WO2019213863A1

WO2019213863A1 - Three-dimensional target mapping method and apparatus, personal identification apparatus and electronic device

Info

Publication number: WO2019213863A1
Application number: PCT/CN2018/086150
Authority: WO
Inventors: 王小明
Original assignee: 深圳阜时科技有限公司
Priority date: 2018-05-09
Filing date: 2018-05-09
Publication date: 2019-11-14
Also published as: CN108701232A

Abstract

A three-dimensional target mapping method and apparatus, a personal identification apparatus, and an electronic device. The three-dimensional target mapping method comprises: using a light source projection apparatus to project a bitmap pattern onto a target (101), wherein the bitmap pattern is arranged in a grid; capturing an image of the bitmap pattern projected onto the target (103); and processing the captured image of the bitmap pattern so as to export a three-dimensional image of the target (105). The solution reduces the computational load required for three-dimensional mapping, thereby reducing three-dimensional mapping costs.

Description

Method and device for three-dimensional mapping of target, identification device and electronic device

Technical field

The present application relates to a method and apparatus for mapping a three-dimensional (3D) object, and an identification device and an electronic device including a device for 3D mapping of a target.

Background technique

At present, there are more and more fields of 3D image sensing applications, such as automobiles, aviation, molds, medical, intelligent terminals, drones, robots, etc. However, the current 3D mapping method is complicated and the cost is high. It is not conducive to its rapid spread in industrialization.

Summary of the invention

In view of this, the present application is directed to a method and apparatus for 3D mapping of an object, an identity recognition apparatus, and an electronic device to reduce the amount of calculation of the 3D mapping and reduce the cost of the 3D mapping.

Specifically, in one aspect, the present application provides a method for 3D mapping of a target, comprising: projecting a dot pattern to a target using a light source projection device, wherein the dot pattern is arranged in a grid; capturing the An image of the dot pattern on the target; and an image processing the captured dot pattern to derive the 3D image sensing device of the target.

In some embodiments, each grid has only a spot on each side.

In certain embodiments, the grid is square.

In some embodiments, each side of each grid of the dot pattern has at least three spots.

In some embodiments, each side of the grid pattern has three, four, or five spots per side.

In some embodiments, each side of each grid of the dot pattern has a length of 7 mm.

In certain embodiments, the spot has a diameter of 1 mm.

In some embodiments, the light source projection device projects a dot pattern with a range of 40 cm.

In some embodiments, the method for 3D mapping of a target uses the light source projection device to project an infrared light dot pattern to the target.

In another aspect, the present application provides an apparatus for 3D mapping of a target, comprising: a light source projection device for projecting a dot pattern to a target, wherein the dot pattern is arranged in a grid; and the image sensing device An image for capturing a dot pattern on the target; and a processor for processing an image of the captured dot pattern to derive a 3D map of the target.

In some embodiments, each grid has only a spot on each side.

In certain embodiments, the grid is square.

In certain embodiments, the spot has a diameter of 1 mm.

In some embodiments, the light source projection device is configured to project an infrared light dot pattern to the target.

In still another aspect, the present application provides an identification device including an identification module and the above-described device for 3D mapping of a target; the identification module is configured to perform identification based on a 3D map of a target derived by the device.

In some embodiments, the identification device comprises a face recognition device.

In still another aspect, the present application provides an electronic device including the above-described apparatus for 3D mapping of a target.

Since the method of 3D mapping of the present application and the dot pattern projected by the apparatus to the target are arranged in a grid, only the spot on each side of the grid is provided, and therefore, the number of projected spots is small, but based on the The three-dimensional sensing of the lattice pattern of the grid arrangement can meet the judgment accuracy requirements of 3D recognition, and can be realized by the optical system. Compared with the traditional 3D mapping method for the target, it is beneficial to reduce 3D mapping and recognition. Calculate the amount, which helps to reduce the cost of 3D mapping and identification.

Other features and advantages of the present application will become apparent from the following description of the exemplary embodiments.

DRAWINGS

The accompanying drawings, which are incorporated in FIG In the drawings, like reference numerals are used to refer to the like. The drawings in the following description are some embodiments of the present application, and not all embodiments. Other figures may be obtained from those of ordinary skill in the art in light of the inventive work.

