Structured light depth sensor and sensing method thereof

A structured light depth sensor for sensing a depth of an object, comprising:

• a projector for projecting structured lights with different codes to the object;
• a camera located on one side of the projector and configured for capturing the structured lights reflected by the object;
• a storage device for storing parameter information of the camera and distance information between the projector and the camera;
• and
• a processor electrically connected to the projector, the camera, and the storage device, wherein, the processor controls the projector to sequentially project the structured lights with different codes to the object, controls the camera to sequentially capture the structured lights reflected by the object, and calculates the depth of the object according to the parameter information of the camera, the distance information between the projector and the camera, information of the structured lights projected by the projector, and information of the structured lights captured by the camera;
• wherein a coded image is obtained when the processor controls the projector to project one of the structured lights with a certain code, and a captured image is obtained when the camera captures the structured light with the certain code reflected by the object;
• and
• wherein the captured image is compared with a coding block set in the coded image by the processor to match a capturing block, a disparity (δ) of the coding block and the capturing block is calculated by the processor and is equal to a difference between xl and xr, where xl represents a distance between the coding block and an extension line of the projector, and xr represent a distance between the capturing block and an extension line of the camera.