Hangzhou Hikvision Digital Technology Co., Ltd.

Jingxiong Wang

Shiliang Pu

Hui Mao

Hai Yu

Linjie Shen

A depth measuring method and system applicable to a first binocular camera having a zoom lens is provided. The method includes: obtaining a current depth of a target object (S); determining a focus with which the current depth is measured as a current focus (S); determining, according to the preset correspondence between depth ranges and focuses, a current reference focus corresponding to a current reference depth range; wherein, the current reference depth range is a depth range in which the current depth falls (S); determining whether the current focus is the same as the current reference focus; (S); if the current focus is the same as the current reference focus, determining the current depth as the target depth of the target object (S); or if the current focus is not the same as the current reference focus, adjusting the current focus to the current reference focus, measuring a current depth of the target object with the adjusted current focus (S), and proceeding to the operation (S) of determining, according to preset correspondence between depth ranges and focuses, a current reference focus corresponding to a current reference depth range. An object in various depth ranges is measured with a varying focus. The accuracy of the depth measurement of the target object is thus improved.

Depth measuring method and system

A method for obtaining a combined depth map, and a depth camera. The method is applicable to a processor in the depth camera. The depth camera includes the processor, at least one light emitting element, and at least two time-of-flight (ToF) sensors, and the composite irradiation range of the at least one light emitting element convers the composite field of view of the at least two ToF sensors. The light emitting elements in the depth camera modulate light signals with the same modulation signal and then transmit the modulated light signals; the ToF sensors demodulate, by using same demodulation signal corresponding to the modulation signal, the received modulated light signal reflected back by an object, so as to generate depth data; and the processor performs data fusion processing on all the received depth data, so as to obtain a combined depth map. By applying the technical solutions provided in the embodiments of the present application, the application requirements of the depth map of the large field of view can be satisfied, and the problem of mutual interference due to asynchronization of modulation and demodulation can be avoided.

Method for obtaining combined depth image, and depth camera

Embodiments of the present application disclose a method and a device for synthesizing depth images, which relate to the technical field of image processing. The method includes: obtaining depth images to be synthesized, which are shot by real depth cameras respectively, wherein y-axes of respective camera coordinate systems of the real depth cameras are parallel to each other; calculating a mapping pixel point in a camera coordinate system corresponding to a virtual depth camera for each of pixel points in the depth images to be synthesized, according to pre-obtained pixel point mapping relationship, wherein camera parameters of the virtual depth camera are determined according to camera parameters of the real depth cameras, a lens optical center of the virtual depth camera is located in a connecting line of lens optical centers of the real depth cameras, an x-axis of the camera coordinate system corresponding to the virtual depth camera is parallel to the connecting line of lens optical centers of the real depth cameras; and generating a target synthesized depth image corresponding to the depth images to be synthesized, according to calculated mapping pixel points. By applying the solutions provided by the embodiments of the present application, a depth image with a large field of view can be obtained by image synthesis.

Growing community of inventors

Zhejiang, China

Jingxiong Wang