CN100337122C - Pulse modulation type three-dimensional image-forming method and system containing no scanning device - Google Patents
Pulse modulation type three-dimensional image-forming method and system containing no scanning device Download PDFInfo
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Abstract
The present invention discloses a pulse modulation type three-dimensional imaging method and a system without a scanner. Light pulses transmitted by a pulse laser illuminate a measured scene; reflection light is input in a functional light receiver through an imaging system; the output is connected with a camera group; the output of the camera group is connected with an image processing device; one circuit of a modulation signal controller controls the pulse laser or a detection laser pulse; one circuit controls the functional light receiver group and the camera group and transmits signals to the image processing device simultaneously. The gain of the functional light receiver is a time variable function, an intensity image under the condition that not less than two kinds of laser pulse illumination with different kinds of intensity, or the gain of the functional light receiver is a different time variable function generates a three-dimensional image by calculation, and the ranging system is not provided with a mechanical scanning component. The present invention has the advantages of low stability requirements for a pulse light source, simple modulation of an image intensifier, low cost, strong capability for resisting the interference of background light, long measurable distance and high precision, and can reach video frame rate three-dimensional imaging.
Description
Technical field
The present invention relates to three-dimensional imaging or claim imaging range finding field, relate in particular to a kind of no scanning pulsed modulation formula three-D imaging method and system.
Background technology
Ranging technology is along with human society, continuous progress in science and technology and development, and people are more and more higher to the requirement that information is obtained.The two-dimensional imaging technology is comparative maturity, but they can only obtain two-dimensional image information, and real world is a three dimensions, and two dimensional image is not enough to give full expression to all information.Three-dimensional imaging display technique can promote correlation detection greatly, the development of aspects such as simulation and amusement.In 3-D imaging system, the highest with the resolution of optical 3-dimensional imaging.But traditional optical 3-dimensional imaging system such as traditional laser imaging radar need mechanical scanner, and this makes system in real-time, and the performance of aspects such as antivibration, volume, power consumption is difficult to that all breakthrough raising is arranged.One of focus that so the three-dimensional imaging technology of development no scanning is people to be paid close attention to.
SRI (scannerless range imaging) no scanning three-dimensional imaging technology has been invented by U.S. Sandia company.Be characterized in having the advantage of the high pixel of the high range resolution of phase ranging method and ready-made image intensifier+CCD; But it adopts continuous light source, and finding range is limited to, poor effect when bias light is strong.STIL (Streak Tube Imaging Lidar) no scanning three-dimensional imaging technology has been invented by U.S. Aret é Associates company.Because but the image-forming range of this method is far away, but under the ccd array condition of certain pixel rate, resolution of distance (progression) and spatial resolution are inversely proportional to, so range measurement accuracy and spatial resolution can not get both.In addition, research institutions such as U.S. Lincoln laboratory, Switzerland's electronics and microtechnology research centre are developing the no scanning three-dimensional imaging technology based on the integrated circuit of high-speed optical pulse response, the detectable distance of this method, but its distance accuracy is low slightly at present, and spatial resolution is lower.
Summary of the invention
The object of the present invention is to provide a kind of no scanning pulsed modulation formula three-D imaging method and system.
The present invention solves the technical scheme that its technical matters takes:
One, no scanning pulsed modulation formula three-D imaging method:
Adopt the pulsed laser light source, light pulse is received and is imaged on the controlled function optical receiver group of received face by optical imaging system after beam-expanding system illuminates target, output light signal with shooting unit collecting function optical receiver group, to Same Scene, in the light pulse illumination of varying strength or the gain of function optical receiver is under the condition of different time variable function, obtain two width of cloth or the above intensity image of two width of cloth, measure with beam splitting arrangement beam splitting part luminous energy and to it at the pulsed laser light output end, with measured value as revising light intensity value; With image processing module each pixel light intensity numerical value in the image sequence of collecting and correction light intensity value are carried out calculation process, calculate the distance of the corresponding scene of each picture element in the image, generate 3-D view.
Two, no scanning pulsed modulation formula 3-D imaging system:
Comprise pulsed laser, beam-expanding system, optical fiber correcting device, imaging device, function optical receiver group, shooting unit, modulation signal controller, image processing apparatus.Pulse laser is sent pulse by behind the beam-expanding system, separated into two parts, the tested scene of part optical illumination, enter function optical receiver group by imaging device, another part light is through optical fiber correcting device connection function optical receiver group, the output of function optical receiver group is electrically connected with image processing apparatus through the shooting unit, and the modulation signal controller is electrically connected with function optical receiver group, shooting unit and image processing apparatus respectively; The light pulse that the modulation signal controller is electrically connected with pulsed laser or pulsed laser sends connects the modulation signal controller through first beam splitter.
