CN111556306B - Device and method for long-distance large-field iris optical imaging - Google Patents

Device and method for long-distance large-field iris optical imaging Download PDF

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CN111556306B
CN111556306B CN202010291365.XA CN202010291365A CN111556306B CN 111556306 B CN111556306 B CN 111556306B CN 202010291365 A CN202010291365 A CN 202010291365A CN 111556306 B CN111556306 B CN 111556306B
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CN111556306A (en
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倪蔚民
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Suzhou Siyuan Kean Information Technology Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
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    • H—ELECTRICITY
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    • H—ELECTRICITY
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
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    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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    • H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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Abstract

The invention provides a device for remote large-field-of-view iris optical imaging, which comprises: an iris optical tracking system including a 3D depth imaging unit; the iris zooming focusing optical imaging system comprises an optical zooming focusing lens group and an ultrahigh-resolution image imaging sensor, and is used for adjusting the focal length and/or the focusing position of iris imaging according to the 3D physical space point coordinates, and the ultrahigh-resolution image imaging sensor performs physical imaging; the LED illumination light source radiation system comprises a radiation intensity solid angle and/or a radiation intensity direction angle and is used for executing combined control of the matching relation between the field angles of the iris zoom focusing optical imaging system corresponding to different working radiuses/distances according to the 3D physical space point coordinates; and image processing and driving control are carried out, and driving and feedback control among all system units are realized. The invention provides a device and a method for iris optical imaging with a long distance and a large field of view, which simultaneously realize constant field angle and constant radiation illumination in a large range.

Description

Device and method for long-distance large-field iris optical imaging
Technical Field
The invention relates to the technical field of optical imaging, in particular to a device and a method for remote large-field-of-view iris optical imaging.
Background
Known iris imaging devices suffer from the drawback that the imaging time for obtaining images at far working distances and large working field scenes exceeds 1-3s, and the user cannot remain consistent and relatively stationary for such a long time due to the large magnification requirement of the image iris diameter requirement >200 pixels, resulting in the need to readjust the field of view, zoom focus, illumination beyond the field of view of the iris imaging system even if moved very slightly.
In addition, the traditional distance measurement includes software mapping of iris diameter or binocular distance, because the error is too large to provide accurate working distance information due to the fact that the variation difference in people is larger than 20%, the overall performance is directly influenced, meanwhile, the physical distance measurement of infrared, ultrasound, tof and the like has too large error to provide accurate working distance information under the scenes of far working distance and large working field, meanwhile, the known technology has the defects that the depth of field, the image brightness, the image relative illumination, the radiation intensity of an illumination light source, the image quality of the iris of an eye under the radiation illumination and the like can not guarantee the consistency even the difference is several times under the scenes of far working distance and large working field, the traditional illumination light source adopts the adjustment along with the inverse square ratio of the working distance, the radiation intensity of a non-constant light source (such as the range of 2-3 times of the working distance, the angular change of the field 2-3 times, and the radiation intensity change of 4-9 times), so that the requirements of constant field angle and radiation illumination over a wide range cannot be satisfied at the same time.
The traditional method for improving the imaging view field adopts a mechanical holder structure, so that the control is complex, the accuracy of positioning error is low, the stability and reliability are low, the power consumption volume and the noise service life are serious problems, and the time consumption for starting imaging after the position of the holder is adjusted is very slow.
Therefore, in order to solve the above technical problems in the prior art under the remote working distance and large working field of view, there is a need for a remote large field of view iris optical imaging apparatus and method.
Disclosure of Invention
One aspect of the present invention provides an apparatus for remote large field-of-view iris optical imaging, the apparatus comprising: the system comprises an iris optical tracking system, an iris zooming focusing optical imaging system, an LED illumination light source radiation system, an image display feedback system and an image processing and driving control system;
the iris optical tracking system comprises a 3D depth imaging unit, a three-dimensional (3D) optical tracking unit and a control unit, wherein the 3D depth imaging unit is used for acquiring coordinates of a 3D physical space point;
the iris zooming focusing optical imaging system comprises an optical zooming focusing lens group and an ultrahigh-resolution image imaging sensor, and is used for adjusting the focal length and/or the focusing position of iris imaging according to the 3D physical space point coordinates, and the ultrahigh-resolution image imaging sensor performs physical imaging;
the LED illumination light source radiation system comprises a radiation intensity solid angle and/or a radiation intensity direction angle and is used for executing combined control of matching relations among field angles of the iris zoom focusing optical imaging system corresponding to different working distances according to 3D physical space point coordinates;
the image display feedback system comprises a display screen for displaying the current image and/or the driving control state information of each system in real time;
the image processing and driving control system is connected with the iris optical tracking system, the iris zooming focusing optical imaging system, the LED illuminating light source radiation system and the image display feedback system, and realizes the driving and feedback control among all the system units.
The imaging field angle of the 3D depth imaging unit is larger than or equal to that of the iris zoom focusing optical imaging system.
Preferably, the 3D depth imaging unit includes depth imaging using 3DTOF or structured light depth imaging, or binocular stereo vision imaging.
Preferably, the ultra-high resolution image imaging sensor has at least 8K resolution.
Preferably, the radiation intensity direction angle of the LED illumination light source radiation system satisfies the relationship: ψ ═ arctan (D/Z), wherein,
an included angle psi between a central line corresponding to the radiation intensity peak direction of the LED illumination light source radiation system and the optical axis of the iris zooming focusing optical imaging system is defined, D is the distance between the optical center of the LED illumination light source radiation system and the optical center of the iris zooming focusing optical imaging system, and Z is the working distance of the iris zooming focusing optical imaging system.
Preferably, the solid angle of the radiation intensity of the LED illumination source radiation system satisfies the relationship: omega (omega) 4 pi sin2(ω) in units of steradians sr, wherein,
ω＝arctan((PXiris2+PYiris2)1/2/2*PSiris/((1+β)*EFLiris))
＝arctan((PXiris2+PYiris2)1/2(2) PSiris/(β) ω is the half field angle of the iris zoom focus optical imaging system,
PXiris is the X horizontal direction pixel resolution of an iris zoom focus optical imaging system,
PYiris is the Y-vertical pixel resolution of the iris zoom focus optical imaging system,
EFLiris is the position of the focal length,
beta is PR PSiris, PR is the image-space resolution of the physical diameter of the iris,
PSiris is the pixel unit resolution of the ultra-high resolution image imaging sensor of the iris zoom focusing optical imaging system,
and Z is the working distance of the iris zoom focusing optical imaging system.
Preferably, the LED illumination source radiation system and the iris zoom focus optical imaging system are configured to:
a combined imaging mode of global pixel exposure (integration) and illumination radiation triggered in either a synchronized out-of-pulse or synchronized in-pulse fashion with a filter, wherein:
the synchronized pulse exposure (integration) time and the synchronized pulse illumination radiation time Tpulse < m/(PR × speed) of the combined imaging mode,
speed is the speed of movement, in m/s,
PR is the iris physical diameter image-space resolution,
m is the pixel scale of the motion blurred image under preset control and is a unit pixel;
the combined imaging mode has a synchronized pulsed exposure (integration) frequency and a synchronized pulsed illumination radiation frequency, Fpulse, which is [10, 30] Hz,
the LED illumination light source radiation system generates synchronous pulse illumination radiation, and the radiated illuminance Tpulse Fpulse Eiris (omega) of the illumination radiation on the iris surface<10mw/cm2，
Eiris (ω) is the irradiance on the iris surface.
