METHOD AND FUSION SYSTEM OF TIME-OF-FLIGHT CAMERA AND STEREO CAMERA FOR RELIABLE WIDE RANGE DEPTH ACQUISITION

摘要

PURPOSE: A fusion method and system of a time-of-flight (TOF) camera and a stereo camera for the acquisition of the long-distance depth are provided to restore the long-distance depth more than the maximum acquisition distance of the TOF camera by using the maximum distance multiple value by the pixel of depth images even when the camera moves and an object moves independently on a screen. CONSTITUTION: A fusion system receives a depth image photographed by a depth camera and a right color image and a left color image photographed by a stereo camera (312). The fusion system estimates an error value by the pixel of the depth image (314). The fusion system calculates the maximum distance multiple value by the pixel of the depth image (316). The fusion system restores the long-distance depth of the depth image (318). [Reference numerals] (310) Set necessary parameters; (312) Have a depth image, a left color image, and a right color image been received ?; (314) Estimate an error value of the depth image; (316) Calculate the depth image's maximum distance multiple value by pixel; (318) Restore the long-distance depth of the depth image; (320) Analyze the left and right color images; (322) Generate a left disparity image and a right disparity image using a stereo matching method; (324) Correct the restored depth image using the left and right disparity images; (AA) Start; (BB) No; (CC) Yes; (DD) End