The useful effect that the present invention has is: pulsed laser sends the light pulse tested scene of throwing light on; Reflected light inputs to the function optical receiver through imaging system; Its output connects the shooting unit; The output map interlinking of shooting unit is as treating apparatus; One tunnel gating pulse laser instrument or the exploring laser light pulse of modulation signal controller; One tunnel control function optical receiver group and shooting unit are transferred to image processing apparatus with signal simultaneously.The gain of function optical receiver is the time variable function.Be the intensity image under the condition of different time variable function by the gain that obtains above varying strength laser pulse illumination of two width of cloth or two width of cloth or function optical receiver, generate a width of cloth 3-D view by calculating.This range measurement system does not have the mechanical scanning parts.Paired pulses light source stability of the present invention requires low, and the image intensifier modulation is simple; It is low to have cost, and anti-bias light interference performance is strong, can survey distance, and the precision height can reach the advantage of video frame rate three-dimensional imaging.
Description of drawings
Fig. 1 is a structural principle synoptic diagram of the present invention;
Fig. 2 (a) is the image intensifier gain gain during for a constant time variable function change curve in time;
Fig. 2 (b) is the image intensifier gain gain during for a linear session variable function change curve in time.
Embodiment
No scanning pulsed modulation formula three-D imaging method: adopt the pulsed laser light source, light pulse is received and is imaged on the controlled function optical receiver group of received face by optical imaging system after beam-expanding system illuminates target, output light signal with shooting unit collecting function optical receiver group, to Same Scene, in the light pulse illumination of varying strength or the gain of function optical receiver is under the condition of different time variable function, obtain two width of cloth or the above intensity image of two width of cloth, measure with beam splitting arrangement beam splitting part luminous energy and to it at the pulsed laser light output end, with measured value as revising light intensity value; With image processing module each pixel light intensity numerical value in the image sequence of collecting and correction light intensity value are carried out calculation process, calculate the distance of the corresponding scene of each picture element in the image, generate 3-D view.
As shown in Figure 1, no scanning pulsed modulation formula 3-D imaging system: comprise pulsed laser 1, beam-expanding system 2, optical fiber correcting device 3, imaging device 4, function optical receiver group 5, shooting unit 6, modulation signal controller 7, image processing apparatus 8.Pulse laser 1 is sent pulse by behind the beam-expanding system 2, separated into two parts, the tested scene of part optical illumination, enter function optical receiver group 5 by imaging device 4, another part light is through optical fiber correcting device 3 connection function optical receiver groups 5,5 outputs of function optical receiver group are electrically connected with image processing apparatus 8 through shooting unit 6, and modulation signal controller 7 is electrically connected with function optical receiver group 5, shooting unit 6 and image processing apparatus 8 respectively; Modulation signal controller 7 connects modulation signal controller 7 with the light pulse that pulsed laser 1 is electrically connected or pulsed laser 1 sends through first beam splitter 1.1.
The Nd:YAG pulsed laser that described pulsed laser 1 is Nd:YAG pulsed laser or Raman displacement.
Described beam-expanding system 2 is laser beam expanding lens.
Fibre bundle and optical attenuator 3.2 that described optical fiber correcting device 3 is made up of through the length different fiber second beam splitter 3.1 are formed, and another part light is through second beam splitter 3.1, optical attenuator 3.2 connection function optical receiver groups 5.
Described imaging device 4 is camera lens or optical imagery lens group that narrow band filter slice is housed.
Described function optical receiver group 5 be one or more (are generally 2-4) but common microchannel plate image intensifier MCP or the compound MCP that forms by plurality of single modulating part.
Described shooting unit 6 is one or more common video cameras or high-speed camera.
Described image processing apparatus 8 is personal computer, DSP digital information processing system or flush bonding processor.
Three-dimensional range finding formation method:
Light has following relation: t=2x/V (1) to elapsed time t of imaging device institute and scene to imaging device apart from x through scene reflectivity from pulsed laser
V is the velocity of propagation of light in medium of this kind wavelength.