Another aspect of the invention provides a method for remote large field of view iris optical imaging, the method comprising:
the image processing and driving control system executes the driving and feedback control processes among the iris optical tracking system, the iris zooming focusing optical imaging system, the LED illumination light source radiation system and the image display feedback system:
a. the iris optical tracking system is controlled in a feedback mode, 3D coordinates of key points of the iris are obtained through a 3D depth imaging unit of the iris optical tracking system, relative coordinates are converted into 3D physical space points, and real-time synchronous iris optical imaging tracking is achieved;
b. the iris zooming focusing optical imaging system and the ultrahigh resolution image imaging sensor are subjected to feedback control, the feedback control of the focal length and/or the focusing position of the real-time synchronous optical zooming focusing lens group is realized according to the 3D physical space point coordinates, and the ultrahigh resolution image imaging sensor performs physical imaging;
c. the feedback control of the LED illumination light source radiation system realizes the feedback control of the LED illumination light source radiation intensity direction angle and/or the LED illumination light source radiation intensity solid angle synchronously responding to the matching relation between the field angles of the iris zooming focusing optical imaging system corresponding to different working distances in real time according to the 3D physical space point coordinates;
d. the feedback control image display feedback system displays the current image and/or the drive control state information of each system in real time;
the image display feedback system realizes real-time synchronous display of the current image as an infrared image imaged by the 3D depth imaging unit, an RGB visible light unit imaging image or an iris zooming focusing optical imaging image.
Preferably, the feedback controlled iris imaging tracking system comprises:
a1, defining the field angle FOVface and the effective imaging focal length EFLface of the 3D depth imaging unit according to the preset working field range FOV:
EFLface＝[(PXface2+PYface2)1/2*PSface/2]/tan(FOVface/2)
PXface is the pixel resolution in the X horizontal direction of the 3D depth imaging unit;
PYface is the pixel resolution in the Y vertical direction of the 3D depth imaging unit;
PSface is the pixel unit resolution of the 3D depth imaging unit;
the FOVface is the view field angle of the 3D depth imaging unit, and the FOVface is equal to FOV;
the EFLface is an effective imaging focal length of the 3D depth imaging unit.
a2, defining 3D depth imaging unit to control and acquire key points of iris:
a21, acquiring a brightness (infrared gray scale) image Ii (x, y) and a depth distance image Iz (x, y) of the 3D depth imaging unit;
a22, detecting a face area in the luminance image Ii (x, y), and further locating left and right eye center coordinates (xl, yl) and (xr, yr) in the face area;
a23, acquiring the depth distance information of the position of the coordinates corresponding to the centers of the left and right eyes in the depth distance image Iz (x, y),
z＝[Iz(xl，yl)+lz(xr，yr)]/2
or
z＝Iz((xl+xr)/2，(yl+yr)/2)；
a24, generating a 3D depth imaging unit image side key reference point KPface (xe, ye, z):
KPface(xe,ye,z)＝KPface((xl+xr-PXface)/2*PSface，(yl+yr-PYface)/2*PSface,z)；
a25, generating a key reference point KPface (Xe, Ye, Ze) of the object space of the 3D depth imaging unit, wherein KPface (Xe, Ye, Ze) is KPface (Xe z/EFLface, Ye z/EFLface, z).
a3, establishing object-side key reference point coordinates KPface (Xe, Xe, Ze) of the 3D depth imaging unit, and performing coordinate transformation relative to 3D physical space points Piris (X, Y, Z) of the iris zoom focusing optical imaging system, wherein Piris (X, Y, Z) is (Xe-Xoffset, Xe-Yoffset, Ze-Zooffset),
(Xoffset, Yoffset, zaffset) is a 3D physical position coordinate offset of the 3D depth imaging unit with respect to the iris zoom focus optical imaging system.
Preferably, the feedback-controlled iris zoom-focus optical imaging system comprises:
b1, executing the zoom focusing parameter synchronous control of the iris zoom focusing optical imaging system;
b11, executing the focal length parameter control of the iris zooming focusing optical imaging system, realizing the preset magnification that the focal length position keeps constant, namely the same imaging iris diameter,
the focal position EFLiris ═ Z ═ β/(1+ β),
wherein, beta is PR PSiris, PR is the image space resolution of the iris physical diameter,
pixel unit resolution of an image imaging sensor of a PSiris iris zoom focus optical imaging system,
z is the working distance of the iris zooming focusing optical imaging system;
b2, executing the focusing parameter control of the iris zooming focusing optical imaging system, realizing the focusing position within the range of the depth of field of the image,
the FOCUS position FOCUS ═ β [ -kdf, Z + kdf ],
wherein, the k step number control range, DOF 2 FNO SOC (1+ beta)/beta2Wherein FNO is the aperture parameter of the iris zoom focusing optical imaging system,
the SOC is a minimum physical light spot resolution parameter of the iris zooming focusing optical imaging system.
Preferably, the feedback-controlled LED illumination source radiation system comprises:
c1, executing the illumination light source radiation intensity direction angle parameter control of the LED illumination light source radiation system, wherein the LED illumination light source radiation direction angle psi is arctan (D/Z),
defining an included angle psi between a central line corresponding to the radiation intensity peak direction of the LED illumination light source radiation system and an optical axis of the iris zooming focusing optical imaging system, wherein D is the distance between the optical center of the LED illumination light source radiation system and the optical center of the iris zooming focusing optical imaging system, and Z is the working distance of the iris zooming focusing optical imaging system;
c2, performing parameter control of the solid angle of the LED illumination source radiation intensity of the LED illumination source radiation system,
solid angle omega (omega) 4 pi sin of radiation intensity of LED illumination light source2(ω) in units of steradians sr, wherein,
ω＝arctan((PXiris2+PYiris2)1/2/2*PSiris/((1+β)*EFLiris))
＝arctan((PXiris2+PYiris2)1/2(2) PSiris/(β) ω is the half field angle of the iris zoom focus optical imaging system,
PXiris is the X horizontal direction pixel resolution of an iris zoom focus optical imaging system,
PYiris is the Y-vertical pixel resolution of the iris zoom focus optical imaging system,
EFLiris is the position of the focal length,
beta is PR PSiris, PR is the image-space resolution of the physical diameter of the iris,
PSiris is the pixel unit resolution of the ultra-high resolution image imaging sensor of the iris zoom focusing optical imaging system,
and Z is the working distance of the iris zoom focusing optical imaging system.
The device and the method for iris optical imaging with long distance and large field of view provided by the invention can simultaneously realize constant field angle and constant radiation illumination in a large range, and have the following advantages:
1. constant magnification, i.e. the same diameter of the iris of the imaged image.
2. In response to the field of view and within 0.1s of imaging speed within the working distance and depth of field range.
3. Constant imaging depth of field.
4. Constant imaged image brightness.
5. Constant imaged image relative illumination.
6. A constant LED illumination source system radiates total optical power.
7. The constant radiation illumination of the iris of the eye meets the upper limit of the biological safe radiation of the eye.
8. The moving speed to 1m/s is not affected by motion blur, countering the interference of various ambient light >10,000 lux noise conditions.
