Patent ID: 9030529
Filing Date: 2015-05-12
Classification: G01B,G06T,H04N

Abstract:
1. A depth image acquiring device, comprising: at least one projecting device, for projecting a projection pattern to an object, wherein the projecting device serves as a virtual image sensing device, and an inherent image of the projection pattern serves as a virtual image; a first and a second image sensing device, for sensing the projection pattern projected to the object respectively, to generate a first real image and a second real image; and an image processing unit, coupled to the projecting device and the first and the second image sensing device, wherein the image processing unit matches pixels in the first real image with those in the second real image respectively, to obtain a first matched image, and matches the pixels in the first real image with those in the virtual image respectively, to obtain a second matched image; performs match verification by using the first and the second matched image, to output a verified matched image, wherein a pixel in the verified matched image is one of the pixels in the first and the second matched image; and wherein the outputting of each of the matched images further comprises: determining whether the pixel in the first and the second matched image is validly matched; when only one of the pixels in the first and the second matched image is validly matched, outputting a match result of the pixel in the first or the second matched image that is validly matched, and when both of the pixels in the first and the second matched image are not validly matched, outputting a match result of no valid match; when both the pixels in the first and the second matched image are validly matched, verifying whether the pixels in the first and the second matched image are identical; and when the pixels in the first and the second matched image are identical, outputting any one of match results of the pixels in the first and the second matched image, and if not, outputting a match result of no valid match; generates a disparity image according to values of pixels in the first real image and pixels in the verified matched image, and calculates a corresponding depth value according to the disparity image, so as to generate a depth image.