An active binocular depth perception of the structured light method

The present invention provides a method for binocular depth perception optical active structure, using the code pattern projector projecting a coded pattern, the projection target object space or an optical encoder structure (calibration feature), then use the same baseline symmetrically acquiring two cameras are arranged on both sides of the projector coding pattern detected by the preprocessing and cast shadows, block matching motion estimation modes (binocular and self-matching block matching) according to the image block, the best matching block determined offset, determined by the depth value calculated depth, and the depth compensation cast shadows, to generate high-resolution, high-precision depth information. The present invention combines the advantages of structured light and binocular ranging encoding active, can significantly enhance the depth measurement accuracy and spatial resolution, and is easily implemented in hardware.