CN114092570A - Depth camera temperature calibration method and device, electronic equipment and storage medium - Google Patents
Depth camera temperature calibration method and device, electronic equipment and storage medium Download PDFInfo
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- CN114092570A CN114092570A CN202210071997.4A CN202210071997A CN114092570A CN 114092570 A CN114092570 A CN 114092570A CN 202210071997 A CN202210071997 A CN 202210071997A CN 114092570 A CN114092570 A CN 114092570A
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention discloses a method and a device for calibrating the temperature of a depth camera, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring temperature rise data of the depth camera from a first temperature stable state, a second temperature stable state to a constant temperature state in sequence; acquiring depth information of the depth camera with different delays under the constant temperature state of the depth camera; calculating odd harmonic compensation values according to the depth information of the different delays; matching and compensating original depth information in the temperature rise data by using the odd harmonic compensation value; calculating a temperature coefficient according to the compensated temperature rise data; and carrying out temperature compensation on the depth information acquired by the depth camera in normal operation by using the odd harmonic compensation value and the temperature coefficient. The invention comprehensively considers the factors influencing the temperature calibration, so that the temperature compensation is more effective, the reliability of the temperature calibration method is improved, and the influence of the temperature on the depth is reduced.
Description
Technical Field
The present disclosure relates to the field of imaging technologies, and in particular, to a method and an apparatus for calibrating a temperature of a depth camera, an electronic device, and a storage medium.
Background
The depth camera is a new technology which is started in recent years, compared with the traditional camera, the depth camera is functionally added with a depth measurement, and can be used for sensing three-dimensional depth information of an environment, so that the surrounding environment and changes can be sensed more conveniently and accurately. Depth cameras have many application scenarios, and there are many shadows of depth cameras in our daily lives. The depth camera can be used for three-dimensional modeling, unmanned driving, robot navigation obstacle avoidance, mobile phone face unlocking, somatosensory games and the like, and the functions of the depth camera are realized.
However, when the depth camera is used, the temperature of the depth camera itself changes due to environmental changes, and the temperature changes can affect the depth change of the depth camera, so that the depth information of the depth camera is affected, the stability of the depth information is poor, and the accuracy is reduced.
Disclosure of Invention
An embodiment of the present application provides a method and an apparatus for calibrating a depth camera temperature, an electronic device, and a storage medium, so as to solve a technical problem in the related art that depth information acquired by a depth camera is unstable.
According to a first aspect of embodiments of the present application, there is provided a depth camera temperature calibration method, including:
acquiring temperature rise data of the depth camera from a first temperature stable state and a second temperature stable state to a constant temperature state in sequence, wherein the temperature rise data represents the relationship between temperature and depth information, the first temperature stable state is the temperature stable state reached by the depth camera in an external refrigeration state, the second temperature stable state is the temperature stable state reached by the depth camera in an external heating state, and the constant temperature state is the temperature condition reached by the depth camera without being in the external temperature control state;
acquiring depth information of the depth camera with different delays under the constant temperature state of the depth camera;
calculating odd harmonic compensation values according to the depth information of the different delays;
matching and compensating the depth information in the temperature rise data by using the odd harmonic compensation value;
calculating a temperature coefficient according to the compensated temperature rise data;
and carrying out temperature compensation on the depth information acquired by the depth camera in normal operation by using the odd harmonic compensation value and the temperature coefficient.
Further, the first temperature steady state is realized as follows:
and (3) contacting the temperature control device with the depth camera, refrigerating through the temperature control device, and preheating the depth camera until the depth camera is in a temperature stable state.
Further, the second temperature steady state is implemented as follows:
when the depth camera is in the first temperature stable state, the temperature control device is changed from the refrigerating state to the heating state until the depth camera reaches the second temperature stable state in the heating state of the temperature control device.
Further, the implementation of the constant temperature state is as follows:
and when the depth camera is in the second temperature stable state, the external heating is turned off until the depth camera is in the temperature stable state.
Further, when the depth camera is in a constant temperature state, acquiring depth information of the depth camera with different time delays, including:
and acquiring depth information of the depth camera with different delays in the constant temperature state, wherein the depth information with different delays represents the relationship between the delays and the depth information.