9. The high-reliability stable realization of no mechanical motion part has a working distance of more than 1m and a field range of more than 60 degrees.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
Further objects, features and advantages of the present invention will become apparent from the following description of embodiments of the invention, with reference to the accompanying drawings, in which:
fig. 1 schematically illustrates a schematic diagram of an apparatus for remote large field-of-view iris optical imaging in one embodiment of the present invention.
Reference numerals:
100 a device for long-distance large-field iris optical imaging,
1103D depth imaging unit infrared VCSEL light source,
111 depth imaging unit infrared imaging lens and image imaging sensor,
114 a visible light RGB image-forming unit,
the 1153D depth imaging unit has a predetermined working field angle FOVface,
116 a predetermined proximal working radius Rnear,
117 a predetermined proximal working distance Znear,
118 a predetermined distal working radius Rfar,
119 a predetermined distal working distance Zfar,
120 a zoom focus imaging lens group of an iris zoom focus optical imaging system,
121 an optical filter of an iris zoom focus optical imaging system,
122 ultra-high resolution image imaging sensor of an iris zoom focus optical imaging system,
123 to protect the window from the outside and to protect the window,
124 field angle FOViris-near of proximal working radius/distance Rnear/Znear of iris zoom focusing optical imaging system,
125 field angle FOViris-far of distal working radius/distance Rfar/Zfar of the iris zoom focus optical imaging system,
126 near working radius/distance Rpeak/Znpeak of the iris zoom focusing optical imaging system,
127 object plane imaging region of distal working radius/distance Rfar/Zfar of iris zoom focusing optical imaging system,
130L/130R at the distal working radius/distance Rfar/Zfar the left and right LED illumination sources of the LED illumination source radiation system,
131L/131R at the proximal working radius/distance Rnear/Znear LED illumination sources to the left and right of the LED illumination source radiation system,
132L/132R at the distal working radius/distance Rfar/Zfar, the solid angle of radiation intensity of the left/right side illumination sources of the LED illumination source radiation system, the field angle FOViris-far matching the distal working radius/distance Rfar/Zfar of the iris zoom focusing optical imaging system,
133L/133R the solid angle of radiation intensity of the left/right illumination sources of the LED illumination source radiation system at the proximal working radius/distance Rnear/Znear, the field angle FOViris-near matching the proximal working radius/distance Rnear/Znear of the iris zoom focusing optical imaging system,
134L/134R at the near end working radius/distance Rpeak/Znpeak the left/right side illumination light source radiation intensity direction angle of the LED illumination light source radiation system, matching the near end working radius/distance Rpeak/Znpeak of the iris zoom focusing optical imaging system,
135L/135R at the far end working radius/distance Rfar/Zfar, the left/right side illumination light source radiation intensity direction angle of the LED illumination light source radiation system is matched with the far end working radius/distance Rfar/Zfar of the iris zoom focusing optical imaging system,
150 an image processing and drive control system for the image processing and drive control system,
160 image display feedback system.
Detailed Description
The objects and functions of the present invention and methods for accomplishing the same will be apparent by reference to the exemplary embodiments. However, the present invention is not limited to the exemplary embodiments disclosed below; it can be implemented in different forms. The nature of the description is merely to assist those skilled in the relevant art in a comprehensive understanding of the specific details of the invention.
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals denote the same or similar parts, or the same or similar steps.
The first embodiment is as follows:
referring to fig. 1, a schematic diagram of an apparatus for remote large field iris optical imaging in an embodiment of the present invention is shown, and in an embodiment of the present invention, an apparatus 100 for remote large field iris optical imaging comprises: an iris optical tracking system, an iris zoom focus optical imaging system, an LED illumination source radiation system, an image display feedback system 160, an image processing and drive control system 150.
The iris optical tracking system includes a 3D depth imaging unit.
The 3D depth imaging unit may provide depth image information using 3DTOF depth imaging or structured light depth imaging (e.g., 940nm infrared VCSEL light source 110, imaging lens and image imaging sensor 111), or binocular stereo imaging (LED illumination light source, 2 sets of parameter symmetric imaging lens and image imaging sensor mounted at fixed separation distance).
The iris zoom focusing optical imaging system comprises an optical zoom focusing lens group 120, an optical filter 121 and an ultrahigh resolution image imaging sensor 122.
The LED illumination light source radiation system comprises the combined control of the radiation intensity solid angle and/or the radiation intensity direction angle of the LED illumination light source.
The image display feedback system 160 includes a display screen for displaying the current image and/or the drive control status information of the respective systems in real time.
The 3D depth imaging unit imaging field angle 115 is equal to or greater than the imaging field angle 124/125 of the iris zoom focus optical imaging system.
The ultra-high resolution image imaging sensor 122 has at least 8K resolution.
The image processing and driving control system 150 is connected with the iris optical tracking system, the iris zoom focusing optical imaging system, the LED illumination light source radiation system and the image display feedback system, and realizes the driving and feedback control among all the system units.
According to the embodiment of the invention, the method for remote large-field-of-view iris optical imaging comprises the following steps:
the image processing and drive control system performs the following drive and feedback control processes between the system units:
a. the feedback control iris imaging tracking system acquires 3D coordinates of key points of the iris through the 3D depth imaging unit, converts relative coordinates into 3D physical space points, and realizes real-time synchronous iris optical imaging tracking.
b. The feedback control iris zooming focusing optical imaging system realizes the feedback control of the focal length and the focusing position of the real-time synchronous optical zooming focusing lens group and the physical imaging feedback control of the ultrahigh-resolution image imaging sensor according to the 3D physical space point coordinates.
c. And the feedback control of the LED illumination light source radiation system realizes the feedback control of the LED illumination light source radiation intensity direction angle and/or the LED illumination light source radiation intensity solid angle synchronously responding to the matching relation between the field angles of the iris zooming focusing optical imaging systems corresponding to different working distances in real time according to the 3D physical space point coordinates.
d. And the feedback control image display feedback system displays the current image and/or the driving control state information of each system in real time.
The image display feedback system realizes real-time synchronous display of the current image as an infrared brightness image imaged by the 3D depth imaging unit, an RGB visible light unit imaging image or an iris zooming focusing optical imaging image.
According to the embodiment of the invention, the specific steps comprise:
a1, defining the field angle FOVface115 and the effective imaging focal length EFLface of the 3D depth imaging unit according to the predetermined working field of view range FOV.
EFLface＝[(PXface2+PYface2)1/2*PSface/2]/tan(FOVface/2)，
PXface is the X horizontal direction pixel resolution, pixel, of the 3D depth imaging unit;
PYface is the pixel resolution, pixel, in the Y vertical direction of the 3D depth imaging unit;
PSface is the pixel unit resolution of the 3D depth imaging unit, um/pixel;
the FOVface is the field angle of the 3D depth imaging unit, and the FOVface is the FOV;
EFLface is the effective imaging focal length of 3D depth imaging unit, mm.
Typical parameters are calculated as follows:
PXface 640pixels, PYface 480pixels, PSface 5.6um/pixel, FOVface 77 degrees, EFLface 2.8 mm.
a2, and defining 3D depth imaging unit control to acquire iris key points.
a21, acquiring a brightness (infrared gray scale) image Ii (x, y) and a depth distance image Iz (x, y) of the 3D depth imaging unit.
a22, detecting a face region in the luminance image Ii (x, y), and further locating the left and right eye center coordinates (xl, yl) and (xr, yr) in the face region.
