Patent Document ID: 9888257
Application ID: 15171509
Patent Status: 1

Claim One:
1. A method of storage control for depth perception computation, comprising: sequentially reading each part of image data for splicing a binarized spliced image according to a preset write mapping rule, the image data being originated from each frame of image in a group of binarized structured-light encoded image sequences; writing, by a read/write controller, the each part that is spliced into a binarized spliced image into a memory for storage, so as to generate a frame of complete binarized spliced image; then, through changing an address mapping, solidifying the generated binarized spliced image at a certain position within the memory; wherein, the group of structured-light encoded image sequences are encoded images that are projected by a laser projector onto a projection plane vertical to its optical axis (Z-axis) and consecutively acquired by a camera, the laser projector being parallel to an optical axis of the camera, a baseline distance between the laser projector and the camera being S, a distance of the projection plane from the camera and the laser projector along the optical axis being a known distance d; the binarized spliced image is a kind of reference encoded image for performing block matching disparity computation to images in a structured-light encoded image sequence which are subjected to binarizing processing, and for outputting a disparity graph represented by an offset for depth perception computation; and the depth perception computation derives a corresponding depth value d′ according to a depth computation equation below in conjunction with a camera focal distance f, spot distance μ of the camera image sensor, the baseline distance S between the laser projector and the camera, and an offset parameter Δm (Δx or Δy) of the disparity graph, and the known distance parameter d of the reference encoded image: d ′ = d - Δ ⁢ ⁢ m ⁢ ⁢ μ ⁢ ⁢ d 2 fS + Δ ⁢ ⁢ m ⁢ ⁢ μ ⁢ ⁢ d = fSd fS + Δ ⁢ ⁢ m ⁢ ⁢ μ ⁢ ⁢ d .