Image processing method and apparatus, and image processing device using infrared binocular cameras to obtain three-dimensional data

Patent metadata

Field	Value
Publication number	US-11461908-B2
Application number	US-201917266490-A
Country	US
Kind code	B2
Filing date	Aug 5, 2019
Priority date	Aug 6, 2018
Publication date	Oct 4, 2022
Grant date	Oct 4, 2022

Abstract

Disclosed are an image processing method and apparatus, and an image processing device. According to the image processing method and apparatus, and the image processing device, an infrared binocular camera collects images formed when a measured object is illuminated by a speckle pattern projected by a projection assembly to obtain a first image collected by a first camera and a second image collected by a second camera; and three-dimensional data of the measured object is determined according to a pair of images constituted by the first image and the second image. By means of the method, three-dimensional data of a measured object can be relatively accurately obtained through measurement, thereby improving precision and accuracy of measurement, and also precision requirements for a projection assembly are low, so that costs can be lowered.

First claim

What is claimed is:

1. An image processing method, comprising:
obtaining, through an infrared binocular camera, a pair of images by acquiring an image formed by a measured object under irradiation of a speckle pattern projected by a projection component, wherein the pair of images comprise a first image acquired by a first camera of the infrared binocular camera and a second image acquired by a second camera of the infrared binocular camera; and
determining three-dimensional data of the measured object according to the pair of images,
wherein determining the three-dimensional data of the measured object according to the pair of images comprises:
choosing feature points of the measured object in the first image;

according to correspondence between brightness values of pixel points comprised in the feature points in the first image and feature points in the second image, determining in the second image the features points that correspond to the features points in the first image by performing feature point matching between the first image and the second image;
determining a positional deviation between corresponding feature points in the first image and the second image; and
determining the three-dimensional data of the measured object, according to the positional deviation between the corresponding feature points and a pre-stored parameter of the infrared binocular camera.

2. The method according to claim 1 , wherein determining the positional deviation between the corresponding feature points in the first image and the second image comprises:
according to a position coordinate of the corresponding feature points in the first image and a position coordinate of the corresponding feature points in the second image, determining the positional deviation between the corresponding feature points in the first image and the second image.

3. The method according to claim 1 , wherein determining the three-dimensional data of the measured object according to the positional deviation between the corresponding feature points and the pre-stored parameter of the infrared binocular camera comprises:
determining a vertical distance of each feature point of the measured object relative to the infrared binocular camera, according to the positional deviation between the corresponding feature points, a pre-stored focal length of the infrared binocular camera and a distance between an optical axis of the first camera and an optical axis of the second camera; and
determining the three-dimensional data of the measured object, according to the vertical distance of each feature point of the measured object relative to the infrared binocular camera.

4. The method according to claim 1 , further comprising:
acquiring a color image of the measured object by a visible light camera; and
establishing a three-dimensional model of the measured object according to the color image and the three-dimensional data of the measured object.

5. An image processing device, comprising a projection component, an infrared binocular camera, and an image processing chip,
wherein the projection component is configured to project a speckle pattern to a measured object;
the infrared binocular camera is configured to acquire a speckle image formed by the measured object under irradiation of the speckle pattern; and
the image processing chip is configured to, according to the speckle image, determine three- dimensional data of the measured object by adopting the method according to claim 1 .

6. The device according to claim 5 , wherein the projection component comprises a light source, a beam shaper, and a diffraction grating arranged in sequence, and light emitted by the light source passes through the beam shaper and the diffraction grating in turn to form the speckle pattern and is emitted.

7. The device according to claim 5 , wherein an optical axis of a first camera of the infrared binocular camera is parallel with an optical axis of a second camera of the infrared binocular camera.

8. The device according to claim 5 , wherein the device further comprises a visible light camera, and the visible light camera is configured to connect the image processing chip, and transmit a color image, that is acquired, of the measured object to the image processing chip, so that the image processing chip establishes a three-dimensional model of the measured object according to the image acquired by the infrared binocular camera and the color image acquired by the visible light camera.

9. The device according to claim 5 , wherein the device further comprises a fill light, and the fill light is configured to provide light compensation in a case where ambient light is insufficient.

10. The device according to claim 9 , wherein a wavelength of light emitted by the fill light is consistent with a wavelength of light emitted by a light source of the projection component or a wavelength of light acquired by the infrared binocular camera.

11. A non-transitory computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and the computer program executes steps of the method according to claim 1 in a case where the computer program is run by a processor.

12. An image processing device, comprising a projection component, an infrared binocular camera, and an image processing chip,
wherein the projection component is configured to project a speckle pattern to a measured object;
the infrared binocular camera is configured to acquire a speckle image formed by the measured object under irradiation of the speckle pattern; and
the image processing chip is configured to, according to the speckle image, determine three- dimensional data of the measured object by adopting the method according to claim 2 .

13. An image processing device, comprising a projection component, an infrared binocular camera, and an image processing chip,
wherein the projection component is configured to project a speckle pattern to a measured object;
the infrared binocular camera is configured to acquire a speckle image formed by the measured object under irradiation of the speckle pattern; and
the image processing chip is configured to, according to the speckle image, determine three- dimensional data of the measured object by adopting the method according to claim 3 .

14. The device according to claim 7 , wherein the device further comprises a visible light camera, and the visible light camera is configured to connect the image processing chip, and transmit a color image, that is acquired, of the measured object to the image processing chip, so that the image processing chip establishes a three-dimensional model of the measured object according to the image acquired by the infrared binocular camera and the color image acquired by the visible light camera.

15. The device according to claim 7 , wherein the device further comprises a fill light, and the fill light is configured to provide light compensation in a case where ambient light is insufficient.

16. An image processing apparatus, comprising:
an image acquisition unit, configured to obtain, through an infrared binocular camera, a pair of images by acquiring an image formed by a measured object under irradiation of a speckle pattern projected by a projection component, the pair of images comprising a first image acquired by a first camera of the infrared binocular camera and a second image acquired by a second camera of the infrared binocular camera; and
a computing unit, configured for:
choosing feature points of the measured object in the first image;
according to corresponde

Assignees

• Beijing Kuangshi Tech Co Ltd

Inventors

• Cao Zhiri
• Yang Mu
• Chen Keqing
• Liu Zhixian
• Gao Yan
• Yang Zhe

Classifications

• G06V20/647 Primary

  by matching two-dimensional images to three-dimensional objects · CPC title

• G06V40/168

  Feature extraction; Face representation · CPC title

• G06V40/172 Primary

  Classification, e.g. identification · CPC title

• G06V40/166

  using acquisition arrangements · CPC title

• G06V10/145

  Illumination specially adapted for pattern recognition, e.g. using gratings · CPC title