Depth data measurement head, depth data computing device, and corresponding method

A depth data computing device, comprising:

• a projection device for scanning and projecting a set of structured light having different patterns to a shooting area, and the set of structured lights includes at least two structured lights of different patterns;
• first and second image sensors having a predetermined relative positional relationship for capturing the shooting area to obtain a set of image frame pairs illuminated by the set of structured light;
• and
• a processor connected to the projection device and the first and second image sensors, configured to determine the depth data of an object in the shooting area according to the set of image frame pairs obtained by imaging the structured light,
• wherein, each of the first and second image sensors comprises at least a first sub-image sensor and a second sub-image sensor that share at least part of an optical path, the first sub-image sensors of the first and second image sensors form a first binocular sub-image sensor pair used to image the structured light of a first pattern among the different patterns sequentially projected by the projection device, and the second sub-image sensors of the first and second image sensors form a second binocular sub-image sensor pair used to image the structured light of a second pattern among the different patterns sequentially projected by the projection device after the first pattern.