CPC G06T 5/50 (2013.01) [G01S 17/48 (2013.01); G01S 17/86 (2020.01); G01S 17/894 (2020.01); G06T 7/30 (2017.01); G06T 7/521 (2017.01); H04N 23/56 (2023.01); G06T 2207/10024 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20221 (2013.01)] | 20 Claims |
1. An apparatus for acquiring a depth image, comprising:
an emitting module configured to emit a speckle array to an object, wherein the speckle array comprises p number of mutually spaced apart speckles;
a receiving module comprising an image sensor, the image sensor comprising a sensor array, the sensor array comprising m*n pixel units, wherein each of the pixel units comprises a Complementary Metal Oxide Semiconductor (CMOS) photodiode and a photoelectric signal reading circuit, the photodiode is configured to receive the speckle array reflected by the object, and generate a corresponding photocurrent signal based on the speckle array, a current intensity indicated by the photocurrent signal is positively correlated with a light intensity of light beam irradiation received by the photodiode, and the photoelectric signal reading circuit is configured to read the photocurrent signal and output a corresponding pixel signal; and
a processing unit configured to receive the pixel signal and generate a sparse depth image based on the pixel signal, the p speckles indicating a resolution of the sparse depth image, wherein the processing unit is further configured to align an RGB image having a resolution of a*b with the sparse depth image, and fuse the aligned sparse depth image with the RGB image using a pre-trained image fusion model to obtain a dense depth image, wherein the RGB image is a two-dimensional image acquired by an RGB camera with a and b being numbers of pixels in the two dimensions of the RGB image respectively, and the dense depth image has a resolution of a*b.
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