At present, the well-known convolutional neural network CNN cascade model based on deep learning can reliably and accurately realize the functions of face region detection and eye positioning.
Specifically, in order to improve the performance of detecting and positioning the eyes, the visible light RGB image imaging unit 114 is used independently or jointly, calibration and registration of the 3D depth imaging unit and the visible light RGB image imaging unit 114 are performed in advance, and then the face region and the eye positioning in the RGB image are further detected, so that the accuracy and the reliability are improved. In addition, the RGB imaging unit can be used for detecting the human face when the device is in a standby state to trigger the system to enter a normal working state, so that the standby power consumption of the system is reduced. Further, the image imaged by the visible light RGB image imaging unit is used for displaying the current image in real time by the image display feedback system.
a23, acquiring the depth distance information of the position of the coordinates corresponding to the centers of the left and right eyes in the depth distance image Iz (x, y),
z＝[Iz(xl，yl)+lz(xr，yr)]/2，
or
z＝Iz((xl+xr)/2，(yl+yr)/2)。
In order to improve the accuracy and reliability of distance information measurement, the embodiment employs extracting effective pixels in local areas of the center coordinate positions of the left and right eyes to filter interfering pixels, such as median filtering, or filtering pixels with too high brightness or too low brightness in a gray-scale brightness image, or pixels with too far distance or too close distance in a depth distance image, and the like.
and a24, generating a 3D depth imaging unit image space key reference point KPface (xe, ye, z), wherein KPface (xe, ye, z) is KPface ((xl + xr-PXface)/2 PSface, (yl + yr-PYface)/2 PSface, z).
a25, generating a key reference point KPface (Xe, Ye, Ze) of the object space of the 3D depth imaging unit, wherein KPface (Xe, Ye, Ze) is KPface (Xe z/EFLface, Ye z/EFLface, z).
a3, establishing object-side key reference point coordinates KPface (Xe, Xe, Ze) of the 3D depth imaging unit and transforming the coordinates of the 3D physical space points Piris (X, Y, Z) of the iris zoom focusing optical imaging system,
Piris(X，Y，Z)＝(Xe-Xoffset，Xe-Yoffset，Ze-Zoffset)，
wherein, (Xoffset, Yoffset, Zoffset) is a 3D physical position coordinate offset of the 3D depth imaging unit with respect to the iris zoom focus optical imaging system.
Performing zoom focus parameter synchronization control of an iris zoom focus optical imaging system, comprising:
b1, executing the focal length parameter control of the iris zooming focusing optical imaging system, and realizing the preset magnification that the focal length position is kept constant, namely the same imaging iris diameter.
Focal position EFLiris ═ Z ═ beta/(1 + beta)
Wherein, β ═ PR × PSirisPR is the physical diameter image-side resolution pixel/mm of the iris, such as 20pixels/mm typical, and the pixel unit resolution um/pixel of the ultrahigh resolution image imaging sensor of the PSiris iris zoom focusing optical imaging system, such as 3um/pixel typical, β ═ 0.06.
As shown in fig. 1, R is a predetermined working radius, including a predetermined proximal working radius Rnear116, a predetermined distal working radius Rfar118,
the predetermined working distance Z, includes a predetermined proximal working distance Znear117 and a predetermined distal working distance Zfar 119.
For example, the typical parameters of the near-end working distance Znear is 1m, the far-end working distance Zfar is 2m, and the EFLiris is 56.6mm and 113.2mm, respectively.
Considering that the actual user does not move autonomously while securing the speed and adjusting the frequency, the optical zoom operation may be performed after the Z interval is changed by a certain predetermined range. Such a design is reasonable if the same focal length is maintained for a range of 5-10cm, and the iris diameter itself varies from person to person.
b2, executing the focusing parameter control of the iris zooming focusing optical imaging system, realizing the focusing position within the range of the depth of field of the image,
the FOCUS position FOCUS ═ β [ -kdf, Z + kdf ],
wherein k is the control range of the number of steps, k is [1, 2 ]]The STEP size is STEP ═ β DOF, e.g. k ═ 2, comprising-2 STEP, -STEP, 0, + STEP, 2STEP total 5 ranges, DOF ═ 2 FNO · SOC · (1+ β)/β2Wherein FNO is aperture parameter of iris zoom focusing optical imaging system, and parameter range [ PF, 2PF]PF ═ PSiris/(1 um/pixel); SOC is the minimum physical light spot resolution parameter of the iris zooming focusing optical imaging system, and the typical parameter value is SOC ═2 PSiris 1pixel, maximum DOF 21.2 mm.
Due to the error of the depth information, the iris zoom focusing optical imaging system generates 2k +1 times step length control position in the precision mechanical error, individual deviation and the like of the actual production and manufacturing process, the step length is beta-DOF, the range of 3-5 step lengths is completely within the preset image space focusing position, the focusing position is ensured to be within the object space depth range of + -DOF/2 (within the equivalent image space depth range of + -beta-DOF/2), and meanwhile, the small number of control steps can be ensured to be completed within 0.1 s.
The design of the invention ensures that the field depth range is constant, and simultaneously realizes that the focusing position is within the field depth range of the image surface.
The ideal aspheric optical glass/plastic mixed 2 liquid lenses liqidlens respectively and independently control the focal length EFLiris and the focusing FOCUS, the design requires that the focal length and the focusing position are converted into numerical values with the diopter of the imaging optical system 2 liquid lenses of the corresponding design as unit specification, compared with the traditional complex cam curve control driven by a stepping motor, the driving control process can be greatly simplified due to the fact that the liquid lenses have the linear response optical property relation corresponding to diopter and voltage/current, and meanwhile, the design can greatly reduce the number of the components of the whole imaging system (3-4 groups of 12-16 lenses).
Meanwhile, no mechanical transmission part for connecting and driving a traditional screw or a gear is arranged, the service life is not limited, and the control precision and the repeatability are substantially improved.
In practice, the present invention is currently practiced with liquid lenses having a limited clear aperture, typically 6-10mm, and a limited diopter range of-10 to +20 diopters, with wavefront error increasing to λ/10 at large diopters, but due to depth of field for FNO values, long focal length application requirements, suitable for iris zoom focusing optical imaging systems. The optical designer can solve the problem by optimizing the optical path design by utilizing the characteristic skill of the liquid lens, for example, the optical path is provided with a proper entrance pupil design FNO to solve the light aperture, the initial design of the optical system of the zooming part adopts the mode of setting the zooming liquid lens to work at the maximum focal length when working at the far-end working distance under the optical power of 0 diopter, and the initial design of the optical system of the focusing part adopts the mode of setting the image surface position corresponding to the focusing liquid lens to work at the far-end working distance under the optical power of 0 diopter.
And performing parameter control on the direction angle of the radiation intensity direction of the LED illumination light source radiation system and/or the radiation intensity solid angle of the LED illumination light source to realize the matching of the relationship between the field angle ranges of the iris zoom focusing optical imaging system corresponding to different working distances in response to different 3D physical space point coordinates, as shown in FIG. 1.
c1, executing the control of the illumination light source radiation intensity direction angle parameter of the LED illumination light source radiation system.