Light pulse light scene, noise and bias light are relative to be ignored having, the duration of light pulse is relatively very short and energy each pulse is equal substantially, substantially under the indeclinable situation, the modulation that the function optical receiver is applied is respectively f to scene in Measuring Time
1(t) and f
2(t), the luminous energy that connects the capable z row of y in the image that a collects pixel at video camera has:
I
1＝rf
1(t)I
p (2)
I
2＝rf
2(t)I
p (3)
Wherein r is and y, the proportionality constant that the scene of z pixel correspondence is relevant with the light medium, I
pBe optical pulse energy.
So by (1), (2), (3) can be obtained:
Wherein
Inverse function for g (x).
Find out easily,, just can guarantee that x has unique numerical value, thereby obtain the range information of corresponding pixel points, finally generate 3-D view by (4) formula as long as g (x) is consistent monotonic quantity between measurement zone.
But the duration of light pulse often can not ignore, and each pulse power shape and energy also change, and bias light and system noise can cause the decline of measuring accuracy.Therefore, the range image that obtain degree of precision can adopt the image of gaining in strength number, select suitable lighting condition, function optical receiver gain time variable function and adopt the way of real-time modified value.A kind of concrete scheme is seen embodiment.
Generate a width of cloth 3-D view and in fact be divided into two steps: the first step is to collect intensity image and the real-time light intensity value of revising that several width of cloth obtain under condition not of the same race; Second step generated a width of cloth 3-D view by the light intensity of revising light intensity value and each picture element is carried out the distance that computing obtains the corresponding scene of each picture element.One width of cloth intensity image be the light pulse of certain strength range of determining illuminate scene and the function optical receiver gain time variable function state determined under, obtain by the one or many exposure.When obtaining a width of cloth intensity image, wherein some are used as the correction light intensity value by the picture element light intensity value of optical fiber update the system exposure.If function optical receiver group is by a plurality of function optical receivers or by several function optical receivers of forming of modulating part separately, each exposure of intensity image can be adopted interlace mode; Can improve the frame per second of three-dimensional imaging like this and reduce the influence that scene changes.
Example with a usefulness four width of cloth intensity images and correction light intensity value illustrates below:
The output intensity of MCP is directly proportional with input light intensity and gain product.Setting MCP is under the situation of fixed gain, and scene is respectively produced a width of cloth intensity image under light pulse illumination (being that pulse strength is 0) condition the light pulse illumination being arranged and do not have.Setting the MCP gain is linear increasing under the situation of time variable function, and scene is being had the light pulse illumination and do not having respectively to produce under the light pulse lighting condition width of cloth intensity image.During intensity image by once or several times exposures obtain.After obtaining four width of cloth intensity images and revising light intensity value, can calculate a range from image.
1, thrown light on by light pulse in scene, when the gain of MCP is constant time variable function under the situation of (shown in Fig. 2 a), certain picture element luminous energy E in the intensity image that video camera obtains
1Can be expressed as follows:
E
1＝A(rE
P1+I
bT
G)+E
N1 (6)
Wherein A is the gain of MCP, and r is certain constant, and is relevant with the light medium of corresponding scene of this picture element and light pulse process, E
P1Be the gross energy numerical value of this time light pulse, I
bFor this puts the bias light power of corresponding scene, T
GBe the time span of fixed gain, E
N1The equivalent luminous energy that causes at the noise of this picture element for the system under this condition and background.
2, do not having the light pulse illumination, the gain of MCP is under the situation of fixing, same picture element luminous energy E
2Can be expressed as follows:
E
2＝AI
bT
G+E
N1 (7)
3, thrown light on by light pulse in scene, MCP is applied under the situation of linear modulation (shown in Fig. 2 b), and same picture element luminous energy E can be expressed as follows:
Wherein B is the MCP yield value of linear modulation when beginning, and k is the slope of linear modulation function, I
P2(t) be the time distribution function of this subpulse luminous power, x is the distance of the corresponding scene of this picture element, the ultimate range of R for measuring, E
N2The equivalent luminous energy that causes at the noise of this picture element for the system under this condition and background.
4, do not having the light pulse illumination, MCP is applied under the situation of linear modulation, same picture element luminous energy E
4Can be expressed as follows:
5, the light pulse illumination is being arranged, the gain of MCP is under the fixing situation, and average light path is the luminous energy E of the picture element of L1 optical fiber junction correspondence
1 L1For:
Wherein α is relevant with fibre system, E
N3The equivalent luminous energy that causes at the noise of this picture element for the system under this condition and background.
