Three-dimensional sensing device and three-dimensional sensing method
阅读说明:本技术 三维感测装置及三维感测方法 (Three-dimensional sensing device and three-dimensional sensing method ) 是由 周宏隆 林捷昇 张文彦 于 2018-08-17 设计创作,主要内容包括:本发明提供一种三维感测装置及三维感测方法,三维感测装置包括投光装置、至少二图像获取装置以及处理器。投光装置用以投射照明光束至目标物件。至少二图像获取装置用以获取目标物件的获取图像。处理器电性连接于投光装置及至少二图像获取装置,用以提供控制信号至投光装置以调整照明光束的强度。处理器依据第一处理信号调整获取图像的对比度为对比强化图像,且依据第二处理信号提取对比强化图像的特征区域为特征提取图像。处理器依据第三处理信号将特征提取图像的强度归一化为优化图像,且依据感测信号将优化图像形成为深度图像。(The invention provides a three-dimensional sensing device and a three-dimensional sensing method. The light projecting device is used for projecting the illumination light beam to the target object. The at least two image acquisition devices are used for acquiring the acquired images of the target object. The processor is electrically connected to the light projection device and the at least two image acquisition devices and used for providing a control signal to the light projection device so as to adjust the intensity of the illumination light beam. The processor adjusts the contrast of the acquired image into a contrast enhanced image according to the first processing signal, and extracts a characteristic region of the contrast enhanced image as a characteristic extraction image according to the second processing signal. The processor normalizes the intensity of the feature extraction image to an optimized image according to the third processing signal, and forms the optimized image into a depth image according to the sensing signal.)
1. A three-dimensional sensing device adapted to sense a depth image of a target object, comprising:
a light projecting device for projecting an illumination beam to the target object;
at least two image acquisition devices for acquiring the acquired images of the target object; and
the processor is electrically connected to the light projection device and the at least two image acquisition devices and used for providing control signals to the light projection device to adjust the intensity of the illumination light beam, wherein the processor adjusts the contrast of the acquired image into a contrast enhanced image according to a first processing signal, the processor extracts a characteristic region of the contrast enhanced image into a characteristic extraction image according to a second processing signal, the processor normalizes the intensity of the characteristic extraction image into an optimized image according to a third processing signal, and the processor forms the optimized image into the depth image according to a sensing signal.
2. The three-dimensional sensing device according to claim 1, wherein the light projecting device comprises:
a light emitting element for emitting the illumination beam; and
and the projection element is configured on the transmission path of the illumination light beam and is used for enabling the illumination light beam to pass and diffuse the illumination light beam.
3. The three-dimensional sensing device according to claim 2, wherein the light emitting element is a light emitting diode.
4. A three-dimensional sensing device adapted to sense a depth image of a target object, comprising:
a light projecting device for projecting an illumination beam to the target object;
at least two image acquisition devices for acquiring the acquired images of the target object; and
and the processor is electrically connected with the light projection device and the at least two image acquisition devices, adjusts the acquired image into an optimized image according to the processing signal, and forms the optimized image into the depth image according to the sensing signal.
5. The three-dimensional sensing device according to claim 4, wherein the light projecting device comprises:
a light emitting element for emitting the illumination beam; and
and the projection element is configured on the transmission path of the illumination light beam and is used for enabling the illumination light beam to pass and diffuse the illumination light beam.
6. The three-dimensional sensing device according to claim 5, wherein the light emitting element is a light emitting diode.
7. The three-dimensional sensing device according to claim 4, wherein the processor is configured to provide a control signal to the light projecting device to adjust the intensity of the illumination beam.
8. The three-dimensional sensing device according to claim 4, wherein the processed signals comprise a first processed signal, a second processed signal, and a third processed signal, and the processor is configured to perform:
adjusting the contrast of the acquired image into a contrast enhanced image according to the first processing signal;
extracting a characteristic region of the contrast enhanced image as a characteristic extraction image according to the second processing signal; and
and normalizing the intensity of the feature extraction image into an optimized image according to the third processing signal.
