Abstract: A three-dimensional depth perception apparatus and method, comprising a synchronized trigger module, an MIPI receiving/transmitting module, and a multiplexing core computing module, a storage controller module, a memory, and an MUX selecting module; wherein the synchronized trigger module is for generating a synchronized trigger signal that is transmitted to an image acquiring module; the MIPI receiving/transmitting module is for supporting input/output of the MIPI video streams and other formats of video streams; the multiplexing core computing module is for selecting a monocular structured light depth perception working mode or a binocular structured light depth perception working mode as needed, including a pre-processing module, a block matching disparity computing module, a depth computing module, and a depth post-processing module.

Abstract: The present invention discloses a method of generating a structured light speckle encoded pattern, comprising: fabricating an initial speckle pattern with evenly distributed speckle particles; screening positions that all speckle particles can be disturbed to in the initial speckle pattern according to a speckle particle isolation principle; performing random disturbance to each speckle particle in the initial speckle pattern according to a generated random array and the screened positions that can be disturbed to; performing window uniqueness analysis to the disturbed speckle encoded pattern to determine whether the disturbed speckle encoded pattern meets requirements of a window uniqueness distribution. The present invention further discloses an apparatus for generating a structured light speckle encoded pattern.

Abstract: The present invention discloses a method of generating a structured light speckle encoded pattern, comprising: fabricating an initial speckle pattern with evenly distributed speckle particles; screening positions that all speckle particles can be disturbed to in the initial speckle pattern according to a speckle particle isolation principle; performing random disturbance to each speckle particle in the initial speckle pattern according to a generated random array and the screened positions that can be disturbed to; performing window uniqueness analysis to the disturbed speckle encoded pattern to determine whether the disturbed speckle encoded pattern meets requirements of a window uniqueness distribution. The present invention further discloses an apparatus for generating a structured light speckle encoded pattern.

Abstract: The present invention discloses a structured light encoding-based vertical depth perception apparatus, the apparatus comprising: a laser pattern projector, an infrared receiving camera, a RGB receiving camera, and a depth perception module; the laser pattern projector, the RGB receiving camera, and the infrared receiving camera are disposed along a straight line vertical to a horizontal plane; the laser pattern projector is for projecting a laser encoded pattern; the infrared receiving camera is for consecutively acquiring the encoded patterns and generating an input encoded image sequence; the RGB receiving camera is for acquiring RGB video stream; and the depth perception module is for generating a depth map sequence.

Abstract: The present invention discloses a three-dimensional depth perception method and apparatus with an adjustable working range. The method comprises: setting a working range mode from the external or by an adaptive adjustment, projecting encoded patterns into a corresponding working range by adjusting a driving current of a laser pattern projector driving circuit, adjusting a receiving camera focal length and a baseline distance, collecting a sequence of projected encoded images and feeding them into a depth perception module that adjusts control parameters for image preprocessing based on the working range mode, selecting, from a group of reference encoded images in coincidence with the working range mode to perform block-matching-based disparity computation and depth computation to the inputted encoded image sequence, and outputting a depth image sequence. A three-dimensional depth perception apparatus with an adjustable working range is implemented based on the method.

Abstract: The present invention discloses a method and apparatus of storage control for depth perception computation. The method comprises: sequentially reading each part of image data for splicing a binarized spliced image according to a preset write mapping rule, the image data being originated from each frame of image in a group of binarized structured-light encoded image sequences; writing, by a read/write controller, the each part that is spliced into a binarized spliced image into a memory for storage, so as to generate a frame of complete binarized spliced image; then, through changing an address mapping, solidifying the generated binarized spliced image at a certain position within the memory; when in use, one or more frames of binarized spliced images are read out in sequence as reference encoded images for depth perception computation.

