WO2018219156A1 - Procédé et appareil de codage de lumière structuré, et dispositif de terminal - Google Patents

Procédé et appareil de codage de lumière structuré, et dispositif de terminal Download PDF

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WO2018219156A1
WO2018219156A1 PCT/CN2018/087373 CN2018087373W WO2018219156A1 WO 2018219156 A1 WO2018219156 A1 WO 2018219156A1 CN 2018087373 W CN2018087373 W CN 2018087373W WO 2018219156 A1 WO2018219156 A1 WO 2018219156A1
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coding
pattern
coding pattern
black
determining
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PCT/CN2018/087373
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Chinese (zh)
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唐苏明
宋展
李丽
王维
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华为技术有限公司
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T9/00—Image coding
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object

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  • the present application relates to image processing technologies, and in particular, to a structured optical coding method, apparatus, and terminal device.
  • the structured light three-dimensional scanning technology realizes three-dimensional scanning by actively controlling the light source, and has higher reliability than other three-dimensional scanning technologies, and has great development potential.
  • structured light three-dimensional scanning technology has been widely used in industrial detection, 3D printing, film and television special effects production, cultural relics and other fields.
  • the structured light three-dimensional scanning technology refers to projecting the designed coding pattern to the target object, and the camera captures the target object to form another coding pattern, and determines the feature points of the coding pattern, and adopts optical trigonometry and system calibration methods for the feature points. To obtain three-dimensional information of the target object, thereby achieving three-dimensional reconstruction of the target object.
  • the structured optical coding method is the premise and basis of the structured light three-dimensional scanning technology.
  • the coding strategy of the structured optical coding technology is mainly divided into time coding and spatial coding.
  • spatial coding is more advantageous than time coding in terms of measurement speed, making it easy to implement dynamic 3D reconstruction.
  • spatial coding has the problem that the coding density and the coding window size are contradictory, that is, the larger the coding density, the larger the coding window.
  • the larger the coding window the higher the difficulty of decoding.
  • the prior art achieves the purpose of reducing the window size and increasing the encoding density by adding color information or brightness information.
  • the color information or brightness information of the projection affects the acquisition of the three-dimensional information of the target object, which causes the problem of poor robustness of the entire structured optical coding system.
  • the present application provides a structured optical coding method, apparatus and terminal device, thereby improving the robustness of the structured optical coding system.
  • the present application provides a structured optical coding method, including: generating a pseudo-random array with an encoding window of 2*2 and an encoding element of N; wherein the N coding elements are represented by N different black and white binary geometric figures, N is a positive integer greater than or equal to 8; a rectangular pattern formed by a black and white diamond pattern is generated; a black and white binary geometry is embedded in the white diamond pattern as a foreground pattern of the first coding pattern, and the black diamond pattern is used as the first code A background pattern of the pattern to generate a first encoded pattern.
  • the beneficial effects of the present application are: since the present application implements encoding by N kinds of black and white binary geometry, the black and white binary geometry is stronger for the texture, color and reflection characteristics of the target object than the conventional color and brightness encoding methods. Robustness can be used for more complex dynamic 3D reconstruction of the surface of the target object. Thereby improving the robustness of the structured optical coding system.
  • the method further includes: projecting the first coding pattern to the target object; capturing the projected target object, acquiring the second coding pattern; determining feature points of the second coding pattern, wherein the feature point is used to determine the three-dimensional contour of the target object information.
  • determining a feature point of the second coding pattern includes: dividing the second coding pattern into a plurality of first regions; determining at least one candidate feature point in each of the first regions, and determining among all the candidate feature points Feature points.
  • determining at least one candidate feature point in each of the first regions including: passing a formula Calculating any pixel point (i, j) in each first region, corresponding to the value H; wherein I(i+ ⁇ , j+ ⁇ ) represents the gray value of the pixel point (i+ ⁇ , j+ ⁇ )
  • I(i+ ⁇ , j+ ⁇ ) represents the gray value of the pixel point (i+ ⁇ , j+ ⁇ )
  • the maximum value of the value is determined in each of the first regions, and the pixel corresponding to the maximum value is taken as the candidate feature point.
  • the true feature points of the second coding pattern should also have this feature. That is, the value H calculated by the X-type template is the largest in the first region, and this method can be used to eliminate most of the ordinary points.
