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1. 发明授权

US10194135B2 Three-dimensional depth perception apparatus and method 有权
公开(公告)号：US10194135B2
公开(公告)日：2019-01-29
申请号：US15214755
申请日：2016-07-20
申请人： Chenyang Ge , Nanning Zheng , Yanhui Zhou
发明人： Chenyang Ge , Nanning Zheng , Yanhui Zhou
IPC分类号： H04N13/00 , G06T7/00 , G01B11/25 , H04N13/204 , H04N13/271 , H04N13/286 , H04N13/275 , H04N13/254 , H04N13/239
摘要： A three-dimensional depth perception apparatus includes a synchronized trigger module, an MIPI receiving/transmitting module, and a multiplexing core computing module, a storage controller module, a memory, and an MUX selecting module. The synchronized trigger module is for generating a synchronized trigger signal transmitted to an image acquiring module; the MIPI receiving/transmitting module is for supporting input/output of the MIPI video streams and other formats of video streams; the multiplexing core computing module is for selecting a monocular structured or a binocular structured light depth perception working mode. The apparatus flexibly adopts a monocular or binocular structured-light depth sensing manner, so as to leverage the advantages of different modes: the MIPI in, MIPI out working manner is nearly transparent to the user, so as to facilitate the user to employ the apparatus, directly obtaining the depth graph.

2. 发明授权

US10142612B2 One method of binocular depth perception based on active structured light 有权
公开(公告)号：US10142612B2
公开(公告)日：2018-11-27
申请号：US14591083
申请日：2015-01-07
申请人： Chenyang Ge , Nanning Zheng
发明人： Chenyang Ge , Nanning Zheng , Huimin Yao , Yanhui Zhou , Jiankun Lun
IPC分类号： H04N13/128 , H04N13/254 , H04N13/239 , G06T7/521 , G06T7/593 , H04N13/00
摘要： The present invention provides a method of binocular depth perception based on active structured light, adopting a coded pattern projector to project a coded pattern for structured light coding of the projective space or target object (characteristic calibration), then obtaining the coded pattern by means of two cameras on the same baseline and respectively located symmetrically on both sides of the coded pattern projector, after preprocessing and projection shadow detection, estimating the block matching movement in two modes based on the image blocks (binocular block matching and automatic matching) to obtain the offset of the optimal matching block, finally working out the depth value according to the formula for depth calculation and compensating the depth of the projection shadows to generate high-resolution and high-precision depth information.

3. 发明申请

US20140147042A1 Device for uniformly enhancing images 审中-公开
标题翻译：用于均匀增强图像的设备
公开(公告)号：US20140147042A1
公开(公告)日：2014-05-29
申请号：US14040707
申请日：2013-09-29
申请人： Chenyang Ge , Yanhui Zhou
发明人： Chenyang Ge , Yanhui Zhou
IPC分类号： G06T5/50
CPC分类号： G06T5/008 , G06T2207/20021
摘要： A device for uniformly enhancing images includes a control unit, a lined cache controller, a lined storage array, an average grayscale computing unit, a scaling coefficient computing unit and an enhancement computing unit. For a color image, the color image is firstly transformed in to YUV space from RGB space and a grayscale image of Y component thereof is divided into identical-sized image blocks; then each image block is uniformly processed with a grayscale enhancement. A method for uniformly enhancing images includes firstly designating a reference grayscale value gray_value for grayscale images, comparing the reference grayscale value to an average grayscale value mean_value of a current image block to obtain a scaling coefficient, and multiplying all pixels or specific pixels within the image block by the scaling coefficient. The grayscale enhancement of an image sequence uses an identical grayscale value for reference, so as to accomplish a uniform enhancement of different images.
摘要翻译：用于均匀增强图像的装置包括控制单元，内衬高速缓存控制器，内衬存储阵列，平均灰度计算单元，缩放系数计算单元和增强计算单元。对于彩色图像，彩色图像首先从RGB空间变换到YUV空间，并且其Y分量的灰度图像被分成相同大小的图像块; 那么每个图像块均匀地用灰度级增强处理。用于均匀增强图像的方法包括首先为灰度图像指定参考灰度值灰度值，将参考灰度值与当前图像块的平均灰度值平均值进行比较以获得缩放系数，并且将图像内的所有像素或特定像素相乘按比例缩放系数。图像序列的灰度增强使用相同的灰度值作为参考，以便实现不同图像的均匀增强。

