Method and apparatus for setting exposure of structured light-based camera resistant to external lighting and object reflection characteristics and storage medium storing instructions to perform method for setting exposure of structured light-based camera

An apparatus for setting exposure of a structured light 3D camera generating a 3D image of an object, the apparatus comprising:

• a memory configured to store a program for setting an exposure time of the structured light 3D camera;
• and
• a processor configured to execute the program for setting the exposure time stored in the memory, wherein the program for setting the exposure time, when executed by the processor, cause the processor to:
• receive one or more images captured from the structured light 3D camera;
• obtain at least one exposure threshold value of the structured light 3D camera;
• calculate at least one exposure time of the 3D camera from the one or more images based on the at least one exposure threshold value;
• and
• determine one or more exposure time of the structured light 3D camera based on the at least one exposure time from the one or more images and the at least one exposure threshold value,
• wherein, to calculate the at least one exposure time, the processor is configured to:
• calculate a pixel slope for each pixel included in at least one of the one or more images based on an exposure time;
• adjust a pixel value of each pixel included in the one or more images based on the pixel slope;
• determine whether a maximum value and a minimum value among the adjusted pixel values of each pixel correspond to a slope set based on overexposed and underexposed threshold values;
• and
• calculate the at least one exposure time based on a determination result.

A non-transitory computer readable storage medium storing computer executable instructions, wherein the instructions, when executed by a processor, cause the processor to perform a method for setting exposure of a structured light 3D camera, the method comprising:

• receiving one or more images captured from the structured light 3D camera;
• obtaining at least one exposure threshold value of the structured light 3D camera;
• calculating at least one exposure time of the 3D camera from the one or more images based on the at least one exposure threshold value;
• and
• determining one or more exposure time of the structured light 3D camera based on the at least one exposure time from the one or more images and the at least one exposure threshold value,
• wherein calculating the at least one exposure time includes:
• calculating a pixel slope for each pixel included in at least one of the one or more images based on an exposure time;
• adjusting a pixel value of each pixel included in the one or more images based on the pixel slope;
• determining whether a maximum value and a minimum value among the adjusted pixel value of each pixel correspond to a slope set based on overexposed and underexposed threshold values;
• and
• calculating the at least one exposure time based on a determination result.