Abstract: The present disclosure provides a VCSEL regular lattice-based laser speckle projector, comprising a VCSEL regular light-emitting lattice, a collimator, a diffractive optical element, an X-Y direction driving circuit, and a lattice display control module; multiple frames of different coded patterns are outputted by driving the light-emitting particles on the VCSEL regular light-emitting lattice to thereby implement a time-space labeling to the target object or projection space, and finally three-dimensional depth measurement of the target object is implemented through a depth decoding algorithm. Compared with the traditional structured-light space coding technology, the projector of the present disclosure facilitates implementation of time-space coding, such that a higher precision, robustness, and antijamming capability may be achieved during the process of depth decoding for the three-dimensional measurement.

Abstract: The present disclosure provides an automatic correction method and device for a structured-light 3D depth camera. When the optical axis of a laser encoded pattern projector and the optical axis of an image reception sensor change, an offset of an input encoded image relative to an image block in a reference encoded image is acquired, and then the position of the reference encoded image is oppositely adjusted upwards or downwards according to an offset change to form a self-feedback regulation closed-loop system between the center of the input encoded image and the center of the reference encoded image, so that the optimal matching relation can always be figured out when the optical axes of the input encoded image and the reference encoded image change drastically. Furthermore, depth calculation can be carried out according to the corrected offset.

Abstract: The present disclosure provides a VCSEL regular lattice-based laser speckle projector, comprising a VCSEL regular light-emitting lattice, a collimator, a diffractive optical element, an X-Y direction driving circuit, and a lattice display control module; multiple frames of different coded patterns are outputted by driving the light-emitting particles on the VCSEL regular light-emitting lattice to thereby implement a time-space labeling to the target object or projection space, and finally three-dimensional depth measurement of the target object is implemented through a depth decoding algorithm. Compared with the traditional structured-light space coding technology, the projector of the present disclosure facilitates implementation of time-space coding, such that a higher precision, robustness, and antijamming capability may be achieved during the process of depth decoding for the three-dimensional measurement.

Abstract: The present disclosure provides a time-space coding method and apparatus for generating a structured light coded pattern. Different coded patterns are outputted in time division by driving different light-emitting points based on a regular light-emitting lattice so as to time-space label a target object or a projection space. This method effectively overcomes the limitations of the fact that in the prior art, a plurality of projectors is needed to project different patterns in time division when it is required to project time-space labels of a plurality of patterns. According to the present method, by driving different light-emitting elements on the light-emitting substrate, different coded patterns are formed, and by using a time-division output technology, time-space labeling of an object may be finalized with only one projector. Moreover, this method may significantly improve the accuracy and robustness of three-dimensional depth measurement through time-space coding with a depth decoding algorithm.

Abstract: The present disclosure discloses a method of generating a random coded pattern for coding structured light. According to the method, under a certain distribution rule, coding primitives are added one by one using a random probability distribution map, thereby generating a random coded pattern satisfying a distribution requirement of window uniqueness; the random coded pattern may be used independently as a structured light encoded pattern or may be spliced and expanded from basic image elements as the structured light coded pattern. The structured light coded pattern obtained from the method is projected by a projecting device according to a certain field of angle, which may perform spatial coding and feature calibration to the three-dimensional space or a target object, for depth identification. The present disclosure also discloses an apparatus for generating a random coded pattern for coding structured light.

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.