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1. 发明申请

US20180347967A1 METHOD AND APPARATUS FOR GENERATING A RANDOM CODING PATTERN FOR CODING STRUCTURED LIGHT 审中-公开
公开(公告)号：US20180347967A1
公开(公告)日：2018-12-06
申请号：US15664258
申请日：2017-07-31
申请人： RGBDsense Information Technology Ltd.
发明人： Chenyang GE , Huimin Yao , Yanhui ZHOU
IPC分类号： G01B11/22 , H04N13/02 , G06K9/48 , G06F17/18
摘要： 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. The random coded pattern generated by the method or apparatus of the present disclosure has a high randomness and supports a plurality of coding primitives of different shape sizes, such that the identification issues of monocular, binocular or multi-view matching during a depth decoding process may be solved.

2. 发明授权

US10194138B2 Structured light encoding-based vertical depth perception apparatus 有权
公开(公告)号：US10194138B2
公开(公告)日：2019-01-29
申请号：US15174247
申请日：2016-06-06
申请人： RGBDsense Information Technology Ltd.
发明人： Yanhui Zhou , Chenyang Ge
IPC分类号： H04N13/271 , H04N13/106 , H04N13/257 , H04N13/254
摘要： 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. The apparatus according to the present invention may not only generate high-resolution and high-precision depth information in real-time, and but also solve the cavity issue existing at the horizontal direction edge of the to-be-measured object when a horizontal depth perception device performs a depth measurement; besides, it facilitates uniform extraction of the depth map sequence and the to-be-measured object in the RGB video stream.

3. 发明授权

US09888257B2 Method and apparatus of storage control for depth perception computation 有权
公开(公告)号：US09888257B2
公开(公告)日：2018-02-06
申请号：US15171509
申请日：2016-06-02
申请人： RGBDsense Information Technology Ltd.
发明人： Chenyang Ge , Yanhui Zhou
IPC分类号： H04N19/597 , G06T7/521
CPC分类号： H04N19/597 , G06T7/521
摘要： 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. Meanwhile, based on a corresponding method function, an apparatus of storage control for depth sensing computation; by module partition, it facilitates application management, optimizes the hardware-implemented depth sensing computation structure and area, and enhances the computation speed.

4. 发明申请

US20160178355A1 DEPTH SENSING METHOD, DEVICE AND SYSTEM BASED ON SYMBOLS ARRAY PLANE STRUCTURED LIGHT 有权
标题翻译：深度感测方法，装置和系统基于符号阵列结构光
公开(公告)号：US20160178355A1
公开(公告)日：2016-06-23
申请号：US14807433
申请日：2015-07-23
申请人： RGBDsense Information Technology Ltd.
发明人： Chenyang GE , Yanhui ZHOU
IPC分类号： G01B11/22 , G06K9/52 , G06T7/00 , H04N19/44 , G01B11/25 , G06K9/62
CPC分类号： G01B11/22 , A61B5/0062 , A61B5/1077 , G01B11/00 , G01B11/25 , G01B11/2513 , G01B11/2518 , G01B11/254 , G01B11/26 , G01S17/06 , G06K9/2036 , G06K9/6203 , G06K2009/2045 , G06T7/50 , G06T7/521 , G06T7/593 , G06T2207/10028 , H04N13/254 , H04N19/597
摘要： 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. The present invention can quickly obtain high-resolution and high-precision depth information of the target object or projection space in dynamic scenes, which facilitates the porting or insertion as a module into the intelligent device for 3D modeling, 3D mapping, etc.
摘要翻译：本发明公开了一种基于符号阵列平面结构光的深度感测方法，装置和系统。编码符号阵列图案由激光图案投影仪投射到目标物体或空间，图像传感器收集并获得输入符号的编码图像的连续序列。首先，用符号编码的输入图像被解码。解码过程包括预处理，符号位置，符号识别和符号校正。其次，通过在具有完成符号识别的输入符号的解码图像与具有已知距离的参考符号的解码图像之间的符号匹配计算来计算解码符号的差异。最后，结合深度计算公式，生成以网格形式表示的目标对象或投影空间的深度点云信息。本发明可以快速获得动态场景中目标对象或投影空间的高分辨率和高精度深度信息，便于将模块插入或插入智能设备进行3D建模，3D绘图等。

