Three dimensional sensing method and three dimensional sensing apparatus

A three dimensional sensing device, comprising:

• a projecting device, for projecting a projection pattern to an object, wherein the projecting device serves as a virtual image acquiring device, and an inherent image of the projection pattern serves as a virtual first pending image which resolution is M×N;
• an image acquiring device, for sensing the projection pattern projected on the object to generate a real second pending image which resolution is M×N;
• an image processing unit, coupled to the projecting device and the image acquiring device, for generating a first scaled image and a second scaled image which resolutions are m×n by performing a resolution scaling on the first pending image and the second pending image, where m<M, n<N, and M, N, m, n are positive integers,
• wherein the image processing unit performs a full-scene three dimensional measurement on the first scaled image and the second scaled image to obtain a full-scene depth image and analyzes the full-scene depth image to set a first region of interest (ROI) in the projecting device and a second ROI in the image acquiring device, respectively, and the image processing unit performs a partial-scene three dimensional measurement on a first ROI image and a second ROI image, thereby a partial-scene depth image is obtained accordingly.

A three dimensional sensing device, comprising:

• a projecting device, for projecting a projection pattern to an object;
• a first image acquiring device and a second image acquiring device, for generating a first pending image and a second pending image which resolutions are M×N by sensing the projection pattern projected on the object respectively;
• and
• an image processing unit, coupled to the projecting device and the first image acquiring device and the second image acquiring device, for generating a first scaled image and a second scaled image which resolutions are m×n by performing a resolution scaling on the first pending image and the second pending image respectively, where m<M, n<N, and M, N, m, n are positive integers,
• wherein the image processing unit performs a full-scene three dimensional measurement on the first scaled image and the second scaled image to obtain a full-scene depth image and analyzes the full-scene depth image to set a first region of interest (ROI) in the first image acquiring device and a second ROI in the second image acquiring device, and the image processing unit performs a partial-scene three dimensional measurement on a first ROI image and a second ROI image, thereby a partial-scene depth image is obtained accordingly.