Yao Huimin, Ge Chenyang, Xue Jianru, Zheng Nanning
The Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an 710049, China.
The National Engineering Laboratory for Visual Information Processing and Applications, Xi'an Jiaotong University, Xi'an 710049, China.
Sensors (Basel). 2017 Apr 8;17(4):805. doi: 10.3390/s17040805.
Depth information has been used in many fields because of its low cost and easy availability, since the Microsoft Kinect was released. However, the Kinect and Kinect-like RGB-D sensors show limited performance in certain applications and place high demands on accuracy and robustness of depth information. In this paper, we propose a depth sensing system that contains a laser projector similar to that used in the Kinect, and two infrared cameras located on both sides of the laser projector, to obtain higher spatial resolution depth information. We apply the block-matching algorithm to estimate the disparity. To improve the spatial resolution, we reduce the size of matching blocks, but smaller matching blocks generate lower matching precision. To address this problem, we combine two matching modes (binocular mode and monocular mode) in the disparity estimation process. Experimental results show that our method can obtain higher spatial resolution depth without loss of the quality of the range image, compared with the Kinect. Furthermore, our algorithm is implemented on a low-cost hardware platform, and the system can support the resolution of 1280 × 960, and up to a speed of 60 frames per second, for depth image sequences.
自微软Kinect发布以来，深度信息因其低成本和易于获取而在许多领域得到应用。然而，Kinect以及类似的RGB-D传感器在某些应用中表现出有限的性能，并且对深度信息的准确性和鲁棒性有很高的要求。在本文中，我们提出了一种深度传感系统，该系统包含一个类似于Kinect中使用的激光投影仪，以及位于激光投影仪两侧的两个红外摄像头，以获得更高空间分辨率的深度信息。我们应用块匹配算法来估计视差。为了提高空间分辨率，我们减小了匹配块的大小，但较小的匹配块会产生较低的匹配精度。为了解决这个问题，我们在视差估计过程中结合了两种匹配模式（双目模式和单目模式）。实验结果表明，与Kinect相比，我们的方法可以在不损失距离图像质量的情况下获得更高空间分辨率的深度。此外，我们的算法在低成本硬件平台上实现，该系统可以支持1280×960的分辨率，以及高达每秒60帧的深度图像序列速度。