Further, the matching compensation of the depth information in the temperature rise data by using the odd harmonic compensation value includes:
and correspondingly matching and compensating one odd harmonic compensation value for each depth information in the temperature rise data according to the odd harmonic compensation value.
Further, the temperature compensation is performed on the depth information acquired by the normally running depth camera by using the odd harmonic compensation value and the temperature coefficient, and the method comprises the following steps:
acquiring depth information of a normally operating depth camera;
and replacing the depth information of each pixel in the depth information of the normally running depth camera with the corresponding odd harmonic compensation value by using the odd harmonic compensation value and the temperature coefficient to finish temperature compensation.
According to a second aspect of the embodiments of the present invention, there is provided a depth camera temperature calibration apparatus, including:
the depth camera comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring temperature rise data of the depth camera from a first temperature stable state and a second temperature stable state to a constant temperature state in sequence, the temperature rise data represents the relation between temperature and depth information, the first temperature stable state is the temperature stable state reached by the depth camera in an external refrigeration state, the second temperature stable state is the temperature stable state reached by the depth camera in an external heating state, and the constant temperature state is the temperature condition reached by the depth camera without being in the external temperature control state;
the acquisition module is used for acquiring depth information of the depth camera with different delays when the depth camera is in a constant temperature state;
the first calculation module is used for calculating odd harmonic compensation values through the depth information of the different delays;
the compensation module is used for performing matching compensation on the depth information in the temperature rise data by using the odd harmonic compensation value;
the second calculation module is used for calculating a temperature coefficient according to the compensated temperature rise data;
and the calibration module is used for calibrating the temperature of the depth camera according to the temperature coefficient.
According to a third aspect of embodiments of the present invention, there is provided an electronic apparatus, including:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a method as described in the first aspect.
According to a fourth aspect of embodiments of the present invention, there is provided a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the method according to the first aspect.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
according to the depth camera temperature calibration method and device, the depth camera temperature calibration is combined with the odd harmonic compensation value, odd harmonics caused by the depth of the depth camera are compensated, the reliability of the temperature coefficient is improved, the effect that the depth of the depth camera is not affected by the temperature as far as possible is achieved, the stability of depth information is improved, and the accuracy is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
FIG. 1 is a flow chart illustrating a depth camera temperature calibration method according to an exemplary embodiment.
Fig. 2 is a graph illustrating theoretical DLL delay time versus temperature in accordance with an exemplary embodiment.
Fig. 3 is a graph illustrating actual DLL delay versus temperature in accordance with an exemplary embodiment.
Fig. 4 is a diagram illustrating the relationship of tlls to delays in accordance with an exemplary embodiment.
Fig. 5 is a graph illustrating DLL delay after processing versus temperature in accordance with an exemplary embodiment.
Fig. 6 is a diagram illustrating DLL delay versus depth information, according to an example embodiment.
Fig. 7 is a diagram illustrating an odd harmonic compensation value versus depth information according to an example embodiment.
FIG. 8 is a block diagram illustrating a depth camera temperature calibration apparatus according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
FIG. 1 is a flow chart illustrating a method for depth camera temperature calibration, as shown in FIG. 1, which may include the steps of:
step S11, acquiring temperature rise data of the depth camera from a first temperature stable state and a second temperature stable state to a constant temperature state in sequence, wherein the temperature rise data represents the relationship between temperature and original depth information, the first temperature stable state is the temperature stable state reached by the depth camera in an external refrigeration state, the second temperature stable state is the temperature stable state reached by the depth camera in an external heating state, and the constant temperature state is the temperature condition reached by the depth camera without being in the external temperature control state;
step S12, collecting depth information of the depth camera with different delays when the depth camera is in a constant temperature state;
step S13, calculating odd harmonic compensation values according to the depth information of different delays;
step S14, performing matching compensation on the original depth information in the temperature rise data by using the odd harmonic compensation value;
step S15, calculating a temperature coefficient according to the compensated temperature rise data;
and step S16, performing temperature compensation on the depth information acquired by the normally running depth camera by using the odd harmonic compensation value and the temperature coefficient.
