CN108701232A - Method and device for three-dimensional mapping of target, identification device and electronic equipment - Google Patents

Abstract

This application discloses a method and device for 3D mapping of a target, an identity recognition device, and an electronic device. The method for 3D mapping a target includes: using a light source projection device to project a dot pattern onto the target, wherein the dot pattern is arranged in a grid; capturing an image of the dot pattern on the target; and processing the captured image of the dot pattern to derive a 3D image of the target using an image sensing device. Implementing this application helps reduce the computational complexity of 3D image mapping, thereby reducing the cost of 3D image mapping.

Description

Method and device for three-dimensional mapping of target, identification device and electronic equipment

technical field

The present application relates to a method and an apparatus for mapping a three-dimensional (Three-Dimension, 3D) object, and an identification device and an electronic device including an apparatus for 3D mapping of an object.

Background technique

At present, there are more and more fields of 3D image sensing applications, such as automobiles, aviation, molds, medical care, smart terminals, drones, robots and other fields. However, the current 3D mapping methods are more complicated and the cost remains high. It is not conducive to its rapid popularization in industrialization.

Contents of the invention

In view of this, the present application aims to provide a method and device for 3D mapping of objects, an identification device and electronic equipment, so as to reduce the calculation amount of 3D mapping and reduce the cost of 3D mapping.

Specifically, in one aspect, the present application provides a method for 3D mapping of a target, including: projecting a dot matrix pattern to the target using a light source projection device, wherein the dot matrix patterns are arranged in a grid; capturing the an image of the dot pattern on the target; and processing the captured image of the dot pattern to derive a 3D map of the target image sensing means.

In some implementations, each mesh only has spots on each side.

In some embodiments, the grid is square.

In some embodiments, each side of each grid of the lattice pattern has at least three light spots.

In some embodiments, each grid of the lattice pattern has three, four, or five light spots on each side.

In some embodiments, the length of each side of each grid of the lattice pattern is 7 mm.

In some embodiments, the diameter of the light spot is 1 mm.

In some embodiments, the projection range of the dot matrix pattern by the light source projection device is 40 cm.

In some embodiments, the method for 3D mapping of an object uses the light source projecting device to project a dot pattern of infrared light onto the object.

In another aspect, the present application provides a device for 3D mapping of a target, including: a light source projection device for projecting a dot matrix pattern to the target, wherein the dot matrix pattern is arranged in a grid; an image sensing device for capturing an image of the dot pattern on the target; and a processor for processing the captured image of the dot pattern to derive a 3D map of the target.

In some implementations, each mesh only has spots on each side.

In some embodiments, the grid is square.

In some embodiments, each side of each grid of the lattice pattern has at least three light spots.

In some embodiments, each grid of the lattice pattern has three, four, or five light spots on each side.

In some embodiments, the length of each side of each grid of the lattice pattern is 7 mm.

In some embodiments, the diameter of the light spot is 1 mm.

In some embodiments, the projection range of the dot matrix pattern by the light source projection device is 40 cm.

In some embodiments, the light source projecting device is used to project an infrared light dot matrix pattern to the target.

In yet another aspect, the present application provides an identification device, including an identification module and the above-mentioned device for 3D mapping of objects; the identification module is used for identification according to the 3D map of the object derived by the device.

In some embodiments, the identification device includes a facial recognition device.

In yet another aspect, the present application provides an electronic device, including the above-mentioned apparatus for 3D mapping of a target.

Since the 3D mapping method of the present application and the dot matrix pattern projected to the target by the device are arranged in a grid, only light spots are set on each side of the grid, so the number of projected light spots is relatively small, but based on this The three-dimensional sensing of the grid-arranged dot matrix pattern can not only meet the judgment accuracy requirements of 3D recognition, but also can be realized through the optical system. Compared with the traditional method for 3D mapping of targets, it is beneficial to reduce the cost of 3D mapping and recognition The amount of calculation is beneficial to reduce the cost of 3D mapping and recognition.

Other characteristic features and advantages of the present application will become apparent from the following description of exemplary embodiments read with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate the embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numerals are used to denote like elements. The drawings in the following description are some embodiments of the present application, but not all embodiments. Those skilled in the art can obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a flow chart of a method for 3D mapping of a target provided in the first embodiment of the present application;

FIG. 2 is a dot matrix pattern provided by the second embodiment of the present application;

FIG. 3 is another dot matrix pattern provided by the third embodiment of the present application;

FIG. 4 is a structural block diagram of an apparatus for 3D mapping of a target provided in a fourth embodiment of the present application;

FIG. 5 is a structural block diagram of an identification device provided in a fifth embodiment of the present application;

FIG. 6 is a schematic structural diagram of an electronic device provided by a sixth embodiment of the present application.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined arbitrarily with each other.