9. A three-dimensional sensing device adapted to sense a depth image of a target object, comprising:
a light projecting device for projecting an illumination beam onto the target object, the light projecting device comprising:
a light emitting element for emitting the illumination beam; and
the projection element is configured on the transmission path of the illumination light beam and is used for enabling the illumination light beam to pass through and diffuse the illumination light beam; and
at least two image acquisition devices for acquiring the acquired image of the target object to form the depth image.
10. The three-dimensional sensing device according to claim 9, wherein the light emitting element is a light emitting diode.
11. The three-dimensional sensing device according to claim 9, further comprising:
and the processor is electrically connected with the light projecting device and the at least two image acquisition devices.
12. The three-dimensional sensing device according to claim 11, wherein the processor adjusts the acquired image to an optimized image in dependence on the processing signal and forms the optimized image to the depth image in dependence on the sensing signal.
13. The three-dimensional sensing device according to claim 11, wherein the processed signals comprise a first processed signal, a second processed signal, and a third processed signal, and the processor is configured to perform:
adjusting the contrast of the acquired image into a contrast enhanced image according to the first processing signal;
extracting a characteristic region of the contrast enhanced image as a characteristic extraction image according to the second processing signal; and
and normalizing the intensity of the feature extraction image into an optimized image according to the third processing signal.
14. A three-dimensional sensing method for sensing a target object, comprising:
providing a three-dimensional sensing device which comprises a light projecting device, at least two image acquisition devices and a processor electrically connected with the light projecting device and the at least two image acquisition devices;
providing an illumination beam to the target object;
acquiring the image of the target object to represent the acquired image;
adjusting the acquired image into an optimized image according to the processing signal; and
the optimized image is formed into a depth image in dependence on the sensing signal.
15. The three-dimensional sensing method according to claim 14, wherein the light projecting device comprises a light emitting element and a projecting element, wherein the light emitting element is used for emitting the illumination light beam, and the projecting element is disposed on a transmission path of the illumination light beam to pass and diverge the illumination light beam.
16. The three-dimensional sensing method according to claim 15, wherein the light emitting element is a light emitting diode.
17. The three-dimensional sensing method according to claim 14, wherein the processing signals include a first processing signal, a second processing signal and a third processing signal, and the method of adjusting the acquired image to the optimized image according to the processing signals comprises:
adjusting the contrast of the acquired image into a contrast enhanced image according to the first processing signal;
extracting a characteristic region of the contrast enhanced image as a characteristic extraction image according to the second processing signal; and
normalizing the intensity of the feature extracted image to the optimized image according to the third processed signal.
Technical Field
The present disclosure relates to electronic devices and sensing methods, and particularly to a three-dimensional sensing device and a three-dimensional sensing method.
Background
In general three-dimensional sensing technology, stereo (passive stereo) is the most commonly used method, and depth information can be estimated through feature comparison and triangulation. However, the accuracy of this method depends on whether the texture of the object to be measured is abundant. In general, in low-texture, repetitive-texture scenes, effective depth information is less readily available.
To solve the above problem, structured light projection may be applied to assist the sensing effect in the three-dimensional sensing technology. The three-dimensional sensing device based on the structured light is composed of an image pickup device and a projection device, wherein the projection device projects a designed pattern (pattern), and then the image pickup device obtains an image and carries out depth estimation. Generally, in order to improve the sensing accuracy, a projection apparatus is generally composed of a Laser diode (Laser diode), a collimating lens group (collimating lens), and a Diffractive Optical Element (DOE) through precise Optical design. However, in order to keep the light beam emitted in parallel and have a good optical projection effect, the structure complexity is increased, and the difficulty of mass production is greatly increased.
In addition, the use of a laser source and a complex optical system further creates thermal effects. Therefore, in order to reduce the influence of the thermal effect, an active stereo technique (active stereo) has been proposed. However, this technique still has the problems of too high cost and too complicated structure to be mass-produced. Therefore, how to design a three-dimensional sensing device and method thereof with low cost, high precision and high mass production is an important issue in the field.