LED lighting source radiation direction angle psi ═ arctan (D/Z)
An included angle psi between a central line corresponding to the radiation intensity peak direction of the LED illumination light source radiation system and the optical axis of the iris zooming focusing optical imaging system is defined, D is the distance between the optical center of the LED illumination light source radiation system and the optical center of the iris zooming focusing optical imaging system, and Z is the working distance of the iris zooming focusing optical imaging system.
Equivalently, the central line corresponding to the radiation intensity peak direction of the radiation system of the LED illumination light source and the object plane of the iris zoom focusing optical imaging system form an included angle psi ', phi, 90-psi'.
C2, performing parameter control of the solid angle of LED illumination source radiation intensity of the LED illumination source radiation system.
Solid angle omega (omega) 4 pi sin of radiation intensity of LED illumination light source2(ω), unit sphericity sr
ω＝arctan((PXiris2+PYiris2)1/2/2*PSiris/((1+β)*EFLiris))
＝arctan((PXiris2+PYiris2)1/2/2*PSiris/(β*Z))
Omega is the half field angle of the iris zoom focusing optical imaging system.
PXiris is the X horizontal direction pixel resolution, pixel, of the iris zoom focusing optical imaging system.
PYiris is the Y-vertical pixel resolution, pixel, of the iris zoom focus optical imaging system.
Because real physical optics such as a convex lens and/or a concave reflector and the like cannot manufacture equal-density uniform light field light energy (light power) distribution under a given LED illumination light source radiation intensity solid angle omega (omega), unit step function distribution is realized, and specific function distribution is realized.
Figure GDA0003358964650000171
Wherein:
i (omega) is the radiation intensity of the LED illumination light source radiation system and has the unit mw/sr
I(Ω)＝Ipeak*f(Ω)。
Omega is the solid angle of the LED illumination light source radiation system, and the unit sr is the sphericity.
Ipeak is the peak value of the radiation intensity of the radiation system of the LED illumination light source, and the unit is mw/sr.
f (omega) is the radiation intensity normalized distribution function of the LED illumination light source radiation system.
OP is the constant total optical power in mw of the LED illumination source radiation system.
According to the inference f (Ω (ω)) ═ I (Ω (ω))/Ipeak.
Therefore, when the radiation intensity solid angle Ω (ω) of the LED illumination light source radiation system is set, the LED illumination light source radiation system has a radiation intensity I (Ω (ω)) ═ Ipeak f (Ω (ω)).
Defining ρ ═ I ρ/Ipeak ═ I (Ω (ω))/Ipeak ═ f (Ω (ω)), ρ is the relative illuminance of the imaging surface of the predetermined custom iris zoom focus optical imaging system receiving optical radiation, such as 0.5 or 0.707, higher meaning that the relative illuminance distribution is more uniform.
Essentially, the solid angle of radiation intensity of the LED illumination source generates the radiated illumination Eiris on the iris surface, wherein Eiris (omega, psi) is OP/(omega) Z2)*cos3(ψ)。
Sin is satisfied when ω is sufficiently small2(ω)＝tan2(ω)。
As shown in fig. 1, the field angle FOViris-near124 of the proximal working radius/distance Rnear/Znear of the iris zoom focusing optical imaging system. The far end working radius/distance Rfar/Zfar of the iris zoom focusing optical imaging system FOViris-far 125. And an object space plane imaging region 126 of a near working radius/distance Rpeak/Znpeak of the iris zoom focusing optical imaging system. An object plane imaging region 127 of the distal working radius/distance Rfar/Zfar of the iris zoom focus optical imaging system. The left and right LED illumination sources 130L/130R of the LED illumination source radiation system at the distal working radius/distance Rfar/Zfar. The left and right LED illumination sources 131L/131R of the LED illumination source radiation system at the proximal working radius/distance Rpeak/Znpeak. The solid angle of radiation intensity of the left/right side illumination sources of the LED illumination source radiation system at the distal working radius/distance Rfar/Zfar matches the field angle FOViris-far132L/132R of the distal working radius/distance Rfar/Zfar of the iris zoom focusing optical imaging system. The solid angle of radiation intensity of the left/right illumination sources of the LED illumination source radiation system at the proximal working radius/distance Rnear/Znear matches the field angle FOViris-near133L/133R of the proximal working radius/distance Rnear/Znear of the iris zoom focusing optical imaging system. The angle of the radiation intensity directions of the left/right illumination sources of the LED illumination source radiation system at the near-end working radius/distance Rpeak/Znpeak matches the near-end working radius/distance Rpeak/Znpeak 134L/134R of the iris zoom focusing optical imaging system. The left/right illumination source radiation intensity direction angle of the LED illumination source radiation system at the far end working radius/distance Rfar/Zfar matches the far end working radius/distance Rfar/Zfar135L/135R of the iris zoom focusing optical imaging system.
The invention can realize that for an LED illumination light source radiation system with constant total optical power, the radiation illumination intensity of the iris surface is changed by the same amount through dynamically changing the light radiation intensity distributed by the solid angle of the radiation intensity of the LED illumination light source, no matter how the far end/near end working radius [ Rfar, Rpeak ]/distance [ Zfar, Znear ] and the corresponding field angle [ FOViris-far, FOViris-near ] of the iris zoom focusing optical imaging system are changed, the iris zoom focusing optical imaging system keeps close to constant according to the formula Eiris (omega, psi), and can completely match the working radius/distance and the corresponding field angle of the iris optical zoom focusing optical imaging system.
The light radiation illuminance Eimage can be proved to be received for an imaging image plane with an iris zoom focusing optical imaging system.
According to the formula Eimage (omega, psi) ═ t 1/8/(1+ beta)2*cos4(Φ)*μ*Eiris(ω，ψ)/FNO2When ω is sufficiently small, cos is satisfied4(phi) is 1, phi is the imaging incident angle of the iris zoom focusing optical imaging system, and phi is 0, omega]Mu is the optical constant coefficient of the reflectivity of the iris biological tissue, 0.12-0.15, and t is the transmittance constant coefficient of the iris zoom focusing optical imaging system.
Eimage is constant, i.e. the image brightness Iimage is constant.
Iimage＝QE*Tpulse*Eimage*ADC*G*S
QE is the photon-electron quantum conversion efficiency unit e-/(mw. mu. m)2) G is unit conversion gain unit mv/e-, ADC is analog voltage/digital brightness conversion unit LSB/mv, S is unit pixel area unit um2。
At present, the traditional CMOSSENSOR technology performs photon-electron quantum conversion, the efficiency of a PD silicon-based photodiode is not ideal, the technology such as a QF quantum film or an OPF organic photosensitive film of a leading edge has natural high quantum conversion efficiency for infrared photons, and the property of a globalreset/globalshutter global shutter is ideal and preferable.
Meanwhile, it can be proved that the relative illuminance ρ of receiving optical radiation for an imaging image plane of the iris zoom focusing optical imaging system is constant, ρ is equal to ee/enter, ee is the radiated illuminance eege (ω, ψ) ρ at the edge of the imaging image plane (edge of field of view), enter is the radiated illuminance at the center of the imaging image plane (center of field of view), and ec is the relative illuminance with constant image brightness.
The invention realizes the matching of the corresponding field angle range [ FOViris-far, FOViris-near ], the working radius range [ Rfar, Rpeak ] or the working distance range [ Zfar, Znear ] of the iris zoom focusing optical imaging system by the array combination control of solid angles with different radiation direction angles and radiation intensities through the LED illumination light source radiation system.