  • determining the feature point among all candidate feature points includes: determining a second region where any candidate feature point is located, and determining a symmetric region after the second region is rotated by 180 degrees; Calculating the symmetry coefficient ⁇ of any candidate feature point; where I(m,n) represents the gray value of the pixel point (m,n); I'(m,n) represents the pixel point (m,n) in the symmetrical region Gray value of the symmetry point; An average value of gray values of all the pixels in the second region is determined; and candidate feature points whose symmetry coefficient is smaller than a preset threshold are determined as feature points.
  • the feature points in the first coding pattern have rotationally invariant symmetry (rotation 180 degrees)
  • the feature points in the second coding pattern substantially follow this feature.
  • the symmetry coefficient ⁇ represents the degree of local symmetry of the second coding pattern, and the smaller the symmetry coefficient ⁇ , the better the degree of local symmetry of the second coding pattern. Based on this, the symmetry coefficient ⁇ of each candidate feature point is calculated by using the above formula, and by setting a preset threshold value, the erroneous feature points in the candidate feature points are eliminated, and the final feature points can be effectively obtained.
  • the structure of the optical coding device can be used to perform the first aspect and the corresponding alternative manner of the first aspect.
  • the implementation principle and technical effects are similar, and details are not described herein again.
  • the present application provides a structured optical coding apparatus, including: a first generation module, configured to generate a pseudo-random array with an encoding window of 2*2 and an encoding element of N; wherein the N coding elements pass N different types A black and white binary geometrical representation, N is a positive integer greater than or equal to 8; a second generation module for generating a rectangular pattern of black and white diamond patterns; and a third generation module for embedding black and white binary geometry in white In the diamond pattern, as the foreground pattern of the first coding pattern, a black diamond pattern is used as the background pattern of the first coding pattern to generate a first coding pattern.
  • the method further includes: a projection module, configured to project the first coding pattern to the target object; an acquisition module, configured to capture the projected target object, obtain a second coding pattern; and a determining module, configured to determine the second coding pattern Feature points, wherein the feature points are used to determine three-dimensional contour information of the target object.
  • a projection module configured to project the first coding pattern to the target object
  • an acquisition module configured to capture the projected target object, obtain a second coding pattern
  • a determining module configured to determine the second coding pattern Feature points, wherein the feature points are used to determine three-dimensional contour information of the target object.
  • the determining module is specifically configured to: divide the second coding pattern into a plurality of first regions; determine at least one candidate feature point in each of the first regions, and determine the feature points among all the candidate feature points.
  • the determining module is specifically configured to: pass the formula Calculating any pixel point (i, j) in each first region, corresponding to the value H; wherein I(i+ ⁇ , j+ ⁇ ) represents the gray value of the pixel point (i+ ⁇ , j+ ⁇ ) The maximum value of the value is determined in each of the first regions, and the pixel corresponding to the maximum value is taken as the candidate feature point.
  • the determining module is specifically configured to: determine a second area where any candidate feature point is located, and determine a symmetric area after the second area is rotated by 180 degrees;
  • the terminal device is described below, and the terminal device can be used to perform the first aspect and the corresponding mode corresponding to the first aspect.
  • the implementation principle and the technical effect are similar, and details are not described herein again.
  • the application provides a terminal device, including: a structured light template, configured with a first coding pattern; wherein the first coding pattern is a pseudo-random array with an encoding window of 2*2, an encoding element of N, and a plurality of black and white A rectangular pattern formed by interphase diamond patterns is generated; N coding elements are represented by N different black and white binary geometric figures, N is a positive integer greater than or equal to 8; black and white binary geometric figures are embedded in corresponding white diamond patterns to form a foreground pattern of the first coding pattern, the black diamond pattern forms a background pattern of the first coding pattern; a projection unit for generating projection light; forming a first coding pattern by the generated projection light through the structured light template, and the first coding pattern Projecting to a target object; a photographing unit for photographing the projected target object, acquiring a second encoding pattern; a processor for determining feature points of the second encoding pattern; and decoding each feature point to determine each feature Pointing at
  • the processor is specifically configured to: pass a formula Calculating any pixel point (i, j) in each first region, corresponding to the value H; wherein I(i+ ⁇ , j+ ⁇ ) represents the gray value of the pixel point (i+ ⁇ , j+ ⁇ ) The maximum value of the value is determined in each of the first regions, and the pixel corresponding to the maximum value is taken as the candidate feature point.