1 is a flowchart of a method for 3D mapping of a target according to a first embodiment of the present application;

2 is a dot pattern provided by a second embodiment of the present application;

FIG. 3 is another dot pattern provided by the third embodiment of the present application; FIG.

4 is a structural block diagram of an apparatus for 3D mapping of a target according to a fourth embodiment of the present application;

FIG. 5 is a structural block diagram of an identity recognition apparatus according to a fifth embodiment of the present application;

FIG. 6 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present application. It is a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application. It should be noted that, in the case of no conflict, the features in the embodiments and the embodiments in the present application may be arbitrarily combined with each other.

The following disclosure provides many different embodiments or examples for implementing the different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of the specific examples are described below. Of course, they are merely examples and are not intended to limit the application. In addition, the present application may repeat reference numerals and/or reference numerals in the various examples, which are for the purpose of simplicity and clarity, and do not indicate the relationship between the various embodiments and/or settings discussed.

Further, the described features, structures may be combined in one or more embodiments in any suitable manner. In the following description, numerous specific details are set forth However, those skilled in the art should appreciate that the technical solution of the present application can be practiced without one or more of the specific details, or other structures, components, and the like. In other instances, well-known structures or operations are not shown or described in detail to avoid obscuring the application.

The method for 3D mapping of a target involved in the implementation of the present application will be described in detail below with reference to the accompanying drawings.

Embodiments 1, 2 and 3

As shown in FIG. 1 , a method for 3D mapping of a target provided by an embodiment of the present application includes:

Step 101: Project a dot pattern to a target using a light source projection device, wherein the dot pattern is arranged in a grid.

Specifically, each grid in the dot pattern has only a spot on each side, and there is no spot inside the grid. The shape of the mesh can be set according to actual needs. In the embodiment of the present application, the shape of the mesh is preferably a square. Of course, the shape of the mesh may be other suitable shapes, for example, a rectangle or the like.

Step 103: Capture an image of a dot pattern on the target.

In a specific operation, step 103 may be performed by the image sensing device, and the image sensing device may be disposed on the return path of the light, that is, the dot pattern projected by the light source projection device is reflected back to the target, and the reflected light is reflected. It is acquired by the image sensing device. If the projection target is a plane, the image acquired by the image sensing device is only a linear pull-up of the dot pattern. If the projection target is a solid object, that is, a 3D target object, the image acquired by the image sensing device may be distorted to varying degrees. The torsional strength and position are strongly correlated with physical stereoscopic spatial information, but do not conform to linear transformations.

Step 105: Process the image of the captured dot pattern to derive a 3D map of the target.

In a specific operation, for example, each side of each grid of the dot pattern has at least three spots. As shown in Figure 2, there are three spots on each side of each grid of the dot pattern. Of course, the number of spots on each side of each grid can also be set according to actual needs, for example, each side of each grid can have four spots. As further shown in Figure 3, there are five spots on each side of each grid of the dot pattern. The specific parameters may be set according to actual needs, for example, at least one of the following various settings: each side of the grid pattern has a length of 7 mm; the spot diameter is 1 mm; and the light source projection device projects The dot pattern has a range of 40 cm. It should be understood that the above various parameters are set forth by way of example only and should not be construed as limiting.

The processor is used to process the captured image of the dot pattern to derive a 3D map of the target. In an example, the horizontal and vertical coordinates and the intensity information may be obtained, for example, according to the image of the captured lattice pattern, and the depth information on the target is further calculated according to the intensity information, thereby combining the horizontal and vertical coordinates to obtain a 3D map of the target.

In this embodiment, a lattice pattern in a grid shape is projected by using a light source projection device, that is, each grid of the dot pattern has only a spot on each side, and the dot pattern is projected onto the target and captured by the image sensing device. The dot pattern reflected from the target is processed to obtain an image of the dot pattern, thereby deriving a 3D image of the target.

Since the dot pattern projected to the target in the method of 3D mapping of the present application is arranged in a grid, only the spot is disposed on each side of the mesh, and therefore, the number of projected spots is small, but based on the dot pattern The 3D sensing can meet the requirements of 3D mapping and the accuracy of the later recognition, and can be realized by the optical system. Therefore, the 3D mapping method of the present application is beneficial for reducing the calculation amount of the 3D mapping, thereby contributing to the reduction of 3D. The cost of the map.