The invention realizes the equivalent fitting within the range of the field angle [ FOViris-far, FOViris-near ], the range of the working radius [ Rfar, Rpeak ] or the range of the working distance [ Zfar, Znear ] of the corresponding iris zoom focusing optical imaging system to respond to the solid angle of the radiation intensity of the corresponding LED illumination light source by realizing the weight value redistribution of the LED illumination light source radiation system with the constant total optical power.
∑Wi*OPi＝OP
The OPi is the optical power of the LED illumination source radiation system with different solid angles of radiation direction angle and radiation intensity.
Wi is the weight value of the corresponding OPi.
i is the number of LED illumination source radiation systems with different solid angles of radiation direction angle and radiation intensity.
OP is the constant total optical power of the LED illumination source radiation system.
According to the specific embodiment of the present invention, the combined control example of the corresponding solid angle of the radiation intensity of the LED illumination source and the constant total optical power OP at any given working distance Z is realized by the allocation of the optical powers OPfar and OPnear of the LED illumination source radiation system at the row i ═ 2, i.e. at different radiation direction angles and radiation intensity solid angles of the far-end working distance Zfar and the near-end working distance Znear.
W1 OP1+ W2 OP2 ═ OP or Wfar OPfar + Wnear OPnear ═ OP
OP is defined as the constant total optical power of the LED illumination source radiation system for the working distance Z.
Defining OPfar as the optical power of the LED illumination light source radiation system corresponding to the far end working distance Zfar.
Wfar is the weight value of the corresponding OPfar.
OPnear is defined as the optical power of the proximal LED illumination source radiation system corresponding to the proximal working distance Znear.
Wnear is the weight value of the corresponding OPnear.
Under the condition of Wfar + Wnear ═ 1, the following is deduced according to the above formula:
Wfar＝[cos3(ψz)*Z2-cos3(ψnear)*Znear2]/[cos3(ψfar)*Zfar2-cos3(ψnear)*Znear2]。
Wnear]＝[cos3(ψfar)*Zfar2-cos3(ψz)*Z2]/[cos3(ψfar)*Zfar2-cos3(ψnear)*Znear2]。
where ψ Z is the radiation direction angle of the Z working distance LED illumination source radiation system.
Wherein ψ far is the radiation direction angle of the far-end working distance LED illumination light source radiation system.
Wherein ψ near is the radiation direction angle of the near end working distance LED illumination light source radiation system.
In particular, in cos3(ψfar)/cos3(ψ z) ═ 1 and cos3(ψnear)/cos3In a simplified condition of 1 (ψ z), the above formula is simplified as:
Wfar＝[Z2-Znear2]/[Zfar2-Znear2]。
Wnear＝[Zfar2-Z2]/[Zfar2-Znear2]。
the optical power OPfar and OPnear of the LED illumination light source radiation system of different radiation direction angles and radiation intensity solid angles of the far-end working distance Zfar and the near-end working distance Znear are distributed by combined control distribution of the weight value proportion Wfar and Wnear to realize the corresponding LED illumination light source radiation intensity solid angle and constant total optical power at any given working distance Z.
According to the specific embodiment of the present invention, also in the case of i ═ 2, i.e. the combined control example of the optical power OPfar and OPnear allocation of the LED illumination source radiation system at different radiation direction angles and radiation intensity solid angles of the far end working distance Zfar and the near end working distance Znear, achieves the corresponding LED illumination source radiation intensity solid angle and the constant total optical power OP at any given working distance Z.
And simultaneously adding boundary conditions f (omega) far Wfar and OPfar + f (omega) near Wnear and OPnear of the radiation intensity normalization distribution function of the LED illumination light source radiation system.
OP is defined as the constant total optical power of the LED illumination source radiation system corresponding to the working distance Z, and f (Ω) Z is the normalized distribution function of the radiation intensity corresponding to OP.
Defining OPfar as the optical power of the LED illumination light source radiation system corresponding to the far-end working distance Zfar.
Wfar is the weight value of the corresponding OPfar, and f (omega) far is the radiation intensity normalized distribution function of the corresponding OPfar.
OPnear is defined as the optical power of the proximal LED illumination source radiation system corresponding to the proximal working distance Znear.
Wnear is the weight value of the corresponding OPnear, and f (omega) near is the normalized distribution function of the corresponding OPnear radiation intensity.
Under the condition of Wfar + Wnear ═ 1, the following is deduced according to the above formula:
Wfar＝[cos3(ψz)*f(Ω)z*Z2-cos3(ψnear)*f(Ω)near*Znear2]/[cos3(ψfar)*f(Ω)far*Zfar2-cos3(ψnear)*f(Ω)near*Znear2]。
Wnear＝[cos3(ψfar)*f(Ω)far*Zfar2-cos3(ψz)*f(Ω)z*Z2]/[cos3(ψfar)*f(Ω)far*Zfar2-cos3(ψnear)*f(Ω)near*Znear2]。
particularly, under the conditions of Ω ═ Ω (ω) and Wfar + Wnear ═ 1, the following can be deduced from the above formula:
Wfar＝[cos3(ψz)*f(Ω(ω))z*Z2-cos3(ψnear)*f(Ω(ω))near*Znear2]/[cos3(ψfar)*f(Ω(ω))far*Zfar2-cos3(ψnear)*f(Ω(ω))near*Znear2]。
Wnear＝[cos3(ψfar)*f(Ω(ω))far*Zfar2-cos3(ψz)*f(Ω(ω))z*Z2]/[cos3(ψfar)*f(Ω(ω))far*Zfar2-cos3(ψnear)*f(Ω(ω))near*Znear2]。
where ψ Z is the radiation direction angle of the Z working distance LED illumination source radiation system.
Wherein ψ far is the radiation direction angle of the far-end working distance LED illumination light source radiation system.
Wherein ψ near is the radiation direction angle of the near end working distance LED illumination light source radiation system.
Wherein f (omega)) Z is a radiation intensity normalized distribution function value corresponding to the radiation intensity of the LED illumination light source radiation system at the Z working distance in the omega (omega) radiation intensity solid angle.
Wherein f (omega)) far is a radiation intensity normalized distribution function value corresponding to the radiation system of the LED illumination light source with the remote working distance in an omega (omega) radiation intensity solid angle.
Wherein f (omega)) near is a radiation intensity normalized distribution function value corresponding to the radiation intensity of the radiation system of the LED illumination source with the near-end working distance in an omega (omega) radiation intensity solid angle.
In particular, in cos3(ψfar)/cos3(ψ z) ═ 1 and cos3(ψnear)/cos3In a simplified condition of 1 (ψ z), the above formula is simplified as:
Wfar＝[f(Ω(ω))z*Z2-f(Ω(ω))near*Znear2]/[f(Ω(ω))far*Zfar2-f(Ω(ω))near*Znear2]
Wnear＝[f(Ω(ω))far*Zfar2-f(Ω(ω))z*Z2]/[f(Ω(ω))far*Zfar2-f(Ω(ω))near*Znear2]
the optical power OPfar and OPnear of the LED illumination light source radiation system of different radiation direction angles and radiation intensity solid angles of the far-end working distance Zfar and the near-end working distance Znear are distributed by combined control distribution of the weight value proportion Wfar and Wnear to realize the corresponding LED illumination light source radiation intensity solid angle and constant total optical power at any given working distance Z.