4. 发明申请

US20150228080A1 ONE METHOD OF DEPTH PERCEPTION BASED ON BINARY LASER SPECKLE IMAGES 有权
标题翻译：一种基于二进制激光标记图像的深度感知方法
公开(公告)号：US20150228080A1
公开(公告)日：2015-08-13
申请号：US14591101
申请日：2015-01-07
申请人： Chenyang GE , Yanhui ZHOU
发明人： Chenyang GE , Huimin YAO , Yanhui ZHOU
IPC分类号： G06T7/00
CPC分类号： G06T7/0065 , G06K9/2036 , G06T7/231 , G06T7/521 , G06T7/55 , G06T2207/10048
摘要： The present invention discloses a method of depth perception based on binary laser speckle images: read in binary input and reference speckle images (pattern fixed, distance known) to generate the input and reference speckle windows, extract an image block of a certain size in the input speckle window, search the matching block in the matching search window of the reference speckle window, then use the method for block XOR similarity calculation to compare and output the minimum similarity value or use the block IAD method to compare and output the maximum similarity value to get the optimal matching block and the optimal offset, then to work out the central point depth information of this image block via the formula for depth calculation. The present invention not only can complete hardware implementation easily, greatly simplify the calculation, also generate high-resolution and high-precision depth information in a fast and accurate manner.
摘要翻译：本发明公开了一种基于二进制激光散斑图像的深度感知方法：在二进制输入和参考散斑图像（图案固定，已知距离）中读取，以生成输入和参考散斑窗口，提取一定尺寸的图像块输入散斑窗口，在参考散斑窗口的匹配搜索窗口中搜索匹配块，然后使用块XOR相似度计算方法比较和输出最小相似度值，或使用块IAD方法来比较和输出最大相似度值获得最优匹配块和最优偏移，然后通过深度计算公式计算出该图像块的中心点深度信息。本发明不仅可以轻松完成硬件实现，大大简化计算，还能以快速准确的方式生成高分辨率，高精度的深度信息。

5. 发明授权

US09995578B2 Image depth perception device 有权
公开(公告)号：US09995578B2
公开(公告)日：2018-06-12
申请号：US14040709
申请日：2013-09-29
申请人： Chenyang Ge , Yanhui Zhou
发明人： Chenyang Ge , Yanhui Zhou
IPC分类号： H04N13/00 , G01C3/32 , G06T7/579 , G06T7/223
CPC分类号： G01C3/32 , G06T7/223 , G06T7/579
摘要： In view of the active vision model based on structured light, a hardware structure of a depth perception device (a chip or an IP core) for high-precision images is disclosed. Simultaneously, the module is not only capable of serving as an independent chip, but also an embedded IP core in application. Main principle of the module is as follows. Speckle image sequence (obtained from an external image sensor and unknown depth information) is processed by adaptive and uniform pre-processing sub-module, then is inputted to the module to be compared with the standard speckle image (known depth information), then motion-vector information of the inputted speckle image is obtained by pattern matching of image blocks (similarity calculation) by the block-matching motion estimation sub-module, then depth image is obtained by depth calculation, and finally high-resolution sequence of depth image is outputted by post-processing the depth image.

6. 发明授权

US09959626B2 Three-dimensional depth perception method and apparatus with an adjustable working range 有权
公开(公告)号：US09959626B2
公开(公告)日：2018-05-01
申请号：US15048296
申请日：2016-02-19
申请人： Yanhui Zhou , Chenyang Ge
发明人： Yanhui Zhou , Chenyang Ge
IPC分类号： G06T11/00 , G06T7/00 , G01B11/25 , G06T7/521
CPC分类号： G06T7/521 , G01B11/2513 , G06T2207/10028
摘要： The present invention discloses a three-dimensional depth perception method and apparatus with an adjustable working range. The method comprises: setting a working range mode from the external or by an adaptive adjustment, projecting encoded patterns into a corresponding working range by adjusting a driving current of a laser pattern projector driving circuit, adjusting a receiving camera focal length and a baseline distance, collecting a sequence of projected encoded images and feeding them into a depth perception module that adjusts control parameters for image preprocessing based on the working range mode, selecting, from a group of reference encoded images in coincidence with the working range mode to perform block-matching-based disparity computation and depth computation to the inputted encoded image sequence, and outputting a depth image sequence. A three-dimensional depth perception apparatus with an adjustable working range is implemented based on the method. The apparatus facilitates optimization and real-time implementation of the depth perception computation method and makes it adapted to different working ranges, thereby breaking through application limits of the existing three-dimensional depth perception apparatuses.

7. 发明申请

US20170270670A1 METHOD AND APPARATUS FOR GENERATING A STRUCTURED LIGHT SPECKLE ENCODED PATTERN 审中-公开
公开(公告)号：US20170270670A1
公开(公告)日：2017-09-21
申请号：US15074049
申请日：2016-03-18
申请人： Chenyang GE , Huimin YAO , Yanhui ZHOU
发明人： Chenyang GE , Huimin YAO , Yanhui ZHOU
IPC分类号： G06T7/00
CPC分类号： G06T7/80 , G06T7/521
摘要： The present invention discloses a method of generating a structured light speckle encoded pattern, comprising: fabricating an initial speckle pattern with evenly distributed speckle particles; screening positions that all speckle particles can be disturbed to in the initial speckle pattern according to a speckle particle isolation principle; performing random disturbance to each speckle particle in the initial speckle pattern according to a generated random array and the screened positions that can be disturbed to; performing window uniqueness analysis to the disturbed speckle encoded pattern to determine whether the disturbed speckle encoded pattern meets requirements of a window uniqueness distribution. The present invention further discloses an apparatus for generating a structured light speckle encoded pattern. The present invention may generate, rapidly and accurately, a speckle encoded pattern that meets requirements of window uniqueness distribution and has good anti-noise and anti-deformation competences; besides, the generated speckle encoded pattern has a high randomness and is not restricted by pattern size.

