CN104748729A - Optimized display device and optimized display method for range-gating super-resolution three-dimensional imaging distance map - Google Patents

Optimized display device and optimized display method for range-gating super-resolution three-dimensional imaging distance map Download PDF

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CN104748729A
CN104748729A CN201510121410.6A CN201510121410A CN104748729A CN 104748729 A CN104748729 A CN 104748729A CN 201510121410 A CN201510121410 A CN 201510121410A CN 104748729 A CN104748729 A CN 104748729A
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resolution
frame
dimensional imaging
gray
distance map
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刘晓泉
王新伟
周燕
刘育梁
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Institute of Semiconductors of CAS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures

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Abstract

The invention discloses an optimized display device and an optimized display method for a range-gating super-resolution three-dimensional imaging distance map. The device comprises a pulse laser device, a gating and imaging apparatus, a time sequence controller, a PC (personal computer), a three-dimensional imaging module and an optimized display module. Based on the device, the invention discloses the optimized display method for the range-gating super-resolution three-dimensional imaging distance map, wherein a slice image with low bit depth is replaced with a slice image with high bit depth to obtain a three-dimensional grey distance map with high bit depth, and the distance resolution is improved; in order to vividly show more details, during pseudo-color processing of the distance map with high bit depth, the distance map with high bit depth is linearly normalized to 256-level grey level, and equal-density pseudo-color coding is performed. On the basis of improving the three-dimensional imaging distance resolution to the greatest extent, equal-density pseudo-color coding display of the range-gating super-resolution three-dimensional imaging technology is realized.

Description

Range gating super-resolution three-dimensional imaging distance map optimizes display device and method
Technical field
The present invention relates to 3 Dimension Image Technique field, particularly relate to a kind of range gating super-resolution three-dimensional imaging distance map and optimize display device and method.
Background technology
Range gating super-resolution 3 Dimension Image Technique is because data volume is little, pixel count high (can be greater than 1000 × 1000 pixels), operating distance far away and High Range Resolution, has important application prospect in the fields such as topography and geomorphology mapping, long-range remote sensing, intelligent monitoring, Underwater Imaging and automatic obstacle-avoiding navigation.
Range gating super-resolution 3 Dimension Image Technique has two kinds of three-dimensional rebuilding methods, one is in 2007, by people such as the graduate Martin Laurenzis in moral method St. Louis at " optical letter " Vol.35No.21, the range gating super-resolution three-D imaging method based on trapezoid space energy envelope proposed in 2007,3146 – 3148; Another kind is by the big range gating super-resolution three-D imaging method based on triangle space energy envelope waiting people to report in Chinese invention patent 20121043995.6 of Institute of Semiconductors,Academia Sinica Wang Xin in 2012.But Range-gated Imager is applied in night, mist, snow, rain, the rugged surroundings such as usually under water, in the process that three-dimensional imaging is rebuild, by the restriction of the factors such as back scattering and ground unrest, the Three-Dimensional Gray distance map of formation often low, the sharpness of contrast declines.Can only distinguish according to human visual system the gray scale that about more than 20 plant different brackets, but can distinguish the feature of thousands of kinds of colors, greyscale image transitions is become pseudo color image, not only seem nature, true to nature, the more important thing is, by comparing with other band image, can therefrom obtain more information.
For adapting to different application scenarioss and different target ranges, the Gray homogeneity figure that range gating super-resolution 3 Dimension Image Technique obtains needs linear isodensity pseudo-color coding.And the Gray homogeneity figure that range gating super-resolution 3 Dimension Image Technique obtains be the bit degree of depth be 64bit, gray level be far longer than 256 high resolution gray image.But the gray level image (the bit degree of depth is greater than 8bit) at present for the high bit degree of depth does not also have effective Pseudo Col ored Image method, and the isodensity pseudo-color coding method particularly for high bit depth image yet there are no relevant report.Traditional method is that the isodensity pseudo-color coding method recycled for low bit depth image (the bit degree of depth is not more than 8bit) is encoded directly by direct for the gray level image of high bit degree of depth boil down to 8bit.But this kind of method can reduce the resolution of gray level image.
Summary of the invention
(1) technical matters that will solve
For the difficulty that prior art exists, fundamental purpose of the present invention proposes a kind of range gating super-resolution three-dimensional imaging distance map to optimize display device and method, the problem that distance map contrast is low to solve, sharpness declines, realizes distance map and naturally shows realistically.