Disclosure of Invention
The invention provides a three-dimensional sensing device and a three-dimensional sensing method, which have lower cost and good three-dimensional sensing quality.
An embodiment of the present invention provides a three-dimensional sensing device adapted to sense a depth image of a target object. The three-dimensional sensing device comprises a light projecting device, at least two image acquisition devices and a processor. The light projecting device is used for projecting the illumination light beam to the target object. The at least two image acquisition devices are used for acquiring the acquired images of the target object. The processor is electrically connected to the light projection device and the at least two image acquisition devices and used for providing a control signal to the light projection device so as to adjust the intensity of the illumination light beam. The processor adjusts the contrast of the acquired image into a contrast enhanced image according to the first processing signal. The processor extracts the characteristic area of the contrast enhanced image as a characteristic extraction image according to the second processing signal. The processor normalizes the intensity of the feature extraction image to an optimized image according to the third processing signal. The processor forms the optimized image into a depth image according to the sensing signal.
In an embodiment of the invention, the light projection device includes a light emitting element and a projection element. The light-emitting element is used for emitting an illumination light beam. The projection element is configured on the transmission path of the illumination light beam and is used for enabling the illumination light beam to pass through and diffuse the illumination light beam.
In an embodiment of the invention, the light emitting device is a light emitting diode.
Another embodiment of the present invention provides a three-dimensional sensing device adapted to sense a depth image of a target object. The three-dimensional sensing device comprises a light projecting device, at least two image acquisition devices and a processor. The light projecting device is used for projecting the illumination light beam to the target object. The at least two image acquisition devices are used for acquiring the acquired images of the target object. The processor is electrically connected to the light projection device and the at least two image acquisition devices and used for providing a control signal to the light projection device so as to adjust the intensity of the illumination light beam. The processor adjusts the acquired image into an optimized image according to the processing signal, and forms the optimized image into a depth image according to the sensing signal.
In an embodiment of the invention, the light projection device includes a light emitting element and a projection element. The light-emitting element is used for emitting an illumination light beam. The projection element is configured on the transmission path of the illumination light beam and is used for enabling the illumination light beam to pass through and diffuse the illumination light beam.
In an embodiment of the invention, the light emitting device is a light emitting diode.
In an embodiment of the invention, the processor is configured to provide a control signal to the light projecting device to adjust the intensity of the illumination beam.
In an embodiment of the invention, the processing signals include a first processing signal, a second processing signal and a third processing signal, and the processor is configured to: adjusting the contrast of the acquired image into a contrast enhanced image according to the first processing signal; extracting a characteristic region of the contrast enhanced image as a characteristic extraction image according to the second processing signal; and normalizing the intensity of the feature extraction image into an optimized image according to the third processing signal.
Another embodiment of the present invention provides a three-dimensional sensing device adapted to sense a depth image of a target object. The three-dimensional sensing device comprises a light projecting device and at least two image acquisition devices. The light projecting device is used for projecting the illumination light beam to the target object. The light projection device includes a light emitting element and a projection element. The light-emitting element is used for emitting an illumination light beam. The projection element is configured on the transmission path of the illumination light beam and is used for enabling the illumination light beam to pass through and diffuse the illumination light beam. The at least two image acquisition devices are used for acquiring the acquired image of the target object to form a depth image.
In an embodiment of the invention, the light emitting device is a light emitting diode.
In an embodiment of the invention, the three-dimensional sensing device further includes a processor electrically connected to the light projecting device and the at least two image capturing devices.
In an embodiment of the invention, the processor adjusts the acquired image into an optimized image according to the processing signal, and forms the optimized image into the depth image according to the sensing signal.
In an embodiment of the invention, the processing signals include a first processing signal, a second processing signal and a third processing signal, and the processor is configured to: adjusting the contrast of the acquired image into a contrast enhanced image according to the first processing signal; extracting a characteristic region of the contrast enhanced image as a characteristic extraction image according to the second processing signal; and normalizing the intensity of the feature extraction image into an optimized image according to the third processing signal.
