# US 11,445,163 B2 · Target image acquisition system and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,445,163 B2 - Document ID: US11445163B2 - Status: Granted - Kind: B2 - Application number: 17/000,795 - Filed: 2020-08-24 - Published: 2020-12-10 - Granted: 2022-09-13 - Earliest claimed: 2018-03-31 - Assignees: Orbbec Inc. - Applicants: Orbbec Inc. - Inventors: Xing Xu; Lianghong Zhong; Xu Chen - Web page: https://patentgrep.com/patent/US11445163B2 ## CPC - G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light - G01B 11/25: by projecting a pattern, e.g. {one or more lines,} moiré fringes on the object (G01B11/255 takes precedence {; image analysis for depth or shape recovery G06T7/50}) - G06T 7/11: Region-based segmentation - G06T 7/194: involving foreground-background segmentation - G06V 10/141: Control of illumination - G06V 10/143: Sensing or illuminating at different wavelengths - G06V 40/16: Human faces, e.g. facial parts, sketches or expressions - H04N 13/239: using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance (H04N13/243 takes precedence) - H04N 13/25: using two or more image sensors with different characteristics other than in their location or field of view, e.g. having different resolutions or colour pickup characteristics; using image signals from one sensor to control the characteristics of another sensor - H04N 13/254: in combination with electromagnetic radiation sources for illuminating objects - H04N 13/271: wherein the generated image signals comprise depth maps or disparity maps - H04N 13/296: Synchronisation thereof; Control thereof - H04N 23/11: for generating image signals from visible and infrared light wavelengths - H04N 23/20: for generating image signals from infrared radiation only - H04N 25/131: including elements passing infrared wavelengths - H04N 25/42: by switching between different modes of operation using different resolutions or aspect ratios, e.g. switching between interlaced and non-interlaced mode - G06V 20/64: Three-dimensional [3D] objects - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A system and method for obtaining a target image are provided. The system includes: a floodlight illumination source configured to provide illumination of a first wavelength for a target area; a first acquisition camera configured to acquire a target floodlight image of the first wavelength of the target area; a structured light projector configured to project a structured light image of a second wavelength to the target area; a second acquisition camera configured to acquire the structured light image of the target area; and a processor, connected to the floodlight illumination source, the first acquisition camera, the structured light projector, and the second acquisition camera, and configured to: acquire the target floodlight image and the structured light image; recognize a foreground target in the floodlight image; and extract a target structured light image based on a relative position relationship between the first acquisition camera and the second acquisition camera. ## Claims ### Claim 1 A system for obtaining a target image, comprising: a floodlight illumination source configured to provide illumination of a first wavelength for a target area; a first acquisition camera having a camera resolution and configured to acquire a target floodlight image of the first wavelength from the target area; a structured light projector configured to project a structured light beam of a second wavelength, different from the first wavelength, to the target area; a second acquisition camera configured to acquire a structured light image of the second wavelength from the target area; and a processor connected to the floodlight illumination source, the first acquisition camera, the structured light projector, and the second acquisition camera, and configured to: control the first acquisition camera to acquire the target floodlight image under the illumination of the floodlight illumination source, wherein the target floodlight image has a first resolution lower than the camera resolution; recognize a foreground target in the target floodlight image, and obtain a foreground target area corresponding to the foreground target in the target floodlight image, wherein the foreground target area is smaller than the target area; control the second acquisition camera to acquire a structured light image of the obtained foreground target area under projection of the structured light projector; and extract, based on a relative position relationship between the first acquisition camera and the second acquisition camera, a target structured light image on pixels of the structured light image of the obtained foreground target area, wherein the pixels correspond to the foreground target in the foreground target area. ### Claim 2 (depends on 1) The system according to claim 1, wherein the floodlight illumination source comprises a floodlight illuminator independent of the system. ### Claim 3 (depends on 1) The system according to claim 1, wherein the first acquisition camera comprises a red-green-blue (RGB) camera, and the target floodlight image comprises an RGB image; and the second acquisition camera comprises an infrared (IR) camera, and the structured light image comprises an IR structured light image. ### Claim 4 (depends on 1) The system according to claim 1, wherein the processor is further configured to compute a target depth image based on the target structured light image of the foreground target area. ### Claim 5 A system for obtaining a target image, comprising: an acquisition camera having first pixels and second pixels, having a camera resolution, and being configured to respectively acquire a first wavelength image and a second wavelength image from a target area; a floodlight illumination source configured to provide illumination of a first wavelength for the target area; a structured light projector configured to project a structured light beam of a second wavelength, different from the first wavelength, to the target area; and a processor connected to the acquisition camera, the floodlight illumination source, and the structured light projector, and configured to: control the acquisition camera to acquire a target floodlight image under the illumination of the floodlight illumination source, wherein the target floodlight image has a first resolution lower than the camera resolution; recognize a foreground target in the target floodlight image, and obtain a foreground target area corresponding to the foreground target in the target floodlight image, wherein the foreground target area is smaller than the target area; control the acquisition camera to acquire a structured light image of the obtained foreground target area under projection of the structured light projector; and extract a pixel area of the structured light image that corresponds to the foreground target for obtaining a target structured light image. ### Claim 6 (depends on 5) The system according to claim 5, wherein the floodlight illumination source comprises a floodlight illuminator independent from the system. ### Claim 7 (depends on 5) The system according to claim 5, wherein the first wavelength comprises a wavelength of visible light, and the second wavelength comprises a wavelength of infrared (IR) light. ### Claim 8 (depends on 7) The system according to claim 7, wherein the target floodlight image comprises a color image or a gray image. ### Claim 9 (depends on 5) The system according to claim 5, wherein the floodlight illumination source and the structured light projector are turned on all the time or with a certain frequency, and the frequency is consistent with an exposure frequency of the acquisition camera. ### Claim 10 (depends on 5) The system according to claim 5, wherein pixels of the acquired target floodlight image and pixels of the acquired structured light image are different. ### Claim 11 (depends on 5) The system according to claim 5, wherein the processor is further configured to compute a target depth image based on the target structured light image of the foreground target area. ### Claim 12 A system for obtaining a target image, comprising: an acquisition camera having a camera resolution and configured to acquire an image from a target area; a floodlight illumination source configured to provide illumination for the target area; a structured light projector configured to project a structured light beam to the target area; and a processor connected to the acquisition camera, the floodlight illumination source, and the structured light projector, and configured to: control the acquisition camera to acquire a target floodlight image under illumination of the floodlight illumination source, wherein the target floodlight image has a first resolution lower than the camera resolution; recognize a foreground target in the target floodlight image; and control the acquisition camera to acquire a target structured light image on pixels corresponding to the foreground target and under projection of the structured light projector in a cropping mode. ### Claim 13 (depends on 12) The system according to claim 12, wherein the floodlight illumination source comprises a floodlight illuminator independent from the system. ### Claim 14 (depends on 12) The system according to claim 12, wherein the floodlight illumination source and the structured light projector are activated alternately, and wherein the acquisition camera exposes and acquires the target floodlight image or the target structured light image during activation intervals of the floodlight illumination source or the structured light projector. ### Claim 15 (depends on 14) The system according to claim 14, wherein an activation interval of the structured light projector is longer than an activation interval of the floodlight illumination source. ### Claim 16 (depends on 12) The system according to claim 12, wherein the processor is further configured to compute a target depth image based on the target structured light image of the foreground target area.