(2) technical scheme
For solving the problems of the technologies described above, technical scheme provided by the invention is as follows:
A kind of range gating super-resolution three-dimensional imaging distance map optimizes display device, and this device comprises pulsed laser 1, gated imaging device 2, time schedule controller 3, PC 4, three-dimensional imaging module 5 and optimizes display module 6, wherein:
Pulsed laser 1, launches laser pulse under the triggering of first via TTL trigger pip that produces at time schedule controller 3, throws light on, and form the echoed signal of back-propagating to target;
Gated imaging device 2, for controlling the Push And Release of storbing gate under the triggering of the second road TTL trigger pip that produces at time schedule controller 3, the collection of realize target echoed signal, and returns to PC 4 by the two-dimensional slice image collected;
Time schedule controller 3, for producing the work schedule of range gating super-resolution three-dimensional imaging under the control of PC 4, export two-way TTL trigger pip, trigger pulse laser instrument 1 and gated imaging device 2 work respectively;
PC 4, on the one hand by Control timing sequence controller 3, the work schedule of paired pulses laser instrument 1 and gated imaging device 2 carries out optimum configurations, utilizes three-dimensional imaging module 5 on the other hand and optimize display module 6 realize the three-dimensional reconstruction of image and optimize display;
Three-dimensional imaging module 5, is embedded in PC 4, for utilizing image pixel intensities ratio between adjacent two frame sectioning images and the mapping relations between distance energy Ratios, the distance map that inverting obtains the high bit degree of depth, three-dimensional frame frequency equals camera frame frequency;
Optimize display module 6, be embedded in PC 4, for the treatment of high bit depth distance figure, first by its linear normalization to 256 grades of gray scales, then with isodensity pseudo-color coding method, it is encoded, and the color distance figure after pseudo-color coding is shown on PC 4.
In such scheme, described pulsed laser 1 adopts the semiconductor laser with square wave time domain arteries and veins shape.
In such scheme, described gated imaging device 2 adopts gating intensified CCD (IntensifiedCCD, ICCD).
In such scheme, described time schedule controller 3 realizes based on FPGA, and described PC 4 can provide the programming platform based on C Plus Plus.
In such scheme, described three-dimensional imaging module 5 by three-dimensional imaging algorithm based on C Plus Plus, programming realization on the platform that PC 4 provides; Described optimization display module 6 by isodensity pseudo-color coding algorithm based on C Plus Plus, programming realization on the platform that PC 4 provides.
A kind of range gating super-resolution three-dimensional imaging distance map optimizes display packing, and optimize display device based on described range gating super-resolution three-dimensional imaging distance map, the method comprises:
The sequential working that step 1, pulsed laser 1 and gated imaging device 2 produce according to time schedule controller 3, utilizes Range-gated Imager method construct to have the sectioning image of triangle or trapezoid space energy envelope;
Step 2, the three-dimensional imaging module 5 be embedded in PC 4, according to range gating super-resolution three-D imaging method, utilize image pixel intensities ratio between adjacent two frame sectioning images and the mapping relations between distance energy Ratios, carrying out inverting, to obtain the bit degree of depth be 64bit, the gray level Three-Dimensional Gray distance map much larger than 256;
First the bit degree of depth is 64bit by step 3, the optimization display module 6 be embedded in PC 4, gray level linearly normalizes to 256 grades of gray scales much larger than the Gray homogeneity figure of 256;
Step 4, optimization display module 6, for the distance map of grade gray scale of 256 after normalization, utilize isodensity pseudo-color coding method, carry out pseudo-color coding and show on PC 4 it.
In such scheme, described in step 1, utilize Range-gated Imager algorithm construction to have the sectioning image of triangle or trapezoid space energy envelope, be by pulsed laser 1 output laser pulse, to target illumination, and form the echoed signal of back-propagation; Gated imaging device 2 target echo signal propagate into grow up to be a useful person device time, open storbing gate, collect the echoed signal of target, other times storbing gate is closed and is formed; When laser pulse and strobe pulse have square wave time domain arteries and veins shape, and when gating gate-width equals laser pulse width, the sectioning image with triangle energy envelope can be formed; When laser pulse and strobe pulse have square wave time domain arteries and veins shape, and gating gate-width be two times of laser pulse width constantly, the sectioning image with trapezoidal energy envelope can be formed.