Embodiment 4

The apparatus 400 for 3D mapping of the target provided by the embodiment of the present application, the method shown in FIG. 1 and the explanation of the dot pattern of FIG. 2 and FIG. 3 can be applied to the embodiment. This embodiment is The device corresponding to the method shown in Figure 1. As shown in FIG. 4, the apparatus 400 for 3D mapping of a target may include:

a light source projection device 401, configured to project a dot pattern to a target, wherein the dot pattern is arranged in a grid;

An image sensing device 403 for capturing an image of a dot pattern on the target; and

The processor 405 is configured to process an image of the captured dot pattern to derive a 3D map of the target.

The dot pattern projected by the light source projection device 401 is, for example, infrared structured light.

Accordingly, the image sensing device 403 is, for example, an infrared image sensing device.

The processor 405 processes the image generated by the image sensing device 403 to derive a 3D map of the target. Wherein the 3D map refers to the 3D coordinate set of the target surface in the present application.

In an example, the processor 405 can obtain the horizontal and vertical coordinates and the intensity information according to the image generated by the image sensing device 403, and further obtain the depth information on the target according to the intensity information, thereby combining the horizontal and vertical coordinates to obtain the 3D image of the target. .

The processor 405 can include a general purpose computer processor that executes software to implement the corresponding functions. The software may be stored to the processor 405 by download or by being stored on a computer readable medium and then read and executed by the processor 405.

In the specific operation, each grid has only a spot on each side, and the grid is preferably, for example, a square. Each edge of each grid of the dot pattern can have at least three spots. As shown in Figure 2, there are three spots on each side of each grid of the dot pattern. It can also be set to four spots according to actual needs. Alternatively, as shown in FIG. 3, each side of each grid of the dot pattern has five spots. Of course, the number of spots on each side of each grid can also be set according to actual needs.

Specifically, each side of each mesh of the mesh pattern has a length of 7 mm; the spot has a diameter of 1 mm; or/and the light source projection device 401 projects a bitmap image with a range of 40 cm. It should be understood that the above various parameters are set forth by way of example only and should not be construed as limiting.

It can be understood that the light source projection device 401, the image sensing device 403, and the processor 405 can be integrated or set separately.

In this embodiment, the dot pattern of the grid arrangement is projected by the light source projection device 401, that is, each grid of the dot pattern has only a spot on each side, and the dot pattern is projected onto the target by the image sensing device. 403 acquires an image of the dot pattern on the target, and then the processor 405 processes the image of the captured dot pattern to derive a 3D map of the target.

Since the dot pattern of the 3D mapped device 400 projected to the target of the present application is arranged in a grid, only the side of the mesh is provided with a spot, and therefore, the number of projected spots is small, but based on the dot matrix The 3D sensing of the pattern can meet the requirements of the 3D mapping and the recognition accuracy in the later recognition, and can be realized by the optical system. Therefore, the 3D mapping device 400 for the target of the present application is advantageous for reducing the calculation amount of the 3D mapping. Thereby it is beneficial to reduce the cost of 3D mapping.

Embodiment 5

An explanation of an identity recognition apparatus 500 provided by an embodiment of the present application, such as the method shown in FIG. 1, the dot map of FIG. 2 and FIG. 3, and the apparatus 400 for 3D mapping of the target shown in FIG. It can be applied to this embodiment. Specifically, as shown in FIG. 5, the identity recognition device 500 includes an identification module 501 and a device 400 for 3D mapping of objects. The identification module 501 is configured to perform identity recognition according to a 3D map of the target derived by the device 400.

Specifically, the identification module 501 compares, for example, the 3D map of the target derived by the device 400 with the pre-stored 3D map. If the matching is successful, the identity of the target is valid, and the identity authentication succeeds. Otherwise, the identity authentication is performed. failure.

The pre-stored 3D is stored, for example, in a memory.

Since the identity recognition device 500 has a method for 3D mapping of a target and corresponding technical features and technical effects of the device 400, details are not described herein again.

Embodiment 6

An electronic device 600 provided by the embodiment of the present application, the method shown in FIG. 1, the dot pattern of FIG. 2 and FIG. 3, and the device 400 for 3D mapping of the target shown in FIG. 4 and FIG. 5 The explanation of the illustrated identification device 500 can be applied to the present embodiment. Specifically, as shown in FIG. 6, the electronic device 600 includes an identity recognition device 500.