  • the processor is specifically configured to: determine a second region where any candidate feature point is located, and determine a symmetric region after the second region is rotated by 180 degrees; Calculating the symmetry coefficient ⁇ of any candidate feature point; where I(m,n) represents the gray value of the pixel point (m,n); I'(m,n) represents the pixel point (m,n) in the symmetrical region Gray value of the symmetry point; An average value of gray values of all the pixels in the second region is determined; and candidate feature points whose symmetry coefficient is smaller than a preset threshold are determined as feature points.
  • the present application provides a structured optical coding method, apparatus, and terminal device, including: generating a pseudo-random array with an encoding window of 2*2 and an encoding element of N; wherein the N coding elements are represented by N different black and white binary geometric figures , N is a positive integer greater than or equal to 8; a rectangular pattern formed by a black and white diamond pattern is generated; a black and white binary geometry is embedded in the white diamond pattern as the foreground pattern of the first coding pattern, and the black diamond pattern is taken as the first A background pattern of the pattern is encoded to generate a first encoded pattern.
  • the coding window of the first coding pattern is 2*2, and the coding window has reached the minimum coding window.
  • the present application can ensure that the coding density (the 2*2 coding window includes two types of feature points) is sufficiently large. Further, since the present application implements encoding by N kinds of black and white binary geometry, the black and white binary geometry is more robust to the texture, color and reflection characteristics of the target object than the conventional color and brightness coding methods. It can be used for more complex dynamic 3D reconstruction of the surface of the target object. Thereby improving the robustness of the structured optical coding system.
  • FIG. 1 is a schematic diagram of a structured optical coding system according to an embodiment of the present application.
  • FIG. 2 is a flowchart of a structured optical coding method according to an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a first coding pattern provided by the present application.
  • FIG. 4 is a partial enlarged view of a first coding pattern provided by the present application.
  • FIG. 5 is a schematic structural diagram of a structure optical coding apparatus according to an embodiment of the present disclosure.
  • FIG. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present disclosure.
  • Structured light technology can be divided into two categories, one is to project a laser line or a lattice.
  • the advantage of this type is that the structure is simple and the correspondence is clear.
  • the scanning method is point-by-point and line-by-line, the measurement speed is slow, and only applies to For specific occasions.
  • the other type is structured light 3D scanning technology, which is to project single or multiple coding patterns onto the target object to realize one-time measurement of the whole surface. It has obvious advantages of high speed and high precision, and makes up for the point and line structure optical measurement. Insufficient efficiency, so structured light 3D scanning technology has become the mainstream technology.
  • the coding method of structured light three-dimensional scanning technology can be roughly divided into time coding method and spatial coding method.
  • the former projects multiple coding patterns in time series to obtain corresponding coded image sequences
  • the decoding uses stripe image sequence combination to solve the coding pattern and
  • the corresponding problem of the fringe image has the advantages of high measurement accuracy and high measurement resolution, but its measurement speed is slow, so it is suitable for three-dimensional information acquisition of static targets and scenes.
  • the latter only needs to project a coding pattern, and the measurement speed is fast, so it is suitable for three-dimensional information acquisition of dynamic targets and scenes.
  • spatial coding has the problem that the coding density and the coding window size are contradictory, that is, the larger the coding density, the larger the coding window.
  • the prior art achieves the purpose of reducing the coding window size and increasing the coding density by adding color information or luminance information.
  • the color information or brightness information of the projection affects the acquisition of the three-dimensional information of the target object, which causes the problem of poor robustness of the entire structured optical coding system.
  • the present application provides a structured optical coding method, apparatus and terminal device, thereby improving the robustness of the structured optical coding system.
  • the main idea of the present application is to use N kinds of black and white binary geometry as a spatial coding scheme of coding elements. Compared with the traditional color and brightness coding methods, the black and white binary geometry has the texture, color and reflection characteristics of the target object. More robustness, which can be used for more complex dynamic 3D reconstruction of the surface of the target object.
  • FIG. 1 is a schematic diagram of a structured optical coding system according to an embodiment of the present application.
  • the structured optical coding system includes: a smart device 11 , a projection device 12 , and a photographic device 13 and the target object 14.
  • the smart device 11 can be a smart device such as a computer, a notebook computer, a tablet, or a mobile phone.
  • the working principle of the structured optical coding system is that the smart device 11 generates a first coding pattern and transmits it to the projection device 12, the projection device 12 projects the first coding pattern to the target object 14, and the photographic device 13 captures the projected target object. , obtaining a second coding pattern.