Another embodiment of the present invention provides a three-dimensional sensing method for sensing a target object, including: providing a three-dimensional sensing device which comprises a light projecting device, at least two image acquisition devices and a processor electrically connected with the light projecting device and the at least two image acquisition devices; providing an illumination beam to a target object; acquiring an image of a target object to represent the acquired image; adjusting the acquired image to be an optimized image according to the processing signal; and forming the optimized image into a depth image according to the sensing signal.
In an embodiment of the invention, the light projection device includes a light emitting element and a projection element, wherein the light emitting element is configured to emit an illumination beam, and the projection element is disposed on a transmission path of the illumination beam to allow the illumination beam to pass through and diverge.
In an embodiment of the invention, the light emitting device is a light emitting diode.
In an embodiment of the invention, the processing signals include a first processing signal, a second processing signal and a third processing signal, and the method for adjusting the acquired image to an optimized image according to the processing signals includes: adjusting the contrast of the acquired image into a contrast enhanced image according to the first processing signal; extracting a characteristic region of the contrast enhanced image as a characteristic extraction image according to the second processing signal; and normalizing the intensity of the feature extraction image into an optimized image according to the third processing signal.
In view of the above, in the three-dimensional sensing device and the three-dimensional sensing method of the present invention, the three-dimensional sensing device includes a simple light projecting device, and obtains an acquired image by the illumination of the light projecting device and the at least two image acquiring devices, so that the processor can perform an image processing procedure on the acquired image according to the processing signal to obtain an optimized image, and further perform sensing to form a depth image with three-dimensional information.
In order to make the aforementioned and other features and advantages of the invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
FIG. 1 is a schematic view of a three-dimensional sensing device according to an embodiment of the invention;
FIG. 2 is a schematic view of a three-dimensional sensing device according to another embodiment of the invention;
FIG. 3 is a schematic view of the light projecting device of FIG. 1;
FIG. 4 is a flowchart illustrating steps of a three-dimensional sensing method according to an embodiment of the invention;
FIG. 5 is a flowchart illustrating a three-dimensional sensing method according to another embodiment of the invention.
The reference numbers illustrate:
100. 100A: three-dimensional sensing device
110: light projector
112: light emitting element
114: projection element
120: image acquisition device
130: processor with a memory having a plurality of memory cells
LB: illuminating light beam
S400, S410, S420, S430, S432, S434, S436, S440: step (ii) of
Detailed Description
Fig. 1 is a schematic view of a three-dimensional sensing device according to an embodiment of the invention. In the present embodiment, the three-
In the present embodiment, the number of the
Fig. 2 is a schematic view of a three-dimensional sensing device according to another embodiment of the invention. Referring to fig. 2, the three-
Fig. 3 is a schematic view of the light projecting device of fig. 1. Referring to fig. 1 and fig. 3, in the present embodiment, the
In detail, the present embodiment does not use a laser light source and a complicated optical system compared to the conventional method. In the embodiment, only the simple
Referring to fig. 1 and fig. 3, the
In the image processing program of the present embodiment, the
In addition, the
After the image processing procedure of the present embodiment is completed, the
FIG. 4 is a flowchart illustrating a three-dimensional sensing method according to an embodiment of the invention. The three-dimensional sensing method of the present embodiment can be applied to at least the three-
Next, step S420 is performed to acquire an image representation of the target object as an acquired image. In detail, in this step, at least two
FIG. 5 is a flowchart illustrating a three-dimensional sensing method according to another embodiment of the invention. The three-dimensional sensing method of the present embodiment can be applied to at least the three-
In summary, in the three-dimensional sensing apparatus and the three-dimensional sensing method of the invention, the three-dimensional sensing apparatus includes a simple light projecting device, and obtains the acquired image by the illumination of the light projecting device and the at least two image acquiring devices, so that the processor can perform an image processing procedure on the acquired image according to the processing signal to obtain an optimized image, and further perform sensing to form a depth image with three-dimensional information.
Although the present invention has been described with reference to the above embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention.
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