5. 发明授权

US09829309B2 Depth sensing method, device and system based on symbols array plane structured light 有权
公开(公告)号：US09829309B2
公开(公告)日：2017-11-28
申请号：US14807433
申请日：2015-07-23
申请人： RGBDsense Information Technology Ltd.
发明人： Chenyang Ge , Yanhui Zhou
IPC分类号： G01B11/00 , G01B11/22 , G01B11/25 , G01B11/26 , G06T7/50 , G06T7/521 , G06T7/593 , G06K9/20 , G01S17/06 , H04N13/02 , H04N19/597 , G06K9/62 , A61B5/00 , A61B5/107
CPC分类号： G01B11/22 , A61B5/0062 , A61B5/1077 , G01B11/00 , G01B11/25 , G01B11/2513 , G01B11/2518 , G01B11/254 , G01B11/26 , G01S17/06 , G06K9/2036 , G06K9/6203 , G06K2009/2045 , G06T7/50 , G06T7/521 , G06T7/593 , G06T2207/10028 , H04N13/254 , H04N19/597
摘要： 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. The present invention can quickly obtain high-resolution and high-precision depth information of the target object or projection space in dynamic scenes, which facilitates the porting or insertion as a module into the intelligent device for 3D modeling, 3D mapping, etc.

6. 发明申请

US20170054966A1 STRUCTURED LIGHT ENCODING-BASED VERTICAL DEPTH PERCEPTION APPARATUS 审中-公开
标题翻译：结构光编码垂直深度感知装置
公开(公告)号：US20170054966A1
公开(公告)日：2017-02-23
申请号：US15174247
申请日：2016-06-06
申请人： RGBDsense Information Technology Ltd.
发明人： Yanhui ZHOU , Chenyang GE
IPC分类号： H04N13/02 , H04N13/00 , G06K9/00 , H04N5/33
CPC分类号： H04N13/271 , H04N13/106 , H04N13/254 , H04N13/257
摘要： 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. The apparatus according to the present invention may not only generate high-resolution and high-precision depth information in real-time, and but also solve the cavity issue existing at the horizontal direction edge of the to-be-measured object when a horizontal depth perception device performs a depth measurement; besides, it facilitates uniform extraction of the depth map sequence and the to-be-measured object in the RGB video stream.
摘要翻译：本发明公开了一种基于结构的光编码垂直深度感知装置，该装置包括：激光图案投影仪，红外接收相机，RGB接收相机和深度感知模块; 激光图案投影仪，RGB接收照相机和红外线接收照相机沿垂直于水平面的直线设置; 激光图案投影仪用于投影激光编码图案; 红外接收摄像机用于连续获取编码图案并产生输入编码图像序列; RGB接收相机用于获取RGB视频流; 并且深度感知模块用于生成深度图序列。根据本发明的装置可以不仅实时生成高分辨率和高精度的深度信息，而且还可以解决当待测物体的水平方向边缘存在的空腔问题时，水平深度感知装置进行深度测量; 此外，它有助于均匀提取RGB视频流中的深度图序列和被测对象。

7. 发明申请

US20160373719A1 METHOD AND APPARATUS OF STORAGE CONTROL FOR DEPTH PERCEPTION COMPUTATION 有权
标题翻译：深度感知计算的存储控制方法与装置
公开(公告)号：US20160373719A1
公开(公告)日：2016-12-22
申请号：US15171509
申请日：2016-06-02
申请人： RGBDsense Information Technology Ltd.
发明人： Chenyang GE , Yanhui ZHOU
IPC分类号： H04N13/00 , H04N13/04
CPC分类号： H04N19/597 , G06T7/521
摘要： 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. Meanwhile, based on a corresponding method function, an apparatus of storage control for depth sensing computation; by module partition, it facilitates application management, optimizes the hardware-implemented depth sensing computation structure and area, and enhances the computation speed.
摘要翻译：本发明公开了一种用于深度感知计算的存储控制方法和装置。该方法包括：根据预设的写入映射规则顺序地读取图像数据的每一部分，用于拼接二值化拼接图像，该图像数据源于一组二进制化结构光编码图像序列中的每帧图像; 通过读/写控制器将拼接成二值化拼接图像的每个部分写入存储器中以进行存储，以便生成完整二值化拼接图像的帧; 然后，通过改变地址映射，在存储器内的特定位置处固化所生成的二值化拼接图像; 当使用时，一个或多个二进制拼接图像帧被依次读出作为用于深度感知计算的参考编码图像。同时，基于相应的方法功能，用于深度感测计算的存储控制装置; 通过模块分区，便于应用管理，优化硬件实现的深度感知计算结构和面积，提高计算速度。

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