  • the photographic device 13 can transmit the second coding pattern to the smart device 11, and the smart device 11 determines feature points of the second coding pattern; and decodes each feature point to determine a corresponding position of each feature point in the first coding pattern. Determining a depth of each feature point in the second coding pattern according to a corresponding position of each feature point in the first coding pattern; determining three-dimensional contour information of the target object according to the depth of each feature point in the second coding pattern .
  • the smart device, the projection device, and the photographic device in the structured optical coding system can be integrated into the terminal device, that is, the terminal device can implement various functions of the above-mentioned structured optical coding system.
  • the smart device corresponds to a processor of the terminal device
  • the projection device corresponds to a projection unit of the terminal device
  • the photographic device corresponds to a photographic unit of the terminal device.
  • the present application provides a structured optical coding method, apparatus, and terminal device. To improve the robustness of the structured optical coding system.
  • FIG. 2 is a flowchart of a structured optical coding method according to an embodiment of the present application. As shown in FIG. 2, the method includes:
  • Step S201 generating a pseudo-random array with an encoding window of 2*2 and an encoding element of N; wherein the N coding elements are represented by N different black and white binary geometric figures, and N is a positive integer greater than or equal to 8;
  • Step S202 generating a rectangular pattern formed by a black and white diamond pattern
  • Step S203 embedding the black and white binary geometry into the white diamond pattern as the foreground pattern of the first coding pattern, and using the black diamond pattern as the background pattern of the first coding pattern to generate the first coding pattern.
  • the pseudo-random sequence is converted to a pseudo-random array using the folding principle.
  • the pseudo random array has an encoding window of 2*2 and a coding element of 8. Generating a rectangular pattern of black and white diamond patterns; embedding black and white binary geometry in a white diamond pattern in a black and white diamond pattern as a foreground pattern of the first coding pattern, and a black diamond pattern in a black and white diamond pattern
  • the background pattern of the first coding pattern is used to generate a first coding pattern.
  • 3 is a schematic diagram of a first coding pattern provided by the present application
  • FIG. 4 is a partial enlarged view of a first coding pattern provided by the present application. As shown in FIG. 3 and FIG. 4, the coding window of the first coding pattern is 2*. 2, the coding element is 8, and the coding capacity is 65 ⁇ 63.
  • the first coding pattern feature points are defined as intersections of adjacent diamond elements, so the first coding pattern includes two types of feature points, one is a P1 point as shown in FIG. 3, and the P1 feature points are up and down. It is a background element; the other is the P2 point as shown in Fig. 3, and the left and right of the P2 feature point are background elements.
  • the definition of the codeword for each feature point is: if it is a P1 type feature point, the codeword is composed of the left and right elements and the two elements below the left and right elements; if it is a P2 type feature point, the codeword is up and down The element and the elements on the right side of the upper and lower elements. Therefore, as shown in FIG. 3, the P1 feature point and the P2 feature point have the same code word, that is, c1-c2-c3-c4.
  • the 2*2 coding window includes two types of feature points.
  • the black and white rhombic pattern of the present application may be a black and white square pattern or a pattern obtained by stretching and rotating the diamond pattern. This application does not limit this.
  • the first coding pattern generated by the structured optical coding method provided by the present application has an encoding window of 2*2, and the coding window has reached a minimum coding window. Moreover, the present application can ensure that the coding density (the 2*2 coding window includes two types of feature points) is sufficiently large. Further, since the present application implements encoding by N kinds of black and white binary geometry, the black and white binary geometry is more robust to the texture, color and reflection characteristics of the target object than the conventional color and brightness coding methods. It can be used for more complex dynamic 3D reconstruction of the surface of the target object. Thereby improving the robustness of the structured optical coding system.
  • the method further includes: projecting the first coding pattern to the target object; capturing the projected target object, acquiring the second coding pattern; determining a feature point of the second coding pattern, wherein the feature point is used to determine the target object 3D contour information.
  • the feature points of the second coding pattern are in one-to-one correspondence with the feature points of the first coding pattern.
  • a method for determining a feature point of the second coding pattern comprising: dividing the second coding pattern into a plurality of first regions; determining at least one candidate feature point in each of the first regions, and determining features among all the candidate feature points point.
  • the first area may generally be selected from the above black diamond pattern or 2/3 of the size of the white diamond pattern.
