ONE METHOD OF BINOCULAR DEPTH PERCEPTION BASED ON ACTIVE STRUCTURED LIGHT

摘要

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.