无需外接电源的便携式单帧深度相机，通过镜头差异模糊实现厘米级测距。
Focal Split: Untethered Snapshot Depth from Differential Defocus
- 利用双感光器捕捉场景的双重模糊图像，基于差分模糊理论计算深度。
- 每像素仅需500次浮点运算，实测可获480×360稀疏深度图，帧率2.1FPS。
- 全自供电、可动手把手指南，适合机器人、增强现实等嵌入式应用。
我们提出Focal Split，一种基于差分模糊测距（DfDD）的便携式、单帧深度相机，完全内置供电与计算能力。该系统为被动式设计，不依赖光源，其消色差光学结构同时生成场景的两个不同程度模糊的图像，可通过两个独立的图像传感器在单帧内捕获。数据处理基于DfDD理论，仅需每像素500次浮点运算（FLOPs），即可高效计算出每个像素的深度和置信度。我们展示了原型系统，由定制手持相机连接Raspberry Pi 5进行实时处理，整机功耗4.9 W，由5 V、10,000 mAh电池供电。原型可在0.4米至1.2米距离内测量物体，使用未优化的Python脚本输出480×360稀疏深度图，帧率为2.1帧/秒。Focal Split具有高度可定制性，完整搭建指南、代码及额外数据见https://focal-split.qiguo.org。
原文摘要 · Abstract (English)
We introduce Focal Split, a handheld, snapshot depth camera with fully onboard power and computing based on depth-from-differential-defocus (DfDD). Focal Split is passive, avoiding power consumption of light sources. Its achromatic optical system simultaneously forms two differentially defocused images of the scene, which can be independently captured using two photosensors in a snapshot. The data processing is based on the DfDD theory, which efficiently computes a depth and a confidence value for each pixel with only 500 floating point operations (FLOPs) per pixel from the camera measurements. We demonstrate a Focal Split prototype, which comprises a handheld custom camera system connected to a Raspberry Pi 5 for real-time data processing. The system consumes 4.9 W and is powered on a 5 V, 10,000 mAh battery. The prototype can measure objects with distances from 0.4 m to 1.2 m, outputting 480$\times$360 sparse depth maps at 2.1 frames per second (FPS) using unoptimized Python scripts. Focal Split is DIY friendly. A comprehensive guide to building your own Focal Split depth camera, code, and additional data can be found at https://focal-split.qiguo.org.
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