6, do not having the light pulse illumination, the gain of MCP is under the fixing situation, and average light path is the luminous energy E of the picture element of L1 optical fiber junction correspondence
2 L1For:
7, the light pulse illumination is being arranged, MCP is applied under the situation of linear modulation, and average light path is the luminous energy E of the picture element of L1 optical fiber junction correspondence
3 L1For:
E
N4The equivalent luminous energy that causes at the noise of this picture element for the system under this condition and background.
8, do not having the light pulse illumination, MCP is applied under the situation of linear modulation, and average light path is the luminous energy E of the picture element of L1 optical fiber junction correspondence
4 L1For:
9, similar, the corresponding picture element of the optical fiber that average light path is L2 with average light path be that 4 luminous energy values that the corresponding picture element in optical fiber junction of L2 obtains under four kinds of different conditions are respectively:
E
N5, E
N6The equivalent luminous energy that causes at the noise of this picture element for the system under this condition.
, can obtain to (17) formula according to above (6):
L1, L2 can measure or demarcate in advance, should make L1 near R during design, and L2 is approximately 2R.In case determine L1, after the L2, just can calculate the distance of the corresponding scene of each picture element by (13) formula, in this scheme, every acquisition four width of cloth intensity images generate a range from image.
Claims (7)
1, a kind of no scanning pulsed modulation formula three-D imaging method, it is characterized in that: adopt the pulsed laser light source, light pulse is received and is imaged on the controlled function optical receiver group of received face by optical imaging system after beam-expanding system illuminates target, output light signal with shooting unit collecting function optical receiver group, to Same Scene, in the light pulse illumination of varying strength or the gain of function optical receiver is under the condition of different time variable function, obtain two width of cloth or the above intensity image of two width of cloth, measure with beam splitting arrangement beam splitting part luminous energy and to it at the pulsed laser light output end, with measured value as revising light intensity value; With image processing module each pixel light intensity numerical value in the image sequence of collecting and correction light intensity value are carried out calculation process, calculate the distance of the corresponding scene of each picture element in the image, generate 3-D view.
2, a kind of no scanning pulsed modulation formula 3-D imaging system that is used for the described three-D imaging method of claim 1, it is characterized in that: comprise pulsed laser (1), beam-expanding system (2), optical fiber correcting device (3), imaging device (4), function optical receiver group (5), shooting unit (6), modulation signal controller (7), image processing apparatus (8); Pulse laser (1) is sent pulse by behind the beam-expanding system (2), separated into two parts, the tested scene of part optical illumination, enter function optical receiver group (5) by imaging device (4), another part light is through optical fiber correcting device (3) connection function optical receiver group (5), function optical receiver group (5) output is electrically connected with image processing apparatus (8) through shooting unit (6), and modulation signal controller (7) is electrically connected with function optical receiver group (5), shooting unit (6) and image processing apparatus (8) respectively; Modulation signal controller (7) connects modulation signal controller (7) with the light pulse that pulsed laser (1) is electrically connected or pulsed laser (1) sends through first beam splitter (1.1).
3, a kind of no scanning pulsed modulation formula 3-D imaging system according to claim 2, it is characterized in that: fibre bundle and optical attenuator (3.2) that described optical fiber correcting device (3) is made up of through the length different fiber second beam splitter (3.1) are formed, and described another part light is through second beam splitter (3.1), optical attenuator (3.2) connection function optical receiver group (5).
4, a kind of no scanning pulsed modulation formula 3-D imaging system according to claim 2, it is characterized in that: described imaging device (4) is camera lens or the optical imagery lens group that narrow band filter slice is housed.
5, a kind of no scanning pulsed modulation formula 3-D imaging system according to claim 2 is characterized in that: described function optical receiver group (5) but be one or more common microchannel plate image intensifier MCP or the compound MCP that forms by plurality of single modulating part.
6, a kind of no scanning pulsed modulation formula 3-D imaging system according to claim 2, it is characterized in that: described shooting unit (6) is one or more common video cameras or high-speed camera.
7, a kind of no scanning pulsed modulation formula 3-D imaging system according to claim 2, it is characterized in that: described image processing apparatus (8) is personal computer, DSP digital information processing system or flush bonding processor.
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| CN103064087B (en) * | 2012-12-25 | 2015-02-25 | 符建 | Three-dimensional imaging radar system and method based on multiple integral |
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| JP2022500675A (en) * | 2018-09-11 | 2022-01-04 | エヌライト, インコーポレイテッドNlight, Inc. | Electro-optic modulator for 3D imaging and its usage and manufacturing method |
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