The radiation power redistributed by the weight values is controlled by combining the radiation intensity solid angle of the LED illumination light source within the field angle range of the iris zoom focusing optical imaging system corresponding to the far-end working distance and the near-end working distance to change the radiation illumination of the iris surface by the same amount, the iris surface is kept nearly constant according to a formula, and the iris surface can be completely matched with the field angle of the corresponding iris zoom focusing optical imaging system.
As an equivalent extension of the present invention, the optical power combining control using more LED illumination source radiation systems with different solid angles of radiation direction angle and radiation intensity should be equally understood and equivalent.
The LED illumination light source radiation system and the iris zooming focusing optical imaging system are combined and configured to have combined control responding to a synchronous radiation intensity direction angle and a radiation intensity solid angle, so that the LED illumination light source radiation system can respond to the corresponding field angle of the iris zooming focusing optical imaging system with different working radiuses/distances in different 3D physical space point coordinates and achieve the corresponding matching relation between the constant imaging image brightness, the constant imaging image relative illumination, the constant LED illumination light source system radiation light power and the constant eye iris radiated illumination in the preset working field and working distance.
To eliminate motion blur caused by user motion in actual use, even a moving speed of 10cm/s or less can cause very significant image motion blur disturbance due to such a large optical magnification, resulting in an influence on recognition performance.
The invention is configured to a global pixel exposure (integration) and illumination radiation combined imaging mode in a synchronous pulse external triggering mode or a synchronous pulse internal triggering mode through an LED illumination light source radiation system and an iris zooming focusing optical imaging system.
Wherein the sync pulse exposure (integration) time and the sync pulse illumination radiation time Tpulse < m/(PR × speed), speed is a predetermined controlled motion speed such as 1m/s, m is a predetermined controlled motion blur image pixel scale, and m <10 pxiels.
The synchronous pulse exposure (integral) frequency and the synchronous pulse illuminating radiation frequency Fpulse, the Fpulse is 10, 30 Hz, the LED illuminating light source radiation system generates the synchronous pulse illuminating radiation, the radiated illuminance Tpulse Fpulse E Eiris (omega) of the synchronous pulse illuminating radiation on the iris surface is less than 10mw/cm2, so as to ensure the eye radiation biological safety.
Furthermore, the iris zoom focusing optical imaging system realizes a global pixel exposure (integration) and illumination radiation combined imaging mode of a synchronous pulse external triggering or synchronous pulse internal triggering mode under the combination of the optical filter, and has anti-interference performance on various light interference conditions in an external uncontrolled environment. Such as outdoor solar environments up to 10,000 lux or more.
The ultrahigh resolution image imaging sensor has at least 8K resolution, namely more than 8000X 4000 resolution, and the method can adopt a binding or subsampling imaging mode to improve the image imaging quality preprocessing speed during image quality processing in consideration of the limitation of ultrahigh resolution bandwidth and frame rate.
Due to the fact that the resolution cannot be infinitely increased by the image imaging sensor, the field angle is further expanded, and the field angle is improved by multiple times by the corresponding groups by adopting the multiple groups of iris zooming focusing optical imaging system arrays. The equivalent understanding can be extended to the corresponding field angle of resolution of the corresponding multiple.
The protection window 123 can be made of full-transmission toughened optical glass, or more preferably, a filter which reflects visible light below 700nm and transmits infrared light of 700-900nm is adopted, so that the internal optical component can be protected, meanwhile, a user cannot observe the internal structure and provide the user with a natural use visual feedback effect by reflecting the visible light, furthermore, the visible light is filtered, the interference of the iris zooming focusing optical imaging system on external non-imaging wavelength stray light can be eliminated, and the imaging quality signal-to-noise ratio (SNR) is further improved.
The invention provides a device and a method for iris optical imaging with a long distance and a large field of view, which simultaneously realize constant field angle and constant radiation illumination in a large range.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

Claims (9)

1. An apparatus for remote large field of view iris optical imaging, said apparatus comprising:
the system comprises an iris optical tracking system, an iris zooming focusing optical imaging system, an LED illumination light source radiation system, an image display feedback system and an image processing and driving control system;
the iris optical tracking system comprises a 3D depth imaging unit, a three-dimensional (3D) optical tracking unit and a control unit, wherein the 3D depth imaging unit is used for acquiring coordinates of a 3D physical space point;
the iris zooming focusing optical imaging system comprises an optical zooming focusing lens group and an ultrahigh-resolution image imaging sensor, and is used for adjusting the focal length and the focusing position of iris imaging according to the 3D physical space point coordinates, and the ultrahigh-resolution image imaging sensor performs physical imaging;
the LED illumination light source radiation system comprises a radiation intensity solid angle and/or a radiation intensity direction angle and is used for executing combined control of matching relations among field angles of the iris zoom focusing optical imaging system corresponding to different working distances according to 3D physical space point coordinates;
the radiation intensity direction angle of the LED illumination light source radiation system meets the following relation: ψ ═ arctan (D/Z), wherein,
psi is an included angle between a central line corresponding to the radiation intensity peak direction of the LED illumination light source radiation system and the optical axis of the iris zooming focusing optical imaging system, D is the distance between the optical center of the LED illumination light source radiation system and the optical center of the iris zooming focusing optical imaging system, and Z is the working distance of the iris zooming focusing optical imaging system;
the solid angle of the radiation intensity of the LED illumination light source radiation system satisfies the relation: omega (omega) 4 pi sin2(ω) in steradians sr, wherein,
ω＝arctan((PXiris2+PYiris2)1/2/2*PSiris/((1+β)*EFLiris))
＝arctan((PXiris2+PYiris2)1/2(2) PSiris/(β) ω is the half field angle of the iris zoom focus optical imaging system,
PXiris is the X horizontal direction pixel resolution of an iris zoom focus optical imaging system,
PYiris is the Y-vertical pixel resolution of the iris zoom focus optical imaging system,
EFLiris is the position of the focal length,
beta is PR PSiris, PR is the image-space resolution of the physical diameter of the iris,
PSiris is the pixel unit resolution of the ultra-high resolution image imaging sensor of the iris zoom focusing optical imaging system,
z is the working distance of the iris zooming focusing optical imaging system;
the image display feedback system comprises a display screen for displaying the current image and/or the driving control state information of each system in real time;
the imaging field angle of the 3D depth imaging unit is greater than or equal to that of the iris zoom focusing optical imaging system;
the image processing and driving control system is connected with the iris optical tracking system, the iris zooming focusing optical imaging system, the LED illuminating light source radiation system and the image display feedback system, and realizes the driving and feedback control among all the system units.
2. The apparatus of claim 1, wherein the 3D depth imaging unit comprises using 3DTOF depth imaging or structured light depth imaging, or binocular stereo vision imaging.
