Depth calculation method and system based on time of flight, and storage medium
AssigneeOrbbec Inc.
InventorsHongtao Yu, Minrong Meng, Tao Gu
Life of this patent
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Abstract
A time-of-flight depth calculation method includes: obtaining a phase image, and obtaining, based on the phase image, a differential ratio of charge signals corresponding to reflected signals acquired by an image sensor at different times; in response to that the differential ratio of the charge signals is greater than or equal to a threshold, obtaining a first phase based on a phase conversion model and the differential ratio of the charge signals; and calculating a depth value of a target region based on the first phase.
Claims17
A time-of-flight depth calculation method, comprising:
- obtaining a phase image, wherein the phase image is generated based on reflected signals from a target region acquired by an image sensor in a single frame period;
- obtaining, based on the phase image, a differential ratio of charge signals corresponding to the reflected signals acquired by the image sensor at different times;
- in response to that the differential ratio of the charge signals is greater than or equal to a threshold, obtaining a first phase based on a phase conversion model and the differential ratio of the charge signals;
- calculating a depth value of the target region based on the first phase;
- in response to that the differential ratio of the charge signals is less than the threshold, obtaining a second phase based on a phase calculation model, wherein the phase calculation model comprises Δφ2=arctanA, Δφ2 is the second phase, and A is the differential ratio of the charge signals;
- and
- calculating the depth value of the target region based on the second phase.
A time-of-flight depth calculation system, comprising:
- a signal emitter, configured to emit an infrared beam to a target region;
- an image sensor comprising at least one tap and configured to acquire charge signals of reflected signals from the target region at different times, to form a phase image based on the charge signals;
- and
- a processor, configured to calculate a depth value of the target region by operations comprising:
- obtaining, based on the phase image, a differential ratio of the charge signals acquired by the image sensor at the different times;
- determining whether the differential ratio of the charge signals is greater than or equal to a threshold;
- in response to that the differential ratio of the charge signals is greater than or equal to the threshold, obtaining a first phase based on a phase conversion model and the differential ratio of the charge signals;
- calculating the depth value of the target region based on the first phase;
- in response to that the differential ratio of the charge signals is less than the threshold, obtaining a second phase based on a phase calculation model, wherein the phase calculation model comprises Δφ2=arctanA, Δφ2 is the second phase, and A is the differential ratio of the charge signals;
- and
- calculating the depth value of the target region based on the second phase.
A non-transitory computer-readable storage medium, storing a computer program, wherein the computer program, when executed by a processor, causes the processor to perform operations comprising:
- obtaining a phase image, wherein the phase image is generated based on reflected signals from a target region acquired by an image sensor in a single frame period;
- obtaining, based on the phase image, a differential ratio of charge signals corresponding to the reflected signals acquired by the image sensor at different times;
- in response to that the differential ratio of the charge signals is greater than or equal to a threshold, obtaining a first phase based on a phase conversion model and the differential ratio of the charge signals;
- calculating a depth value of the target region based on the first phase;
- in response to that the differential ratio of the charge signals is less than the threshold, obtaining a second phase based on a phase calculation model, wherein the phase calculation model comprises Δφ2=arctanA, Δφ2 is the second phase, and A is the differential ratio of the charge signals;
- and
- calculating the depth value of the target region based on the second phase.
Dependencies are inferred from the claim text.