CN104247178B - 空间编码结构化光生成器 - Google Patents

空间编码结构化光生成器 Download PDF

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CN104247178B
CN104247178B CN201380012119.4A CN201380012119A CN104247178B CN 104247178 B CN104247178 B CN 104247178B CN 201380012119 A CN201380012119 A CN 201380012119A CN 104247178 B CN104247178 B CN 104247178B
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structured light
laser diode
laser
space encoding
systems according
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CN104247178A (zh
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N·赫施巴赫
J-L·凯泽
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IEE International Electronics and Engineering SA
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/40—Arrangement of two or more semiconductor lasers, not provided for in groups H01S5/02 - H01S5/30
    • H01S5/42—Arrays of surface emitting lasers
    • H01S5/423—Arrays of surface emitting lasers having a vertical cavity
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/005—Optical components external to the laser cavity, specially adapted therefor, e.g. for homogenisation or merging of the beams or for manipulating laser pulses, e.g. pulse shaping
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/10—Construction or shape of the optical resonator, e.g. extended or external cavity, coupled cavities, bent-guide, varying width, thickness or composition of the active region
    • H01S5/18—Surface-emitting [SE] lasers, e.g. having both horizontal and vertical cavities
    • H01S5/183—Surface-emitting [SE] lasers, e.g. having both horizontal and vertical cavities having only vertical cavities, e.g. vertical cavity surface-emitting lasers [VCSEL]
    • H01S5/18386—Details of the emission surface for influencing the near- or far-field, e.g. a grating on the surface
    • H01S5/18394—Apertures, e.g. defined by the shape of the upper electrode

Abstract

一种空间编码结构化光由激光二极管阵列(1)生成，以执行结构化光三角测量。激光二极管(1a‑c)是VCSEL，其中所述光在垂直于半导体晶片表面的方向上发射。多个这样的激光二极管(1a‑c)被单片集成以形成阵列(1)。阵列中各个激光二极管的位置被空间编码，从而形成非常规的独特图案。由激光输出的光由折射或衍射的光系统(2)投影到被监测的空间，以形成结构化光图案。被检查的对象(5)可以由VCSEL阵列(1)照射，并且相机(3)捕获帧。处理单元(4)控制VCSEL(1a‑c)的功率并且处理来自相机(3)的数据。

