US 10,944,956 B2
Image calibration method and apparatus applied to three-dimensional camera
Yupeng Jian, Guangdong (CN)
Assigned to AUTEL ROBOTICS CO., LTD., Guangdong (CN)
Filed by AUTEL ROBOTICS CO., LTD., Guangdong (CN)
Filed on Jan. 10, 2020, as Appl. No. 16/740,152.
Application 16/740,152 is a continuation of application No. PCT/CN2018/083761, filed on Apr. 19, 2018.
Claims priority of application No. 201710561888.X (CN), filed on Jul. 11, 2017.
Prior Publication US 2020/0267373 A1, Aug. 20, 2020
Int. Cl. H04N 13/246 (2018.01); H04N 13/271 (2018.01)
CPC H04N 13/246 (2018.05) [H04N 13/271 (2018.05)] 9 Claims
OG exemplary drawing
 
1. An image calibration method applied to a three-dimensional camera, wherein the method comprises:
photographing, by an image calibration apparatus, a to-be-tested object by using the three-dimensional camera, obtaining an image of the to-be-tested object in a photosensitive area of the three-dimensional camera, and determining a pixel point corresponding to the to-be-tested object in the photosensitive area according to the image of the to-be-tested object;
obtaining, by the image calibration apparatus, for the pixel point corresponding to the to-be-tested object, depth information corresponding to the pixel point, the depth information indicating a distance between the to-be-tested object and the pixel point; and
obtaining, by the image calibration apparatus a measurement deviation value corresponding to the pixel point from a measurement deviation set stored in advance, and correcting the depth information according to the measurement deviation value;
wherein before the obtaining a measurement deviation value corresponding to the pixel point from a measurement deviation set stored in advance, and correcting the depth information according to the measurement deviation value, the method further comprises;
selecting, by the image calibration apparatus, a reference area from the photosensitive area, and calculating an average reference phase difference according to a reference phase difference corresponding to each reference pixel point in the reference area, the reference phase difference indicating a reference distance between a preset reflective surface and the reference pixel point;
calculating by the image calibration apparatus, according to t distance between a target pixel point in the photosensitive area and the reset reflective surface, a target phase difference corresponding to the target pixel point, the target pixel point being any pixel point among all pixel points in the photosensitive area;
comparing, the image calibration apparatus, the obtained target phase difference with the average reference phase difference to obtain a measurement deviation value corresponding to the target pixel point; and
storing, by the image calibration apparatus, the measurement deviation value corresponding to the target pixel point into the measurement deviation set.