In such scheme, the three-D imaging method of range gating described in step 1, need pulsed laser 1 and gated imaging device 2 by certain work schedule work, in a frame of CCD, there are N number of laser pulse and N number of strobe pulse, a laser pulse and a strobe pulse form a pulse pair, and pulse is to formation one width subgraph but do not export, and N width subgraph accumulates and exports a frame two-dimensional slice image in CCD; In CCD mono-frame, laser pulse is identical with the time delay of strobe pulse, is τ aor τ b, correspondingly, this frame sectioning image is called A frame or B frame, τ aand τ bdifference equal laser pulse width; Under this work schedule and under range gating super-resolution three-D imaging method, any adjacent two frames (A-B, B-A) all can realize three-dimensional imaging.
In such scheme, the three-dimensional imaging of super-resolution described in step 2, be utilize image pixel intensities ratio between adjacent two frame sectioning images and the mapping relations between distance energy Ratios, inverting obtains the distance map of the high bit degree of depth, namely
r i , x , y = τ i c 2 + I i + 1 , x , y I i + 1 , x , y + I i , x , y t L c 2 - - - ( 1 )
In formula (1), i represents the i-th two field picture; r i, x, yrepresent that, in the i-th frame distance map, the gray-scale value of coordinate (x, y) place pixel, also represents the distance value at this pixel place; τ irepresent in the i-th frame slice map picture frame, the time delay between laser pulse and strobe pulse; C represents the transmission speed of laser in actuating medium; I i, x, y, I i+1, x, yrepresent in the i-th frame, the i-th+1 frame sectioning image respectively, the gray-scale value of coordinate (x, y) place pixel; In the frame of the i-th frame, the i-th+1 frame sectioning image, time delay is different.
In such scheme, the distance map of the described high bit degree of depth can improve the range resolution of range gating super-resolution three-dimensional imaging, is understood: in formula (1), I by formula (1) i, x, y, I i+1, x, yrepresent in the i-th frame, the i-th+1 frame sectioning image respectively, the gray-scale value of coordinate (x, y) place pixel; And the grey scale pixel value of sectioning image is by the analog to digital converter of image device inside, be converted to that digital signal obtains by receiving simulating signal; The resolution of analog to digital converter is determined by the bit degree of depth of pixel, namely
Q = E FSR 2 M - - - ( 2 )
In formula (2), Q represents the resolution of analog to digital converter, E fSRrepresent total energy measurement scope of image device analog to digital converter, i.e. the difference of acceptable highest energy and minimum energy; M represents the bit degree of depth of image device; From formula (2), the bit degree of depth of image device is higher, and the resolution of analog to digital converter is lower, then grey scale pixel value I i, x, y, I i+1, x, ymeticulousr to the sampling of echoed signal energy; From formula (1), I i, x, y, I i+1, x, ymeticulousr to the sampling of echoed signal energy, then r i, x, ythe division of adjusting the distance is meticulousr, and three-dimensional imaging range resolution is higher.
In such scheme, the distance map of Three-Dimensional Gray described in step 2 is the distance value that the gray-scale value of each pixel of distance map represents correspondence position in visual field; Distance map not only comprises two-dimensional field of view information, also comprises three-dimensional distance information.
In such scheme, be 64bit by the bit degree of depth described in step 3, gray level linearly normalize to 256 grades of gray scales much larger than the Gray homogeneity figure of 256, carry out in the following way:
r i , x , y , N = 255 r i , max - r i , min ( r i , x , y - r i , min ) - - - ( 3 )
In formula (3), r i, x, yrepresent in the i-th frame Gray homogeneity figure, the gray-scale value of coordinate (x, y) place pixel, it represents with 64 bits; r i, x, y, Nin the i-th frame Gray homogeneity figure after normalization, the gray-scale value of coordinate (x, y) place pixel, it represents with 8 bits; r i, max, r i, minrepresent the gray scale maximal value in the i-th frame Gray homogeneity figure and minimum value respectively.
In such scheme, the pseudo-color coding of isodensity described in step 4 is by realizing according to waiting aberration principle to arrange pseudo-colours in uniform color space, setting up a kind of mapping relations of image gray levels and continuous color.
(3) beneficial effect
As can be seen from technique scheme, the present invention has following useful achievement:
1, the present invention is utilized, isodensity pseudo-color coding method is utilized to carry out pseudo-color coding to the distance map after compression, achieve the isodensity pseudo-color coding of distance map, the color distance figure obtained on the one hand is more conducive to eye-observation, and the method for isodensity pseudo-color coding can meet the display demand of range gating super-resolution three-dimensional imaging of different scene, different target distance on the other hand.
