公开(公告)号：US20230370730A1

公开(公告)日：2023-11-16

申请号：US18221662

申请日：2023-07-13

申请人： ORBBEC INC.

发明人： Fuyang LAN ,  Zhaomin WANG ,  Peng YANG ,  Yuanhao HUANG ,  Zhenzhong XIAO

IPC分类号： H04N23/81 ,  H04N23/74

CPC分类号： H04N23/81 ,  H04N23/74

摘要： A method for correcting interference fringes includes: obtaining correction parameter sets of different photographing distances; obtaining a to-be-corrected image and calculating an average depth value of the to-be-corrected image; selecting a target correction parameter set corresponding to the average depth value from the correction parameter sets of different photographing distances; and correcting first pixel values of to-be-corrected pixels at the different coordinate positions in the to-be-corrected image according to different target correction parameters corresponding to the different coordinate positions in the target correction parameter set, to obtain a corrected image. Each of the correction parameter sets includes different correction parameters corresponding to different coordinate positions. The average depth value includes an average value of depth values corresponding to a plurality of to-be-corrected pixels in the to-be-corrected image.

公开(公告)号：US20230325979A1

公开(公告)日：2023-10-12

申请号：US18209696

申请日：2023-06-14

申请人： ORBBEC INC.

发明人： Fuyang LAN ,  Peng YANG ,  Zhaomin WANG ,  Yuanhao HUANG ,  Zhenzhong XIAO

IPC分类号： G06T5/00 ,  G06T7/50 ,  H04N23/56 ,  H04N23/81 ,  G06T5/50

CPC分类号： G06T5/001 ,  G06T7/50 ,  G06T5/50 ,  H04N23/81 ,  H04N23/56

摘要： A method for correcting interference fringes includes: obtaining interference fringe images with different photographing distances; obtaining a to-be-corrected image including to-be-corrected pixels, and calculating a depth value of each to-be-corrected pixel in the to-be-corrected image; selecting, from the interference fringe images with different photographing distances, an interference fringe image corresponding to the depth value of each to-be-corrected pixel as a target interference fringe image; extracting first pixel values of target coordinate positions in the target interference fringe image; and correcting second pixel values of to-be-corrected pixels according to the first pixel values corresponding to the to-be-corrected pixels to obtain a corrected image.

公开(公告)号：US20210185298A1

公开(公告)日：2021-06-17

申请号：US17153275

申请日：2021-01-20

申请人： ORBBEC INC.

发明人： Zhenzhong XIAO ,  Xing XU ,  Xu CHEN

IPC分类号： H04N13/254 ,  G02B27/30 ,  G02B27/42 ,  G02B27/48 ,  H01S5/42 ,  H01S5/042 ,  G06T17/00

摘要： The present disclosure provides a structured light projection module comprising: a Vertical-Cavity Surface-Emitting Laser (VCSEL) array light source that includes a semiconductor substrate and at least two VCSEL sub-arrays arranged thereon. The at least two VCSEL sub-arrays include VCSEL light sources. The structured light projection module further includes a diffractive optical element (DOE) that includes at least two DOE sub-units. The DOE sub-units are respectively corresponding to the VCSEL sub-arrays and configured to project multiple copies of light beams emitted by the corresponding at least two VCSEL sub-arrays.

公开(公告)号：US20230305150A1

公开(公告)日：2023-09-28

申请号：US18202498

申请日：2023-05-26

申请人： ORBBEC INC.

发明人： Xuan MA ,  Zhaomin WANG ,  Xing ZHOU ,  Liang ZHU ,  Jian SU ,  Ran HE ,  Yuanhao HUANG ,  Zhenzhong XIAO

IPC分类号： G01S17/10 ,  G01S7/481 ,  G01S7/497 ,  G01S7/4865

CPC分类号： G01S17/10 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4865 ,  G01S7/497

摘要： A method for search of light spot positions, includes the following steps: calibrating spatial template distribution of light spots in an object space of a distance measurement system and spatial emission angle factors of the light spots; calculating coordinates of offset light spots on a pixel unit of a collector after impact deformation occurs in the distance measurement system, and obtaining serial numbers of the offset light spots; and according to the coordinates of the offset light spots on the pixel unit of the collector and the serial numbers, calibrating the distance measurement system after the impact deformation occurs to obtain new spatial emission angle factors, and completing the search of light spot positions.

公开(公告)号：US20220414905A1

公开(公告)日：2022-12-29

申请号：US17900105

申请日：2022-08-31

申请人： ORBBEC INC.

发明人： Yuanhao HUANG ,  Zhenzhong XIAO ,  Lianghong ZHONG ,  Xiaolu MEI ,  Xing XU ,  Xu CHEN

IPC分类号： G06T7/50 ,  G06T7/90 ,  G06T7/00

摘要： A depth calculation processor includes: an input port, configured to receive image data from an image sensor; a demultiplexer, connected to the input port, and configured to demultiplex the image data from the input port and output first image data into a first line and second image data into a second line; a grayscale image engine, configured to process the first image data from the first line to generate processed first image data; a depth image engine, configured to receive the second image data from the second line, and calculate depth image data based on the second image data; a multiplexer, configured to output the processed first image data from the grayscale image engine and the depth image data from the depth image engine; and an output port, configured to output the processed first image data and the depth image data from the multiplexer.

公开(公告)号：US20220299314A1

公开(公告)日：2022-09-22

申请号：US17830010

申请日：2022-06-01

申请人： ORBBEC INC.

发明人： Yuhua XU ,  Zhenzhong XIAO ,  Bin XU ,  Yushan YU

IPC分类号： G01B11/22 ,  G01B11/25 ,  G06T7/593

摘要： The specification provides a depth imaging method and device and a computer-readable storage medium. The method includes: controlling an emission module comprising a light emitting device to emit at least two speckle patterns that change temporally to a target object; controlling an acquisition module comprising a light sensor to acquire reflected speckle patterns of the at least two speckle patterns reflected by the target object; and performing spatial-temporal stereo matching by using the reflected speckle patterns and the at least two reference speckle patterns, to calculate offsets of pixel points between speckles of the at least two reference speckle patterns and speckles of the reflected speckle patterns, and calculating depth values of the pixel points according to the offsets.

公开(公告)号：US20210264627A1

公开(公告)日：2021-08-26

申请号：US17320055

申请日：2021-05-13

申请人： Orbbec Inc.

发明人： Xing XU ,  Zhenzhong XIAO ,  Xiaolu MEI ,  Sheng XU ,  Yuanhao HUANG ,  Xu CHEN

IPC分类号： G06T7/521 ,  G06K9/00

摘要： A depth calculation processor, a data processing method, and a 3D image device are disclosed herein. The depth calculation processor includes: at least two input ports configured to receive a first image data, wherein the first image data comprises at least a structured light image acquired under projection of a structured light; a data processing engine configured to perform a calculation process on the first image data to output a second image data, wherein the second image data comprises at least a depth map, wherein the data processing engine comprises at least a depth processing engine configured to perform a depth calculation process on the structured light image to obtain the depth map; and at least an output port coupled to the data processing engine and configured to output the second image data to a host device.