The invention provides a structured light 3D depth camera self-correction method and device. The optical axis of the laser coding graph projector and the optical axis of the image receiving sensor arechanged; offset of an input coded image relative to an image block in a reference coded image is acquired; the position of the reference coding image is reversely adjusted up and down through the changed offset, so that the center of the input coding image and the center of the reference coding image can form a self-feedback adjustment closed-loop system, and the optimal matching relation can befound out all the time when the optical axis changes in a large range. Furthermore, depth calculation can be carried out according to the corrected offset. Compared with the prior art, the method andthe device disclosed by the invention can solve the problems of depth precision reduction, mismatching noise increase and the like caused by optical axis change of the laser coding graph projector andthe image receiving sensor, realize real-time self-correction of the structured light depth camera, and improve the robustness of the depth camera.
Structured light 3D depth camera self-correction method and device