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1. CN109658451 - Depth sensing method and device and depth sensing equipment

Office China
Application Number 201811473003.1
Application Date 04.12.2018
Publication Number 109658451
Publication Date 19.04.2019
Publication Kind A
IPC
G06T 7/593
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
50Depth or shape recovery
55from multiple images
593from stereo images
G06T 7/11
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
10Segmentation; Edge detection
11Region-based segmentation
G06T 7/80
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
80Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
G06T 5/00
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
5Image enhancement or restoration
G06T 3/00
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
3Geometric image transformation in the plane of the image
CPC
G06T 3/0018
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
3Geometric image transformation in the plane of the image
0012Context preserving transformation, e.g. by using an importance map
0018Fisheye, wide-angle transformation
G06T 5/006
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
5Image enhancement or restoration
006Geometric correction
G06T 7/11
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
10Segmentation; Edge detection
11Region-based segmentation
G06T 7/593
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
50Depth or shape recovery
55from multiple images
593from stereo images
G06T 7/85
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
80Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
85Stereo camera calibration
G06T 2207/10012
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
10Image acquisition modality
10004Still image; Photographic image
10012Stereo images
Applicants SHENZHEN AUTEL INTELLIGENT AVIATION TECHNOLOGY CO., LTD.
深圳市道通智能航空技术有限公司
Inventors ZHENG XIN
郑欣
Agents 深圳市六加知识产权代理有限公司 44372
Title
(EN) Depth sensing method and device and depth sensing equipment
(ZH) 一种深度感知方法,装置和深度感知设备
Abstract
(EN)
The embodiment of the invention discloses a depth sensing method, a depth sensing device and depth sensing equipment. The method comprises the steps that a first target image of a target area is obtained through the first camera device, and a second target image of the target area is obtained through the second camera device; Performing image segmentation and correction on the first target image to obtain a plurality of first segmented images; Performing image segmentation and correction on the second target image to obtain a plurality of second segmented images respectively corresponding to the plurality of first segmented images; Performing binocular matching on each group of segmented images to obtain a disparity map corresponding to each group of segmented images; And according to thedisparity map and calibration parameters, acquiring depth information of an area corresponding to each group of segmented images. According to the embodiment of the invention, the edge depth detectionprecision is improved. Moreover, a plurality of groups of segmented images form a plurality of groups of binocular systems, and depth information in a plurality of directions can be sensed.

(ZH)
本发明实施例公开了一种深度感知方法,装置和深度感知设备。所述方法包括:通过所述第一摄像装置获得所述目标区域的第一目标图像,通过所述第二摄像装置获得所述目标区域的第二目标图像;对所述第一目标图像进行图像分割和校正,以获取多个第一分割图像;对所述第二目标图像进行图像分割和校正,以获取与所述多个第一分割图像分别对应的多个第二分割图像;对每一组所述分割图像进行双目匹配,以获取每一组所述分割图像对应的视差图;根据所述视差图和标定参数,获取每一组所述分割图像对应的区域的深度信息。本发明实施例提高了边缘深度检测精度。而且,多组分割图像构成多组双目系统,可以感知多个方向的深度信息。

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