The following disclosure provides many different implementations or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, components and settings of specific examples are described below. Of course, they are examples only and are not intended to limit the application. Furthermore, the present application may repeat reference numerals and/or reference letters in various instances, such repetition is for the purpose of simplicity and clarity and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed.

Furthermore, the described features and structures may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of embodiments of the present application. However, those skilled in the art should appreciate that the technical solutions of the present application can also be practiced without one or more of the specific details, or with other structures, components, and the like. In other instances, well-known structures or operations are not shown or described in detail to avoid obscuring the application.

The method for 3D mapping of objects involved in the implementation of the present application will be described in detail below with reference to the accompanying drawings.

Embodiment one, two and three

Referring to Fig. 1, a method for 3D mapping of a target provided by an embodiment of the present application includes:

Step 101: Use a light source projecting device to project a dot matrix pattern to a target, wherein the dot matrix patterns are arranged in a grid.

Specifically, each grid in the lattice pattern only has light spots on each side, and there is no light spot inside the grid. The shape of the grid can be set according to actual needs, and in the embodiment of the present application, the shape of the grid is preferably a square. Certainly, alternatively, the shape of the grid may also be other suitable shapes, for example, a rectangle.

Step 103: Capture an image of the dot matrix pattern on the target.

During specific operations, step 103 can be performed by an image sensing device, which can be set on the return path of light projected on the target, that is, the dot matrix pattern projected by the light source projection device is reflected back after being irradiated on the target, and the reflected light captured by the image sensing device. If the projection target is a plane, the image acquired by the image sensing device is only a linear increase of the dot matrix pattern. If the projection target is a three-dimensional object, that is, a 3D target object, the image acquired by the image sensing device will be distorted to varying degrees. Warp strength and position are strongly correlated with physical volumetric spatial information, but do not conform to linear transformations.

Step 105: Process the captured image of the lattice pattern, so as to derive a 3D map of the target.

During specific operations, for example, each side of each grid of the lattice pattern has at least three light spots. As shown in FIG. 2, each side of each grid of the lattice pattern has three light spots. Of course, the number of light spots on each side of each grid can also be set according to actual needs, for example, each side of each grid can have four light spots. As shown in FIG. 3 , there are five light spots on each side of each grid of the lattice pattern. The specific parameters can be set according to actual needs, such as at least one of the following settings: the length of each side of each grid of the grid pattern is 7mm; the diameter of the spot is 1mm; and the projection of the light source projection device The range of the dot matrix pattern is 40cm. It can be understood that the settings of the various parameters above are only for illustration and should not be interpreted as limiting.

A processor is utilized to process the captured image of the dot pattern to derive a 3D map of the object. In an example, for example, the horizontal and vertical coordinates and intensity information can be obtained according to the image of the captured dot matrix pattern, and the depth information on the target can be obtained through further calculation based on the intensity information, so as to combine the horizontal and vertical coordinates to obtain a 3D map of the target.

In this embodiment, a grid-shaped dot matrix pattern is projected by a light source projection device, that is, each grid of the dot matrix pattern has only light spots on each side, and the dot matrix pattern is projected onto the target and captured by the image sensing device. The dot matrix pattern reflected back by the target is then processed to obtain the image of the dot matrix pattern, thereby deriving the 3D map of the target.

Since the dot matrix pattern projected to the target in the 3D mapping method of the present application is arranged in a grid, only light spots are set on each side of the grid, therefore, the number of projected light spots is relatively small, but based on the dot matrix pattern The 3D sensing can not only meet the judgment accuracy requirements of 3D mapping and later recognition, but also can be realized through the optical system. Therefore, the 3D mapping method of the present application is beneficial to reduce the calculation amount of 3D mapping, thereby helping to reduce the 3D The cost of mapping.