  • the second coding pattern is converted into a gray image, and the gray image is smoothed by using a filter; then an X-type template is designed, and the smoothed image is convoluted, and the local non-maximum is selected.
  • the value suppression method is used to determine the candidate feature points; wherein the local non-maximum suppression method is selected to determine the candidate feature points, including:
  • the true feature points of the second coding pattern should also have this feature. That is, the value H calculated by the X-type template is the largest in the first region, and this method can be used to eliminate most of the ordinary points.
  • determining the feature points among all the candidate feature points includes: determining a second region where any candidate feature points are located, and determining a symmetric region after the second region is rotated by 180 degrees.
  • the feature points in the first coding pattern have rotationally invariant symmetry (rotation 180 degrees)
  • the feature points in the second coding pattern substantially follow this feature.
  • the symmetry coefficient ⁇ represents the degree of local symmetry of the second coding pattern, and the smaller the symmetry coefficient ⁇ , the better the degree of local symmetry of the second coding pattern. Based on this, the symmetry coefficient ⁇ of each candidate feature point is calculated by using the above formula, and a wrong threshold point in the candidate feature points is removed by setting a preset threshold value to obtain the final feature point.
  • the feature points on the second coding pattern can be accurately determined by the above two formulas, thereby ensuring accurate acquisition of the three-dimensional information of the target object.
  • FIG. 5 is a schematic structural diagram of a structure optical coding apparatus according to an embodiment of the present invention. As shown in FIG. 5, the apparatus includes:
  • the first generation module 501 is configured to generate a pseudo-random array with an encoding window of 2*2 and an encoding element of N; wherein the N coding elements are represented by N different black and white binary geometric figures, and N is greater than or equal to 8 Integer.
  • the second generation module 502 is configured to generate a rectangular pattern formed by a black and white diamond pattern.
  • the third generation module 503 is configured to embed the black and white binary geometry into the white diamond pattern as the foreground pattern of the first coding pattern, and use the black diamond pattern as the background pattern of the first coding pattern to generate the first coding pattern.
  • the method further includes: a projection module 504, configured to project the first coding pattern to the target object; an acquisition module 505, configured to capture the target object after the projection, to obtain a second coding pattern, and a determining module 506, configured to determine A feature point of the two coding patterns, wherein the feature points are used to determine three-dimensional contour information of the target object.
  • a projection module 504 configured to project the first coding pattern to the target object
  • an acquisition module 505 configured to capture the target object after the projection, to obtain a second coding pattern
  • a determining module 506 configured to determine A feature point of the two coding patterns, wherein the feature points are used to determine three-dimensional contour information of the target object.
  • the generating function of the first generating module 501, the second generating module 502, and the third generating module 503 may be a real-time generating function.
  • the first generation module 501 needs to generate a pseudo-random array
  • the second generation module 502 needs to generate a rectangular pattern formed by a black and white diamond pattern
  • the third generation module 503 needs The first coding pattern is generated once.
  • the generating function of the first generating module 501, the second generating module 502, and the third generating module 503 may also be an extracting or maintaining function.
  • the third generation module 503 has generated the first coding pattern in the first structured optical coding process, and the generated first coding pattern is saved in the storage module of the structured optical coding device. Next, in each structured optical coding process, the third generation module 503 only needs to extract the first coding pattern in the storage module.
  • the projection module 504 can project the first coding pattern to the target object using the projection light.
  • the acquisition module 505 has a projection light collection capability to capture the projected target object and acquire a second coding pattern.
  • the projection light may be a light emitting diode (LED) or an infrared light emitted by an infrared laser source.
  • the acquisition module 505 has an infrared light collection capability to capture the projected target object and acquire a second coding pattern.
  • the determining module 506 is specifically configured to: divide the second coding pattern into a plurality of first regions; determine at least one candidate feature point in each of the first regions, and determine the feature points among all the candidate feature points .
  • the determining module 506 is specifically configured to:
  • the determining module 505 is specifically configured to: determine a second area where any candidate feature point is located, and determine a symmetric area after the second area is rotated by 180 degrees;
  • the first coding pattern generated by the structured optical coding apparatus provided by the present application has an encoding window of 2*2, and the coding window has reached a minimum coding window. Moreover, this application can ensure that the coding density is large enough. Further, since the present application implements encoding by N kinds of black and white binary geometry, the black and white binary geometry is more robust to the texture, color and reflection characteristics of the target object than the conventional color and brightness coding methods. It can be used for more complex dynamic 3D reconstruction of the surface of the target object. Thereby improving the robustness of the structured optical coding system.