According to the depth camera temperature calibration method and device, the depth camera temperature calibration is combined with the odd harmonic compensation value, odd harmonics caused by the depth of the depth camera are compensated, the reliability of the temperature coefficient is improved, the effect that the depth of the depth camera is not affected by the temperature as far as possible is achieved, the stability of depth information is improved, and the accuracy is improved.
In a specific implementation of step S11, temperature rise data of the depth camera from a first temperature stable state, a second temperature stable state to a constant temperature state in sequence is obtained;
specifically, the depth camera of the present example includes an imaging lens, an illumination light source disposed beside the imaging lens to provide illumination, and a depth sensor disposed behind the imaging lens.
The change of the three temperature states can be realized by external temperature control, and can be realized by a temperature control device, the temperature control device adopts a device with two functions of refrigeration and heating, the depth camera achieves the effect of cooling by refrigeration of a refrigeration sheet, the depth camera achieves the effect of heating by heating of a heating sheet, and the refrigeration and the heating can be switched by a switch.
The first temperature steady state is implemented as follows: the temperature control device is in contact with the depth camera, the depth camera is cooled through the temperature control device, and the depth camera is turned on at the same time to preheat the depth camera until the depth camera is in a temperature stable state.
The second temperature steady state is implemented as follows: when the depth camera is in the first temperature stable state, the temperature control device is changed from the refrigerating state to the heating state until the depth camera reaches the second temperature stable state in the heating state of the temperature control device.
The constant temperature state is realized as follows: and when the depth camera is in the second temperature stable state, closing external heating until the depth camera is in the temperature stable state, wherein the temperature is T ℃, and the temperature T ℃ is the temperature of the depth camera in normal work at the current environment temperature.
The temperature rise data from the first temperature stable state to the second temperature stable state is acquired to acquire the temperature rise data of the depth camera at different working temperatures, and the temperature is controlled through the outside at the moment and is in an unnatural temperature rise state. In order to prove that the temperature rise data of the non-natural temperature rise state and the temperature rise data of the natural temperature rise state are basically the same, the temperature rise data of the natural temperature rise state from the second temperature stable state to the constant temperature state is obtained.
The depth camera in the constant temperature state reaches a temperature stable state of T ℃, the T ℃ is the temperature of the depth camera in normal operation at the current environment temperature, and then all other calibrations need to eliminate temperature interference, so the temperature needs to be kept stable.
When the depth camera reaches a first temperature stable state in a refrigeration state of the temperature control device, the temperature is raised through the temperature control device until the depth camera reaches a second temperature stable state in a heating state of the temperature control device, the temperature control device is closed after the depth camera reaches the second temperature stable state until the depth camera is in a constant temperature state, and temperature rise data collected by the depth camera under three state changes are obtained.
The relationship between the temperature and the depth information can be obtained through the acquired temperature rise data, the relationship between the temperature and the original depth information is not in a linear relationship due to odd harmonics existing in the depth camera, and therefore if the temperature coefficient calculated according to the linear relationship is not accurate, the depth information is poor in stability, and the accuracy is low.
In the specific implementation of step S12, acquiring depth information of the depth camera at different delays while the depth camera is at a constant temperature;
specifically, in the constant temperature state, the depth information of the depth camera with different delays is collected, and the depth information with different delays represents the relationship between the delays and the original depth information. This operation keeps the temperature in a steady state so that the depth information of the depth camera is only related to the delay.
In one embodiment, the coarse DLL is delayed at acquisition by about 2 ns/step, moved about 30 cm each step with a maximum of 49(0x31), i.e., only 50 DLL delay data are taken.
Theoretically, the relation between the DLL delay and the temperature is shown in FIG. 2, the DLL delay and the temperature are in a linear relation, actually, the relation between the DLL delay and the temperature is shown in FIG. 3, and odd harmonics exist.
The delay stage consists of a series of delay settings, all of which will insert a certain delay. The delay varies slightly with temperature, and the temperature coefficient is typically 4.33ps/K per DLL step. t is tDLLThe relationship with the delay is shown in fig. 4, and the relationship is as follows:
tDLL= 2.1ns @25℃
tDLL= 2.1ns+4.33ps/K*23.6K= 2.202ns @48.6℃
tDLL= 2.1ns+4.33ps/K*28.6K= 2.224ns @48.6℃
the delay is mainly associated with tDLL、tDRV、tPixAnd tMOS_DRVIt is related. t is tDLLDelaying the DLL; t is tDRVThe delay for the lighting driver is temperature dependent; t is tPixThe demodulation delay for the pixel itself is also temperature dependent; t is tMOS_DRVThe delay for the MOS driver is also temperature dependent. As can be seen from FIG. 5, the rise and fall time responses of all electrical devices are almost independent of temperature, so the delay is mainly related to tDLLIt is related.