Description

空间编码结构化光生成器
技术领域
本发明总体涉及通过结构化光三角测量的3D构图领域。更具体地，本发明涉及基于单片集成表面发射的激光二极管的阵列的空间编码结构化光发生器。
背景技术
通过结构化光三角测量的场景的3D构图包括以光图案照射场景以及利用相机观测所照射的场景，该相机的光轴与照射源偏离。如果来自照射的给定光线与反射对象交叉，该光线的图像可以在相机上形成。该光线的图像位置与有关照射成像设置的准确几何的知识一起能够允许确定光线和对象之间交叉的相对位置。这假定知道哪一束结构化光图案的光线与对象交叉。找到图案中的与图像中的点相对应的光线通常称作对应问题。
根据Salvi等(J.Salvi等，在结构化光学系统中的图案编码策略，图案识别37(2004)827-849)，存在多种策略来解决对应问题，这些策略可以被分为如下：
-时分复用
-直接编码
-空间临近
时分复用策略包括时间上对结构化光图案编码。不同图案的序列逐一被投影并且成像。3D图可以通过分析图像的完整序列来构造。
在直接编码策略中，对应问题为通过以独特方式(通常通过颜色(波长))对光线自身编码来解决。该策略因而需要获取参考帧，因为该场景在光谱反射率中不是一致的。此外，光学子系统变得非常复杂。宽频谱光必须被发射，并且成像设备需要颜色(波长)测量能力。
空间临近策略通过独特方式对光线的临近区进行编码来解决对应问题。通过观测光线的图像以及图像的临近区，该光线可以被识别。该策略的一种特定感兴趣实施例包括由光点的伪随机噪音图案形成的结构化光图案。根据当前技术状态，该图案可以通过处理具有衍射光组件(例如，计算机生成的全息图)的激光输出来生成。为了使得这种衍射的结构化光三角测量相对于阳光更为鲁棒性，需要确保相对于背景光存在足够的活动照射的对比度，来辨别由相机捕获的图像帧中的结构化光图案。存在特定的、可以优化的系统参数，诸如相机在其中敏感的频谱距离，然而最终该唯一方案为增加图案的强度。这可以通过增加单个激光的功率或通过一些波束合并技术将来自多于一个激光的输出进行合并来实现。第一方法为有限的，使用当前单个发射机激光设备，无法达到相对于阳光足以鲁棒的强度。第二方法引起光学子系统大量增加的复杂度。
技术问题
考虑远程传感器，其构造具有多达数十度的视角以及多达数十米的对象距离的场景的3D图。结构化光三角测量是用于生成场景的3D图的优选方法之一。然而，在文献中已经实施或描述的系统忽略以下两种基本需求中的至少一个：
-对阳光的鲁棒性。系统应该能够构造由太阳照射的场景的3D图。
-场景的3D图应该根据结构化光照射的场景的图像的单个帧捕获来构造。
本文描述的系统将克服这些限制并且实现两种基本的需求，同时仍然基于单个光子系统。
发明内容
本发明的目的通过如权利要求1所述的设备来实现。本发明的优选实施例在从属权利要求中被限定。
一种空间编码的结构化光由激光二极管阵列生成。激光二极管是表面发射型，其中所述光在垂直于半导体晶片表面的方向上发射。多个这种激光二极管被单片集成以形成阵列。各个激光二极管在阵列中的位置被空间编码，从而形成非常规的独特图案。由激光输出的光由反射、折射或衍射的光学系统投影到被监测的空间，以形成结构化的光图案。
附图说明
本发明的优选实施例现在将参考附图，通过示例的方式进行描述，其中：
图1是针对结构化光三角测量的设置的示意图；
图2是根据第一示例的单片集成表面发射激光二极管阵列的视图；
图3为根据第二示例的单片集成表面发射激光二极管阵列的视图。
具体实施方式
针对结构化光三角测量的配置在图1中被示意性描述。附图标记表示为：
1：单片集成表面发射激光二极管的阵列
1a-1c：各个激光二极管
2：投影光学器件
3：相机
4：电源、控制和处理单元
5：场景中的对象
6：照射光学轴
7：相机光学轴
单元4给激光二极管阵列进行供电。投影光学器件2对由各个激光二极管发射的光进行投影，从而形成该场景中的空间编码结构化光图案。单元4开始获取帧，并且一旦完整的帧被捕获之后从相机3中检索数据。单元4处理这些数据并且构造该场景的3D图。
除了用来处理晶片的掩膜具有几何形状，根据针对这些激光的标准流程来制造单片集成表面发射激光二极管阵列，从而形成激光二极管的空间编码的图案。在切割之后获得这样的阵列的操作模块。在图2中示意性示出这样的模块的顶视图，其中各个激光的位置由圆形示出。该圆形不表示激光二极管的近场输出。不具有旋转对称的近场输出是可能的，这增加了结构化光图案的空间编码的信息内容。这在图3中示出，其中考虑了激光二极管的椭圆形近场输出的两个正交方向。
本发明允许构造结构化光三角测量系统，其光学子系统具有特定的简单性。它包括表面发射的激光二极管的单片阵列，其输出由场景上的折射光学元件和/或衍射光学元件或反射光学元件以及用于捕获该照射场景的图像的相机来成像。
各个激光二极管在单片阵列内的位置以非常规的独特图案的形式来表示空间编码，并且该场景的3D图可以从由相机捕获的单个帧包含的信息中获得。
结构化光图案根据单片集成的多个激光二极管的输出来产生。用于获得所需要的阳光鲁棒性的功率调节因此是简单直接的。垂直腔表面发射激光(VCSEL)的商用可用阵列已经被证实能够给出足够的功率等级。

Claims (8)

1.一种结构化光3D三角测量系统，包括空间编码结构化光生成器，所述空间编码结构化光生成器包括单片集成的表面发射激光二极管的阵列，其中所述空间编码通过各个激光二极管在阵列中的布置而实施在晶片级上，结构化光场是通过激光阵列的发射的投射而在场景中形成的。
2.根据权利要求1所述的结构化光3D三角测量系统，还包括被配置为将所述结构化光场投射到所述场景上的折射光学元件、衍射光学元件或反射光学元件中的至少一个以及被布置用于捕获由所述结构化光场照射的所述场景的图像的相机。
3.根据权利要求1所述的结构化光3D三角测量系统，其中所述空间编码通过所述各个激光二极管的位置来实现，所述位置形成非常规的独特图案。
4.根据权利要求1所述的结构化光3D三角测量系统，其中所述空间编码的图案的信息内容是通过给予所述激光二极管的输出不同形状来提供或增加的。
5.根据权利要求4所述的结构化光3D三角测量系统，其中所述激光二极管的输出的成形是通过给予所述激光二极管的输出孔径不同形状或大小来实现的。
6.根据权利要求1所述的结构化光3D三角测量系统，其中所述空间编码的图案的信息内容是通过给予所述激光二极管的输出不同光点大小来提供或增加的。
7.根据权利要求6所述的结构化光3D三角测量系统，其中所述激光二极管的输出的不同光点大小的实现是通过给予所述激光二极管的输出孔径不同形状或大小来实现的。
8.根据权利要求1至7中的任一项所述的结构化光3D三角测量系统，其中所述激光二极管阵列以垂直腔表面发射激光(VCSEL)技术来实施。
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