A vision measurement algorithm based on divergent facula structured light

Obtaining the depth information of a large area is indispensable for some specific applications. In the circumstances, a vision measurement algorithm based on divergent facula structured light is proposed. It is implemented on an embedded image processing board which contains an FPGA and a DSP. A laser beam with a certain divergence angle is projected onto the plane to be measured, and a camera captures the facula image. Then the major and minor axes of the facula ellipse in the image are calculated by ellipse fitting so as to obtain the depth information of the plane. Measurement results of different ranges validate the effectiveness of the proposed method.