  • FIG. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present disclosure.
  • the terminal device includes: a structured optical template 601 is provided with a first coding pattern; wherein the first coding pattern is encoded by the coding window. *2, a pseudo-random array with a coding element of N and a rectangular pattern of a plurality of black and white diamond patterns are generated; N coding elements are represented by N different black and white binary geometric figures, and N is a positive integer greater than or equal to 8.
  • the black and white binary geometry is embedded in the corresponding white diamond pattern to form a foreground pattern of the first coding pattern, the black diamond pattern forms a background pattern of the first coding pattern;
  • the projection unit 602 is configured to generate projection light; and the generated projection light is generated
  • the first coding pattern is formed by the structured light template 601, and the first coding pattern is projected to the target object;
  • the photographing unit 603 is configured to capture the projected target object, and obtain the second coding pattern;
  • the processor 604 is configured to determine the second Coding feature points of the pattern; and decoding each feature point to determine a corresponding position of each feature point in the first coding pattern;
  • the corresponding positions of the feature points in the first coding pattern determine the depth of each feature point in the second coding pattern; and the three-dimensional contour information of the target object is determined according to the depth of each feature point in the second coding pattern.
  • the terminal device has generated the first coding pattern, and based on this, a structured light template 601 is formed.
  • the structured light template 601 is provided with a first coding pattern.
  • a first coding pattern is formed and the first coding pattern can be projected onto a target object. That is to say, the terminal device provided by the present application does not need to generate the first coding pattern every time, and only needs to generate the first coding pattern once, and then realizes the projection through the structured light template 601 to generate the first coding pattern.
  • the processor 604 is specifically configured to: divide the second coding pattern into a plurality of first regions; determine at least one candidate feature point in each of the first regions, and determine the feature points among all the candidate feature points .
  • the processor 604 is specifically configured to: pass a formula Calculating any pixel point (i, j) in each first region, corresponding to the value H; wherein I(i+ ⁇ , j+ ⁇ ) represents the gray value of the pixel point (i+ ⁇ , j+ ⁇ ) The maximum value of the numerical value is determined in each of the first regions, and the pixel corresponding to the maximum value is taken as the candidate feature point.
  • the processor 604 is specifically configured to: determine a second area where any candidate feature point is located, and determine a symmetric area after the second area is rotated by 180 degrees;
  • the first coding pattern used by the terminal device provided by the application has an encoding window of 2*2, and the encoding window has reached a minimum encoding window. Moreover, this application can ensure that the coding density is large enough. Further, since the present application implements encoding by N kinds of black and white binary geometry, the black and white binary geometry is more robust to the texture, color and reflection characteristics of the target object than the conventional color and brightness coding methods. It can be used for more complex dynamic 3D reconstruction of the surface of the target object. Thereby improving the robustness of the structured optical coding system.

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Abstract

La présente invention concerne un procédé et un appareil de codage de lumière structuré, et un dispositif de terminal. Le procédé comprend : la génération d'un réseau pseudoaléatoire ayant 2*2 fenêtres de codage et N éléments de codage, les N éléments de codage étant représentés par N types de géométries binaires noires et blanches différentes, et N étant un entier positif supérieur ou égal à 8 ; la génération d'un motif rectangulaire constitué de motifs de losange noirs et de motifs de losange blancs alternés ; et la génération d'un premier motif de codage par incorporation des géométries binaires noires et blanches dans les motifs de losange blancs en tant que motif de premier plan du premier motif de codage et utilisation des motifs de losange noirs en tant que motif d'arrière-plan du premier motif de codage. Selon la présente invention, lorsqu'il est assuré que les fenêtres de codage sont suffisamment petites et que la densité de codage est suffisamment élevée, le codage est mis en œuvre au moyen de N types de géométries binaires noires et blanches ; par rapport aux procédés conventionnels de codage de couleur et de luminance, les géométries binaires noires et blanches ont une robustesse plus élevée aux caractéristiques de texture, de couleur et de réflexion d'un objet cible et, par conséquent, la robustesse d'un système de codage de lumière structuré est améliorée.
PCT/CN2018/087373 2017-05-31 2018-05-17 Procédé et appareil de codage de lumière structuré, et dispositif de terminal WO2018219156A1 (fr)

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