Abstract: A method of depth perception based on binary laser speckle images comprises: read in binary input and reference speckle images (pattern fixed, distance known) to generate input and reference speckle windows, extract an image block of a certain size in the input speckle window, search for the matching block in the matching search window of the reference speckle window, use a method for block-based XOR (exclusive or) similarity calculation to compare and output a minimum similarity value or use a block-based IAD (inclusive and) method to compare and output a maximum similarity value to get the optimal matching block and the optimal offset, and then work out the depth information of the central point of the optimal matching block via a formula for depth calculation. The method not only can be easily implemented in hardware and greatly simplify depth calculation, but can also generate high-resolution and high-precision depth information in a fast and accurate manner.

Abstract: The present invention discloses a depth sensing method, device and system based on symbols array plane structured light. The coded symbols array pattern is projected by the laser pattern projector to the target object or space, and the image sensor collects and obtains the successive sequence of the encoded image of the input symbols. Firstly, the input image encoded with the symbols is decoded. The decoding process includes preprocessing, symbols location, symbols recognition and symbols correction. Secondly, the disparity of the decoded symbols are calculated by the symbols match calculation between the decoded image of the input symbols with completed symbols recognition and the decoded image of the reference symbols with the known distance. Finally the depth calculation formula is combined to generate depth point cloud information of the target object or projection space that is represented in the form of grid.

Abstract: The present invention discloses a method of depth perception based on binary laser speckle images: read in binary input and reference speckle images (pattern fixed, distance known) to generate the input and reference speckle windows, extract an image block of a certain size in the input speckle window, search the matching block in the matching search window of the reference speckle window, then use the method for block XOR similarity calculation to compare and output the minimum similarity value or use the block IAD method to compare and output the maximum similarity value to get the optimal matching block and the optimal offset, then to work out the central point depth information of this image block via the formula for depth calculation. The present invention not only can complete hardware implementation easily, greatly simplify the calculation, also generate high-resolution and high-precision depth information in a fast and accurate manner.

Abstract: The present invention provides a method of binocular depth perception based on active structured light, adopting a coded pattern projector to project a coded pattern for structured light coding of the projective space or target object (characteristic calibration), then obtaining the coded pattern by means of two cameras on the same baseline and respectively located symmetrically on both sides of the coded pattern projector, after preprocessing and projection shadow detection, estimating the block matching movement in two modes based on the image blocks (binocular block matching and automatic matching) to obtain the offset of the optimal matching block, finally working out the depth value according to the formula for depth calculation and compensating the depth of the projection shadows to generate high-resolution and high-precision depth information.

Abstract: In view of the active vision model based on structured light, a hardware structure of a depth perception device (a chip or an IP core) for high-precision images is disclosed. Simultaneously, the module is not only capable of serving as an independent chip, but also an embedded IP core in application. Main principle of the module is as follows. Speckle image sequence (obtained from an external image sensor and unknown depth information) is processed by adaptive and uniform pre-processing sub-module, then is inputted to the module to be compared with the standard speckle image (known depth information), then motion-vector information of the inputted speckle image is obtained by pattern matching of image blocks (similarity calculation) by the block-matching motion estimation sub-module, then depth image is obtained by depth calculation, and finally high-resolution sequence of depth image is outputted by post-processing the depth image.

Abstract: A device for uniformly enhancing images includes a control unit, a lined cache controller, a lined storage array, an average grayscale computing unit, a scaling coefficient computing unit and an enhancement computing unit. For a color image, the color image is firstly transformed in to YUV space from RGB space and a grayscale image of Y component thereof is divided into identical-sized image blocks; then each image block is uniformly processed with a grayscale enhancement. A method for uniformly enhancing images includes firstly designating a reference grayscale value gray_value for grayscale images, comparing the reference grayscale value to an average grayscale value mean_value of a current image block to obtain a scaling coefficient, and multiplying all pixels or specific pixels within the image block by the scaling coefficient. The grayscale enhancement of an image sequence uses an identical grayscale value for reference, so as to accomplish a uniform enhancement of different images.