3. The apparatus of claim 1, wherein the ultra-high resolution image imaging sensor is at least 8K resolution.
4. The apparatus of claim 1, wherein the LED illumination source radiation system and iris zoom focus optical imaging system are configured to:
a combined imaging mode of global pixel exposure and illumination radiation with simultaneous out-of-pulse triggering or simultaneous in-pulse triggering with the combination of filters, wherein:
the synchronized pulse exposure time and the synchronized pulse illumination radiation time Tpulse < m/(PR × speed) of the combined imaging mode,
speed is the speed of movement, in m/s,
PR is the iris physical diameter image-space resolution,
m is the pixel scale of the motion blurred image under preset control and is a unit pixel;
the combined imaging mode has a synchronized pulsed exposure frequency and a synchronized pulsed illumination radiation frequency Fpulse, which is [10, 30] Hz,
the LED illumination light source radiation system generates synchronous pulse illumination radiation, and the radiated illuminance Tpulse Fpulse Eiris (omega) of the illumination radiation on the iris surface<10mw/cm2，
Eiris (ω) is the irradiance on the iris surface.
5. The apparatus of claim 1, wherein a binning or subsampling imaging mode is used to increase image quality pre-processing speed in image quality processing.
6. The apparatus of claim 1, wherein the array of iris zoom focusing optical imaging systems is used to achieve a corresponding set of several times higher field of view and a further step of extended field of view.
7. A method of remote large field of view iris optical imaging, said method comprising:
the image processing and driving control system executes the driving and feedback control processes among the iris optical tracking system, the iris zooming focusing optical imaging system, the LED illumination light source radiation system and the image display feedback system:
a. the iris optical tracking system is controlled in a feedback mode, 3D coordinates of key points of the iris are obtained through a 3D depth imaging unit of the iris optical tracking system, relative coordinates are converted into 3D physical space points, and real-time synchronous iris optical imaging tracking is achieved;
b. the feedback control of the iris zooming focusing optical imaging system is realized according to the 3D physical space point coordinates, the feedback control of the focal length and/or the focusing position of the real-time synchronous optical zooming focusing lens group and the feedback control of the physical imaging of the ultrahigh resolution image imaging sensor are realized;
c. the feedback control of the LED illumination light source radiation system realizes the feedback control of the LED illumination light source radiation intensity direction angle and/or the LED illumination light source radiation intensity solid angle synchronously responding to the matching relation between the field angles of the iris zooming focusing optical imaging system corresponding to different working distances in real time according to the 3D physical space point coordinates;
the feedback control LED illumination light source radiation system comprises:
c1, executing the control of the illumination source radiation intensity direction angle parameters of the LED illumination source radiation system,
the radiation direction angle psi of the LED illumination light source is arctan (D/Z),
psi is an included angle between a central line corresponding to the radiation intensity peak direction of the LED illumination light source radiation system and the optical axis of the iris zooming focusing optical imaging system, D is the distance between the optical center of the LED illumination light source radiation system and the optical center of the iris zooming focusing optical imaging system, and Z is the working distance of the iris zooming focusing optical imaging system;
c2, performing parameter control of the solid angle of the LED illumination source radiation intensity of the LED illumination source radiation system,
solid angle omega (omega) 4 pi sin of radiation intensity of LED illumination light source2(ω) in steradians sr, wherein,
ω＝arctan((PXiris2+PYiris2)1/2/2*PSiris/((1+β)*EFLiris))
＝arctan((PXiris2+PYiris2)1/2(2) PSiris/(β) ω is the half field angle of the iris zoom focus optical imaging system,
PXiris is the X horizontal direction pixel resolution of an iris zoom focus optical imaging system,
PYiris is the Y-vertical pixel resolution of the iris zoom focus optical imaging system,
EFLiris is the position of the focal length,
beta is PR PSiris, PR is the image-space resolution of the physical diameter of the iris,
PSiris is the pixel unit resolution of the ultra-high resolution image imaging sensor of the iris zoom focusing optical imaging system,
z is the working distance of the iris zooming focusing optical imaging system;
d. the feedback control image display feedback system displays the current image and/or the drive control state information of each system in real time;
the image display feedback system realizes real-time synchronous display of the current image as an infrared image imaged by the 3D depth imaging unit, an RGB visible light unit imaging image or an iris zooming focusing optical imaging image.
8. The method of claim 7, wherein feedback controlling an iris imaging tracking system comprises:
a1, defining the field angle FOVface and the effective imaging focal length EFLface of the 3D depth imaging unit according to the preset working field range FOV:
EFLface＝[(PXface2+PYface2)1/2*PSface/2]/tan(FOVface/2)
PXface is the pixel resolution in the X horizontal direction of the 3D depth imaging unit;
PYface is the pixel resolution in the Y vertical direction of the 3D depth imaging unit;
PSface is the pixel unit resolution of the 3D depth imaging unit;
the FOVface is the view field angle of the 3D depth imaging unit, and the FOVface is equal to FOV;
the EFLface is an effective imaging focal length of the 3D depth imaging unit;
a2, defining 3D depth imaging unit to control and acquire key points of iris:
a21, acquiring a brightness image Ii (x, y) and a depth distance image Iz (x, y) of the 3D depth imaging unit;
a22, detecting a face area in the luminance image Ii (x, y), and further locating left and right eye center coordinates (xl, yl) and (xr, yr) in the face area;
a23, acquiring the depth distance information of the position of the coordinates corresponding to the centers of the left and right eyes in the depth distance image Iz (x, y),
z＝[Iz(xl，yl)+lz(xr，yr)]/2
or
z＝Iz((xl+xr)/2，(yl+yr)/2)；
a24, generating a 3D depth imaging unit image side key reference point KPface (xe, ye, z): KPface (xe, ye, z) ═ KPface ((xl + xr-PXface)/2 × PSface, (yl + yr-PYface)/2 × PSface, z);
a25, generating a 3D depth imaging unit object space key reference point KPface (Xe, Ye, Ze):
KPface(Xe，Ye，Ze)＝KPface(xe*z/EFLface，ye*z/EFLface，z)；
a3, establishing object-side key reference point coordinates KPface (Xe, Xe, Ze) of the 3D depth imaging unit, and performing coordinate transformation relative to 3D physical space points Piris (X, Y, Z) of the iris zoom focusing optical imaging system, wherein Piris (X, Y, Z) is (Xe-Xoffset, Xe-Yoffset, Ze-Zooffset),
(Xoffset, Yoffset, zaffset) is a 3D physical position coordinate offset of the 3D depth imaging unit with respect to the iris zoom focus optical imaging system.
9. The method of claim 7, wherein feedback controlling the iris zoom focus optical imaging system comprises:
b1, executing the zoom focusing parameter synchronous control of the iris zoom focusing optical imaging system;
b11, executing the focal length parameter control of the iris zooming focusing optical imaging system, realizing the preset magnification that the focal length position keeps constant, namely the same imaging iris diameter,
the focal position EFLiris ═ Z ═ β/(1+ β),
wherein, beta is PR PSiris, PR is the image space resolution of the iris physical diameter,
pixel unit resolution of an image imaging sensor of a PSiris iris zoom focus optical imaging system,
z is the working distance of the iris zooming focusing optical imaging system;
b2, executing the focusing parameter control of the iris zooming focusing optical imaging system, realizing the focusing position within the range of the depth of field of the image,
the FOCUS position FOCUS ═ β [ -kdf, Z + kdf ],
wherein the content of the first and second substances,k is the step control range, DOF 2 FNO SOC (1+ beta)/beta2Wherein FNO is the aperture parameter of the iris zoom focusing optical imaging system,
the SOC is a minimum physical light spot resolution parameter of the iris zooming focusing optical imaging system.
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