In a specific implementation of step S13, calculating an odd harmonic compensation value according to the depth information of the different delays;
specifically, the odd harmonic compensation value is calculated by performing curve fitting according to the depth information of different delays.
In one embodiment, the collected depth information of different delays at the temperature T ℃ is processed by matlab. Firstly, two sections of data are required to be processed into a section of data, the collected depth information with different delays is a discontinuous line section as shown in fig. 6, and the depth information is a continuous line section from 0 to 16383 as shown in fig. 7 by moving the second half section of data. Wherein the distance is the maximum default working range of the current modulation clock, which is 12500mm in the current case. And carrying out curve fitting on the distance and depth information by using a smoothening Spline function to obtain odd harmonic compensation values. Through the above calculation, the obtained odd harmonic compensation value corresponds to the original depth.
In a specific implementation of step S14, performing matching compensation on the original depth information in the temperature rise data by using the odd harmonic compensation value;
specifically, each original depth information in the temperature-rise data is replaced with a corresponding odd harmonic compensation value using the odd harmonic compensation value in step S13.
In the specific implementation of step S15, calculating a temperature coefficient according to the compensated temperature rise data;
specifically, the original depth information in the temperature rise data obtained in step S11 is compensated with the odd harmonic compensation value obtained in step S13, and a line approximately linear with respect to temperature and depth can be obtained. The temperature and depth relationship is as follows:
phase=k*temp+b
wherein phase is depth information after odd harmonic compensation, temp is temperature, k is temperature coefficient, and b is constant.
The temperature coefficient can be calculated by performing linear fitting on the compensated temperature rise data.
In an implementation of step S16, the odd harmonic compensation value and the temperature coefficient are used to perform temperature compensation on the depth information collected by the normally operating depth camera.
Specifically, acquiring depth information of a normally operating depth camera; by using the odd harmonic compensation value and the temperature coefficient in step S13, the depth information of each pixel in the depth information of the normally operating depth camera is searched and replaced with a corresponding odd harmonic compensation value, and temperature compensation is completed by the following specific formula:
Phase’=phasecomp-（Tcur-Tstable）*k
wherein Phase' is depth information after odd harmonic compensation and temperature compensation, phasecomp is depth information after odd harmonic compensation through step S14, TcurFor the current operating temperature, T, of the depth camerastableIs the depth camera stable temperature at the temperature of T ℃ in the constant temperature state in step S11, and k is the temperature coefficient.
Further, the temperature rise data after compensation is collected through high-low temperature circulation of the temperature control device, whether the temperature almost does not affect the depth information is checked, if the temperature almost does not affect the depth information, temperature calibration is completed, if the temperature has a large influence on the depth information, the temperature coefficient is continuously optimized, and the steps S11-S15 are repeated until the temperature almost does not affect the depth information.
Corresponding to the embodiment of the depth camera temperature calibration method, the application also provides an embodiment of the depth camera temperature calibration device.
FIG. 6 is a block diagram illustrating a depth camera temperature calibration apparatus according to an exemplary embodiment. Referring to fig. 6, the apparatus includes:
the acquisition module 21 is configured to acquire temperature rise data of the depth camera from a first temperature stable state and a second temperature stable state to a constant temperature state in sequence, where the temperature rise data represents a relationship between temperature and depth information, the first temperature stable state is a temperature stable state reached by the depth camera in an external refrigeration state, the second temperature stable state is a temperature stable state reached by the depth camera in an external heating state, and the constant temperature state is a temperature condition reached by the depth camera without being in the external temperature control state;
the acquisition module 22 is used for acquiring depth information of the depth camera with different delays when the depth camera is in a constant temperature state;
the first calculating module 23 is configured to calculate an odd harmonic compensation value according to the depth information of different delays;
the compensation module 24 is configured to perform matching compensation on the depth information in the temperature rise data by using the odd harmonic compensation value;
the second calculating module 25 is configured to calculate a temperature coefficient according to the compensated temperature rise data;
and the calibration module 26 is configured to perform temperature compensation on the depth information acquired by the normally operating depth camera by using the odd harmonic compensation value and the temperature coefficient.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.