The electronic device 600 corresponds to whether the corresponding function is executed according to the identity recognition result of the identity recognition device 500. The respective functions are, for example but not limited to, any one or more of an application including unlocking, paying, and starting a pre-stored application.

The electronic device 600 is, for example but not limited to, a suitable type of electronic product such as a consumer electronic product, a home electronic product, a vehicle-mounted electronic product, a financial terminal product, or the like. Among them, consumer electronic products such as but not limited to mobile phones, tablets, notebook computers, desktop monitors, computer integrated machines. Home-based electronic products such as, but not limited to, smart door locks, televisions, refrigerators, wearable devices, and the like. Vehicle-mounted electronic products such as, but not limited to, car navigation systems, car DVDs, and the like. The financial terminal products are, for example, but not limited to ATM machines, terminals for self-service business, and the like.

In the present embodiment, the electronic device 600 will be described as an example of a mobile phone. The mobile phone is, for example, a full screen mobile phone, and the identification device 500 is disposed, for example, at the front top of the mobile phone. Of course, the mobile phone is not limited to a full screen mobile phone.

For example, when the user needs to perform boot unlocking, the screen of lifting up the mobile phone or touching the mobile phone can function to wake up the identity recognition device 500. When the identity recognition device 500 is woken up and recognizes that the user in front of the mobile phone is a legitimate user, the screen is unlocked.

Of course, the identity recognition device 500 in the electronic device 600 can also be replaced with the target 3D mapped device 400.

Compared with the prior art, the device 400 for target 3D mapping of the present application is advantageous for reducing the calculation amount of the 3D mapping, thereby facilitating the cost reduction of the 3D mapping. Therefore, the identity recognition device 500 and the electronic device of the present application are The cost of device 600 is lower.

In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples", etc. The specific features, structures, materials, or characteristics described in the embodiments or examples are included in at least one embodiment or example of the application. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

The above description may be implemented individually or in combination in various ways, and such modifications are within the scope of the present application.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions described in the foregoing embodiments may be modified or equivalently substituted for some of the technical features. Modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

A method for 3D mapping of a target, comprising:

Projecting a dot pattern to a target using a light source projection device, wherein the dot pattern is arranged in a grid;

Capturing an image of a dot pattern on the target; and

An image of the captured lattice pattern is processed to derive a 3D map of the target.
The method of claim 1 wherein each grid has only a spot on each side.
The method of claim 1 wherein said grid is square.
The method of claim 2 wherein each side of each grid of said dot pattern has at least three spots.
The method of claim 4 wherein each of said grids of said lattice pattern has three, four, or five spots per side.
A method according to any one of claims 1 to 5, wherein each side of each grid of the dot pattern has a length of 7 mm.
A method according to any one of claims 1 to 5, wherein the spot has a diameter of 1 mm.
A method according to any one of claims 1 to 5, wherein the light source projection device projects a dot pattern with a range of 40 cm.
A method according to any one of claims 1 to 5, wherein the light source projection device is used to project an infrared light dot pattern to the target.
An apparatus for 3D mapping of a target, comprising:

a light source projecting device for projecting a dot pattern to a target, wherein the dot pattern is arranged in a grid;

An image sensing device for capturing an image of a dot pattern on the target; and

a processor for processing an image of the captured lattice pattern to derive a 3D map of the target.
The apparatus of claim 10 wherein each grid has only a spot on each side.
The device of claim 10 wherein said grid is square.
The apparatus of claim 12 wherein each side of each grid of said dot pattern has at least three spots.
The apparatus of claim 13 wherein each of said grids of said dot pattern has three, four, or five spots per side.
A device according to any one of claims 10-14, wherein each side of each grid of the dot pattern has a length of 7 mm.
A device according to any of claims 10-14, wherein the spot has a diameter of 1 mm.
A device according to any one of claims 10-14, wherein the light source projection device projects a bitmap image with a range of 40 cm.
Apparatus according to any of claims 10-14, wherein said light source projection means is adapted to project an infrared light dot pattern to the target.
An identification device comprising an identification module and the apparatus of any of the preceding claims 10-18; the identification module for identifying the 3D map of the target derived by the apparatus.
The identity recognition device of claim 19, wherein the identity recognition device comprises a face recognition device.
An electronic device comprising the apparatus for 3D mapping of a target according to any one of claims 10-18 or the identity recognition apparatus according to claim 19 or 20.