. for foreground/background separation
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
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- G—PHYSICS
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4915—Time delay measurement, e.g. operational details for pixel components; Phase measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4918—Controlling received signal intensity, gain or exposure of sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/493—Extracting wanted echo signals
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/97—Determining parameters from multiple pictures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/64—Three-dimensional objects
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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
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N13/106—Processing image signals
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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
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/254—Image signal generators using stereoscopic image cameras in combination with electromagnetic radiation sources for illuminating objects
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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
- H04N13/296—Synchronisation thereof; Control thereof
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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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
- H04N2013/0074—Stereoscopic image analysis
- H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
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- Signal Processing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
Description
そして、信号処理部106は、第1平均映像Vと第2平均映像Uとの比率V/Uについてのアークタンジェント(arctan=tan−1)の値から奥行き情報を算出する。奥行き情報depthは、下記の数式10の通りである。
101 光源、
103 光変調器、
105 撮像素子、
106 信号処理部、
107 制御部、
108 フィルタ、
109 第1レンズ、
110 第2レンズ、
200 被写体。
Claims (27)
- N個(ここで、Nは、3以上の自然数)の光が一定の時間間隔で順次、被写体に向けて投射されたときに、当該被写体から反射された光を変調させる光変調器と、
前記光変調器により変調された光を撮影して、N個のサブ映像を生成する撮像素子と、
前記N個のサブ映像を利用して、被写体との距離を表す奥行き情報を算出する信号処理部と、を備え、
1個の前記サブ映像を生成する際に、前記撮像素子は、前記光の投射時間露光されて、前記変調された光を撮影し、他のサブ映像のための次の投射開始時刻までに撮影により生成した前記サブ映像を出力することを特徴とする三次元映像獲得装置。 - 前記N個の投射された光は、相異なる光であり、一つ以上の光源により発光されることを特徴とする請求項1に記載の三次元映像獲得装置。
- 前記光変調器の駆動時間は、前記N個の光の投射時間にそれぞれ同期されることを特徴とする請求項1又は2に記載の三次元映像獲得装置。
- 前記駆動時間は、前記光の投射時間より短いことを特徴とする請求項3に記載の三次元映像獲得装置。
- 前記撮像素子の露光時間は、前記駆動時間に同期されることを特徴とする請求項3又は4に記載の三次元映像獲得装置。
- 前記撮像素子のあらゆるピクセルは、前記光の投射時間の間、前記変調された光に露光されることを特徴とする請求項3〜5のいずれか1項に記載の三次元映像獲得装置。
- 前記N個の光は、周期が同じであり、振幅と位相のうち少なくとも一つが相異なる周期波であることを特徴とする請求項1〜6のいずれか1項に記載の三次元映像獲得装置。
- 前記光変調器は、同じ変調信号で反射光を変調することを特徴とする請求項7に記載の三次元映像獲得装置。
- 前記N個の光は、同じ周期波であることを特徴とする請求項1〜6のいずれか1項に記載の三次元映像獲得装置。
- 前記光変調器は、異なる変調信号で反射光を変調することを特徴とする請求項9に記載の三次元映像獲得装置。
- 前記N個の光のうち、隣接した時間帯に投射される光の位相差は、360°をN個に等分した値であることを特徴とする請求項1〜10のいずれか1項に記載の三次元映像獲得装置。
- 前記反射された光は、前記N個の光のうち、前記被写体から反射されるN個の反射光を含むことを特徴とする請求項1〜11のいずれか1項に記載の三次元映像獲得装置。
- 前記撮像素子で生成されたN個のサブ映像は、前記N個の反射光と、順次、一対一マッチングされることを特徴とする請求項1〜12の何れか1項に記載の三次元映像獲得装置。
- 前記信号処理部は、
前記N個のサブ映像に第1加重値をそれぞれ乗じた後で平均して第1平均映像を生成し、前記N個のサブ映像に第2加重値をそれぞれ乗じた後で平均して第2平均映像を生成し、前記第1及び第2平均映像から前記奥行き情報を算出することを特徴とする請求項1〜13の何れか1項に記載の三次元映像獲得装置。 - 前記奥行き情報は、第1平均映像と第2平均映像との比率についてのアークタンジェント値から算出されることを特徴とする請求項14に記載の三次元映像獲得装置。
- N個(ここで、Nは、3以上の自然数)の光が一定の時間間隔で順次、被写体に向けて投射されたときに、当該被写体から反射された光を変調させるステップと、
前記変調された光を撮影して、N個のサブ映像を生成するステップと、
前記N個のサブ映像を利用して、被写体との距離を表す奥行き情報を算出するステップと、を含み、
前記N個のサブ映像を生成するステップは、1個の前記サブ映像を生成するサブステップをN個含み、
前記サブステップは、1個の前記サブ映像を生成する際に、前記光の投射時間露光されて、前記変調された光を撮影し、他のサブ映像のための次の投射開始時刻までに撮影により生成した前記サブ映像を出力することを特徴とする奥行き情報の算出方法。 - 前記N個の投射された光は、相異なる光であり、一つ以上の光源により発光されることを特徴とする請求項16に記載の奥行き情報の算出方法。
- 前記光を変調させる光変調器の駆動時間は、前記N個の光の投射時間にそれぞれ同期されることを特徴とする請求項16又は17に記載の奥行き情報の算出方法。
- 前記駆動時間は、前記光の投射時間より短いことを特徴とする請求項18に記載の奥行き情報の算出方法。
- 前記光を撮影する撮像素子の露光時間は、前記駆動時間に同期されることを特徴とする請求項18又は19に記載の奥行き情報の算出方法。
- 前記撮像素子のあらゆるピクセルは、前記光の投射時間の間、前記変調された光に露光されることを特徴とする請求項18〜20の何れか1項に記載の奥行き情報の算出方法。
- 前記N個の光は、周期が同じであり、振幅と位相のうち少なくとも一つが相異なる周期波であり、
前記変調された光は、同じ変調信号で変調されることを特徴とする請求項16〜21の何れか1項に記載の奥行き情報の算出方法。 - 前記N個の光は、同じ周期波であり、
前記変調された光は、異なる変調信号で変調されることを特徴とする請求項16〜21の何れか1項に記載の奥行き情報の算出方法。 - 前記N個の光のうち、隣接した時間帯に投射される光の位相差は、360°をN個に等分した値であることを特徴とする請求項19〜23のいずれか1項に記載の奥行き情報の算出方法。
- 前記生成されたN個のサブ映像は、前記N個の反射光と、順次、一対一マッチングされることを特徴とする請求項16〜24の何れか1項に記載の奥行き情報の算出方法。
- 前記N個のサブ映像に第1加重値をそれぞれ乗じた後で平均して第1平均映像を生成し、前記N個のサブ映像に第2加重値をそれぞれ乗じた後で平均して第2平均映像を生成し、前記第1及び第2平均映像から前記奥行き情報を算出することを特徴とする請求項16〜25の何れか1項に記載の奥行き情報の算出方法。
- 前記奥行き情報は、第1平均映像と第2平均映像との比率についてのアークタンジェント値から算出されることを特徴とする請求項26に記載の奥行き情報の算出方法。
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KR1020110109431A KR101854188B1 (ko) | 2011-10-25 | 2011-10-25 | 3차원 영상 획득 장치 및 3차원 영상 획득 장치에서 깊이 정보 산출 방법 |
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US9418425B2 (en) | 2016-08-16 |
EP2587276A1 (en) | 2013-05-01 |
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