Patent ID: 9454821
Filing Date: 2016-09-27
CPC Classification: G06K,G06T

Claim Text:
1. A method for depth perception of binary laser speckle images, comprising the following steps of: Step 1: generating an input speckle window and a reference speckle window by reading multi-line speckle data from identical locations of binary input and reference speckle images to form such input and reference speckle windows with N lines; Step 2: in the input speckle window, extracting an input image block block Step 3: calculating a similarity value match_value Step 4: marking locations of all k similarity values match_value Step 5: working out the minimum or maximum value among all k similarity values match_value Step 6: using the optimal offset Δm (Δx or Δy) in the respective X or Y-axis direction, as well as a known distance parameter d in the reference speckle image, a baseline distance S between a laser projector and an image acquisition device, a focal length d of an image sensor and a dot pitch parameter μ of the image sensor to calculate depth information d′ for the central point O of the input speckle image block block