8. 发明授权

US09754376B1 Method and apparatus for generating a structured light speckle encoded pattern 有权
公开(公告)号：US09754376B1
公开(公告)日：2017-09-05
申请号：US15074049
申请日：2016-03-18
申请人： Chenyang Ge , Huimin Yao , Yanhui Zhou
发明人： Chenyang Ge , Huimin Yao , Yanhui Zhou
IPC分类号： G06K9/00 , G06T7/00
CPC分类号： G06T7/80 , G06T7/521
摘要： The present invention discloses a method of generating a structured light speckle encoded pattern, comprising: fabricating an initial speckle pattern with evenly distributed speckle particles; screening positions that all speckle particles can be disturbed to in the initial speckle pattern according to a speckle particle isolation principle; performing random disturbance to each speckle particle in the initial speckle pattern according to a generated random array and the screened positions that can be disturbed to; performing window uniqueness analysis to the disturbed speckle encoded pattern to determine whether the disturbed speckle encoded pattern meets requirements of a window uniqueness distribution. The present invention further discloses an apparatus for generating a structured light speckle encoded pattern. The present invention may generate, rapidly and accurately, a speckle encoded pattern that meets requirements of window uniqueness distribution and has good anti-noise and anti-deformation competences; besides, the generated speckle encoded pattern has a high randomness and is not restricted by pattern size.

9. 发明授权

US09454821B2 One method of depth perception based on binary laser speckle images 有权
标题翻译：一种基于二进制激光散斑图像的深度感知方法
公开(公告)号：US09454821B2
公开(公告)日：2016-09-27
申请号：US14591101
申请日：2015-01-07
申请人： Chenyang Ge , Yanhui Zhou
发明人： Chenyang Ge , Huimin Yao , Yanhui Zhou
IPC分类号： G06K9/00 , G06T7/00 , G06T7/20 , G06K9/20
CPC分类号： G06T7/0065 , G06K9/2036 , G06T7/231 , G06T7/521 , G06T7/55 , G06T2207/10048
摘要： A method of depth perception based on binary laser speckle images comprises: read in binary input and reference speckle images (pattern fixed, distance known) to generate input and reference speckle windows, extract an image block of a certain size in the input speckle window, search for the matching block in the matching search window of the reference speckle window, use a method for block-based XOR (exclusive or) similarity calculation to compare and output a minimum similarity value or use a block-based IAD (inclusive and) method to compare and output a maximum similarity value to get the optimal matching block and the optimal offset, and then work out the depth information of the central point of the optimal matching block via a formula for depth calculation. The method not only can be easily implemented in hardware and greatly simplify depth calculation, but can also generate high-resolution and high-precision depth information in a fast and accurate manner.
摘要翻译：基于二进制激光散斑图像的深度感知方法包括：在二进制输入和参考散斑图像（图案固定，已知距离）中读取以产生输入和参考斑点窗口，在输入散斑窗口中提取一定尺寸的图像块，在参考散斑窗口的匹配搜索窗口中搜索匹配块，使用基于块的XOR（异或）相似度计算的方法来比较和输出最小相似度值或使用基于块的IAD（包括和）方法比较和输出最大相似度值以获得最优匹配块和最优偏移量，然后通过深度计算公式计算最优匹配块中心点的深度信息。该方法不仅可以方便地在硬件中实现，而且可以大大简化深度计算，也可以快速准确地生成高精度，高精度的深度信息。

10. 发明申请

US20170310946A1 THREE-DIMENSIONAL DEPTH PERCEPTION APPARATUS AND METHOD 审中-公开
公开(公告)号：US20170310946A1
公开(公告)日：2017-10-26
申请号：US15214755
申请日：2016-07-20
申请人： Chenyang GE , Nanning ZHENG , Yanhui ZHOU
发明人： Chenyang GE , Nanning ZHENG , Yanhui ZHOU
IPC分类号： H04N13/02
CPC分类号： H04N13/204 , H04N13/239 , H04N13/254 , H04N13/271 , H04N13/275 , H04N13/286 , H04N2013/0081
摘要： A three-dimensional depth perception apparatus and method, comprising a synchronized trigger module, an MIPI receiving/transmitting module, and a multiplexing core computing module, a storage controller module, a memory, and an MUX selecting module; wherein the synchronized trigger module is for generating a synchronized trigger signal that is transmitted to an image acquiring module; the MIPI receiving/transmitting module is for supporting input/output of the MIPI video streams and other formats of video streams; the multiplexing core computing module is for selecting a monocular structured light depth perception working mode or a binocular structured light depth perception working mode as needed, including a pre-processing module, a block matching disparity computing module, a depth computing module, and a depth post-processing module. The apparatus flexibly adopts a monocular or binocular structured-light depth sensing manner as required by the user, so as to conveniently leverage the advantages of different modes: the MIPI in, MIPI out working manner is nearly transparent to the user, so as to facilitate the user to employ the apparatus to replace the MIPI camera in the original system, directly obtaining the depth graph.

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