Embodiment four

An apparatus 400 for 3D mapping of objects provided in the embodiment of the present application, the method shown in FIG. 1 and the explanation of the dot matrix diagrams in FIG. 2 and FIG. 3 can be applied to this embodiment. This embodiment is Apparatus corresponding to the method shown in Figure 1. As shown in FIG. 4, the device 400 for 3D mapping of a target may include:

A light source projecting device 401, configured to project a dot matrix pattern to a target, wherein the dot matrix pattern is arranged in a grid;

Image sensing device 403, for capturing the image of the dot pattern on the target; and

The processor 405 is configured to process the captured image of the dot matrix pattern, so as to derive a 3D image of the target.

The dot matrix pattern projected by the light source projection device 401 is, for example, infrared structured light.

Correspondingly, the image sensing device 403 is, for example, an infrared image sensing device.

The processor 405 processes the image generated by the image sensing device 403 to derive a 3D map of the object. Wherein the 3D map refers to the 3D coordinate set of the target surface in this application.

In an example, the processor 405 can obtain the horizontal and vertical coordinates and intensity information according to the image generated by the image sensing device 403, and further calculate and obtain the depth information on the target object according to the intensity information, so as to combine the horizontal and vertical coordinates to obtain a 3D image of the target .

The processor 405 may include a general computer processor, and the processor executes software to realize corresponding functions. The software can be stored in the processor 405 by downloading, or stored on a computer-readable medium, and then be read and executed by the processor 405 .

During specific operation, each grid only has light spots on each side, and the grid is preferably a square, for example. Each side of each grid of the lattice pattern may have at least three light spots. As shown in FIG. 2, each side of each grid of the lattice pattern has three light spots. It can also be set to four spots according to actual needs. Alternatively, as shown in FIG. 3, each grid of the dot matrix pattern has five light spots on each side. Of course, the number of light spots on each side of each grid can also be set according to actual needs.

Specifically, the length of each side of each grid of the grid pattern is 7mm; the diameter of the light spot is 1mm; or/and, the range of the dot matrix image projected by the light source projection device 401 is 40cm. It can be understood that the settings of the various parameters above are only for illustration and should not be interpreted as limiting.

It can be understood that the light source projection device 401 , the image sensing device 403 and the processor 405 may be integrated or separately configured.

In this embodiment, the light source projection device 401 projects a dot matrix pattern arranged in a grid, that is, each grid of the dot matrix pattern has only light spots on each side, and the dot matrix pattern is projected onto the target, and the image sensing device 403 acquires the image of the dot matrix pattern on the target, and then the processor 405 processes the captured image of the dot matrix pattern, so as to derive the 3D image of the target.

Since the dot matrix pattern projected to the target by the 3D mapping device 400 of the present application is arranged in a grid, only light spots are set on each side of the grid, so the number of projected light spots is relatively small, but based on the dot matrix The 3D sensing of the pattern can not only meet the judgment accuracy requirements of 3D mapping and later recognition, but also can be realized through the optical system. Therefore, the 3D mapping device 400 for the target of the present application is beneficial to reduce the calculation amount of 3D mapping, This is advantageous in reducing the cost of 3D mapping.

Embodiment five

An identity recognition device 500 provided in the embodiment of the present application, the method shown in Figure 1, the dot matrix diagrams in Figures 2 and 3, and the explanation of the device 400 for 3D mapping of objects shown in It can be applied to this embodiment. As specifically shown in FIG. 5 , the identity recognition device 500 includes a recognition module 501 and a device 400 for 3D mapping of objects. The recognition module 501 is used for performing identity recognition according to the 3D image of the target derived by the apparatus 400 .

Specifically, the identification module 501, for example, compares and matches the 3D image of the object derived by the device 400 with the pre-stored 3D image. If the match is successful, it confirms that the identity of the object is legal and the identity authentication is successful; otherwise, the identity authentication is successful. fail.

The pre-stored 3D is, for example, stored in a memory.

Since the identification device 500 has the corresponding technical features and technical effects of the method for 3D mapping of objects and the device 400 , details are not repeated here.

Embodiment six

An electronic device 600 provided in the embodiment of the present application includes the method shown in FIG. 1, the dot matrix diagrams in FIG. 2 and FIG. The explanations of the identification device 500 shown above can be applied to this embodiment. As specifically shown in FIG. 6 , the electronic device 600 includes an identification device 500 .

The electronic device 600 determines whether to execute a corresponding function according to the identification result of the identification device 500 . The corresponding functions include, for example but not limited to, any one or more of unlocking, payment, and starting a pre-stored application program.