Correspondingly, the present application also provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement a depth camera temperature calibration method as described above.
Accordingly, the present application also provides a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the depth camera temperature calibration method as described above.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A method for calibrating temperature of a depth camera is characterized by comprising the following steps:
acquiring temperature rise data of the depth camera from a first temperature stable state and a second temperature stable state to a constant temperature state in sequence, wherein the temperature rise data represents the relationship between temperature and original depth information, the first temperature stable state is the temperature stable state reached by the depth camera in an external refrigeration state, the second temperature stable state is the temperature stable state reached by the depth camera in an external heating state, and the constant temperature state is the temperature condition reached by the depth camera without being in the external temperature control state;
acquiring depth information of the depth camera with different delays under the constant temperature state of the depth camera;
calculating odd harmonic compensation values according to the depth information of the different delays;
matching and compensating original depth information in the temperature rise data by using the odd harmonic compensation value;
calculating a temperature coefficient according to the compensated temperature rise data;
and carrying out temperature compensation on the depth information acquired by the depth camera in normal operation by using the odd harmonic compensation value and the temperature coefficient.
2. The method of claim 1, wherein the first temperature steady state is achieved by:
and (3) contacting the temperature control device with the depth camera, refrigerating through the temperature control device, and preheating the depth camera until the depth camera is in a temperature stable state.
3. The method of claim 1, wherein the second temperature steady state is achieved by:
when the depth camera is in the first temperature stable state, the temperature control device is changed from the refrigerating state to the heating state until the depth camera reaches the second temperature stable state in the heating state of the temperature control device.
4. The method according to claim 1, characterized in that the thermostatic state is realized as follows:
and when the depth camera is in the second temperature stable state, the external heating is turned off until the depth camera is in the temperature stable state.
5. The method of claim 1, wherein collecting depth information of the depth camera at different delays while the depth camera is at a constant temperature comprises:
and acquiring depth information of the depth camera with different delays in the constant temperature state, wherein the depth information with different delays represents the relationship between the delays and the depth information.
6. The method of claim 1, wherein matching compensation of the original depth information in the temperature rise data using the odd harmonic compensation values comprises:
and correspondingly matching and compensating each original depth information in the temperature rise data by an odd harmonic compensation value according to the odd harmonic compensation value.
7. The method of claim 1, wherein the temperature compensation of the depth information collected by the normally operating depth camera using the odd harmonic compensation values and the temperature coefficients comprises:
acquiring depth information of a normally operating depth camera;
and replacing the depth information of each pixel in the depth information of the normally running depth camera with the corresponding odd harmonic compensation value by using the odd harmonic compensation value and the temperature coefficient to finish temperature compensation.
8. A depth camera temperature calibration device, comprising:
the depth camera comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring temperature rise data of the depth camera from a first temperature stable state and a second temperature stable state to a constant temperature state in sequence, the temperature rise data represents the relation between temperature and depth information, the first temperature stable state is the temperature stable state reached by the depth camera in an external refrigeration state, the second temperature stable state is the temperature stable state reached by the depth camera in an external heating state, and the constant temperature state is the temperature condition reached by the depth camera without being in the external temperature control state;
the acquisition module is used for acquiring depth information of the depth camera with different delays when the depth camera is in a constant temperature state;
the first calculation module is used for calculating odd harmonic compensation values through the depth information of the different delays;
the compensation module is used for performing matching compensation on the depth information in the temperature rise data by using the odd harmonic compensation value;
the second calculation module is used for calculating a temperature coefficient according to the compensated temperature rise data;
and the calibration module is used for carrying out temperature compensation on the depth information acquired by the normally running depth camera by utilizing the odd harmonic compensation value and the temperature coefficient.
9. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-7.
10. A computer-readable storage medium having stored thereon computer instructions, which when executed by a processor, perform the steps of the method according to any one of claims 1-7.
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