The electronic device 600 is, for example but not limited to, suitable types of electronic products such as consumer electronic products, household electronic products, vehicle-mounted electronic products, and financial terminal products. Among them, consumer electronic products are, for example but not limited to, mobile phones, tablet computers, notebook computers, desktop monitors, all-in-one computers, and the like. Household electronic products include but are not limited to smart door locks, TVs, refrigerators, wearable devices, etc. Vehicle-mounted electronic products are, for example but not limited to, vehicle-mounted navigators, vehicle-mounted DVDs, and the like. Financial terminal products are, for example but not limited to, ATM machines, terminals for self-service business, and the like.

In this embodiment, description is made by taking the electronic device 600 as a mobile phone as an example. The mobile phone is, for example, a full-screen mobile phone, and the identification device 500 is, for example, arranged on the front top of the mobile phone. Of course, the mobile phone is not limited to a full-screen mobile phone.

For example, when the user needs to start and unlock the phone, lifting the phone or touching the screen of the phone can wake up the identification device 500 . When the identity recognition device 500 is woken up and recognizes that the user in front of the mobile phone is a legitimate user, the screen is unlocked.

Of course, alternatively, the identification device 500 in the electronic device 600 may also be replaced by the device 400 for 3D mapping of the target.

Compared with the prior art, since the device 400 for 3D mapping of objects in this application is beneficial to reduce the amount of calculations for 3D mapping, thereby helping to reduce the cost of 3D mapping, therefore, the identification device 500, electronic The cost of device 600 is low.

In the description of this specification, descriptions referring to the terms "one embodiment", "certain embodiments", "exemplary embodiments", "example", "specific examples", or "some examples" are meant to be combined with The specific features, structures, materials, or characteristics described in the above embodiments or examples are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The content described above can be implemented alone or combined in various ways, and these variants are all within the protection scope of the present application.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: they can still modify the technical solutions described in the aforementioned embodiments, or perform equivalent replacements for some of the technical features; and these The modification or replacement does not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims (21)

1. A method for 3D mapping of a target, comprising: using a light source projecting device to project a dot matrix pattern to a target, wherein the dot matrix pattern is arranged in a grid; capturing an image of the dot pattern on the target; and The captured image of the lattice pattern is processed to derive a 3D map of the target. 2. The method of claim 1, wherein each grid only has light spots on each side. 3. The method of claim 1, wherein the grid is square. 4. The method according to claim 2, wherein each side of each grid of the dot matrix pattern has at least three light spots. 5. The method according to claim 4, wherein each side of each grid of the dot matrix pattern has three, four, or five light spots. 6. The method according to any one of claims 1-5, wherein the length of each side of each grid of the dot matrix pattern is 7mm. 7. The method according to any one of claims 1-5, wherein the diameter of the light spot is 1 mm. 8. The method according to any one of claims 1-5, characterized in that the range of the dot matrix pattern projected by the light source projection device is 40 cm. 9. The method according to any one of claims 1-5, wherein the light source projecting device is used to project an infrared light dot matrix pattern to the target. 10. A device for 3D mapping of a target, comprising: A light source projecting device for projecting a dot matrix pattern to a target, wherein the dot matrix pattern is arranged in a grid; an image sensing device for capturing an image of the dot pattern on the target; and a processor for processing the captured image of the dot matrix to derive a 3D map of the target. 11. The device according to claim 10, wherein each grid only has light spots on each side. 12. The apparatus of claim 10, wherein the grid is square. 13. The device according to claim 12, wherein each side of each grid of the dot matrix pattern has at least three light spots. 14. The device according to claim 13, wherein each side of each grid of the dot matrix pattern has three, four, or five light spots. 15. The device according to any one of claims 10-14, wherein the length of each side of each grid of the dot matrix pattern is 7mm. 16. The device according to any one of claims 10-14, wherein the diameter of the light spot is 1 mm. 17. The device according to any one of claims 10-14, wherein the light source projection device projects a dot matrix image with a range of 40 cm. 18. The device according to any one of claims 10-14, wherein the light source projecting device is used to project an infrared light dot matrix pattern to the target. 19. An identification device, characterized by comprising an identification module and the device according to any one of claims 10-18 above; the identification module is used for identification according to the 3D image of the target derived by the device. 20. The identification device according to claim 19, wherein the identification device comprises a facial recognition device. 21. An electronic device, comprising the device for 3D mapping of an object according to any one of claims 10-18 above or the identification device according to claim 19 or 20 above.