2, the present invention is utilized, by adopting the high bit depth mode of image device ICCD, the sampling of Depth Domain can be increased to luminous energy, obtain energy grade and divide meticulousr high bit degree of depth two-dimensional slice image, utilize this type of sectioning image and super-resolution three-dimensional imaging algorithm, the range resolution of distance map can be improved.
3, the present invention is utilized, relative to traditional method to high bit depth distance figure pseudo-color coding, on the basis of isodensity pseudo-color coding display achieving range gating super-resolution 3 Dimension Image Technique, improve the range resolution of three-dimensional imaging as much as possible.
Accompanying drawing explanation
Fig. 1 is the structural representation that range gating super-resolution three-dimensional imaging distance map provided by the invention optimizes display device;
Fig. 2 is the process flow diagram that range gating super-resolution three-dimensional imaging distance map provided by the invention optimizes display packing;
Fig. 3 is middle distance gating super-resolution three-dimensional imaging time diagram of the present invention;
Fig. 4 is the red, green, blue color converters of gray level in the present invention-colored isodensity pseudo-color coding method;
Fig. 5 is the contrast that the range gating super-resolution three-dimensional imaging distance map utilizing the present invention to propose optimizes experimental result that display device and method obtain and classic method experimental result; Wherein, (a) raw range figure, the distance map that (b) classic method obtains, the color distance figure that (c) the inventive method obtains.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
As shown in Figure 1, Fig. 1 is the structural representation that range gating super-resolution three-dimensional imaging distance map provided by the invention optimizes display device, and this device comprises pulsed laser 1, gated imaging device 2, time schedule controller 3, PC 4, three-dimensional imaging module 5 and optimizes display module 6.Wherein, launch laser pulse under the triggering of the first via TTL trigger pip that pulsed laser 1 produces at time schedule controller 3, target is thrown light on, and forms the echoed signal of back-propagating; Control the Push And Release of storbing gate under the triggering of the second road TTL trigger pip that gated imaging device 2 produces at time schedule controller 3, the collection of realize target echoed signal, and the two-dimensional slice image collected is returned to PC 4; Time schedule controller 3, by the control of PC 4, produces the work schedule required for the three-dimensional imaging of range gating super-resolution, and export two-way TTL trigger pip, trigger pulse laser instrument 1 and gated imaging device 2 work respectively; PC 4 one aspect is by Control timing sequence controller 3, and the work schedule of paired pulses laser instrument 1 and gated imaging device 2 carries out optimum configurations, utilizes three-dimensional imaging module 5 on the other hand and optimize display module 6 realize the three-dimensional reconstruction of image and optimize display; Three-dimensional imaging module 5 is embedded in PC 4, utilizes image pixel intensities ratio between adjacent two frame sectioning images and the mapping relations between distance energy Ratios, the distance map that inverting obtains the high bit degree of depth, three-dimensional frame frequency equals camera frame frequency; Optimizing display module 6 is embedded in PC 4, for the treatment of high bit depth distance figure, first by its linear normalization to 256 grades of gray scales, then with isodensity pseudo-color coding method, it is encoded, and by the color distance figure after pseudo-color coding on PC 4 show.
In actual applications, pulsed laser 1 can adopt the semiconductor laser with square wave time domain arteries and veins shape, gated imaging device 2 can select gating intensified CCD (Intensified CCD, ICCD), time schedule controller 3 can realize based on FPGA, PC 4 can provide the programming platform based on C Plus Plus, three-dimensional imaging module 5 by three-dimensional imaging algorithm based on C Plus Plus, programming realization on the platform that PC 4 provides, optimize display module 6 by isodensity pseudo-color coding algorithm based on C Plus Plus, programming realization on the platform that PC 4 provides.
Optimize the structural representation of display device based on the range gating super-resolution three-dimensional imaging distance map shown in Fig. 1, Fig. 2 gives the process flow diagram that range gating super-resolution three-dimensional imaging distance map optimizes display packing, and the method comprises:
The sequential working that step 1, pulsed laser 1 and gated imaging device 2 produce according to time schedule controller 3, utilizes Range-gated Imager algorithm construction to have the sectioning image of triangle or trapezoid space energy envelope; Wherein adopt ICCD with gated imaging device 3, and make ICCD be operated in high bit depth mode thus obtain the sectioning image of the high bit degree of depth;
Step 2, the three-dimensional imaging module 5 be embedded in PC 4, according to range gating super-resolution three-D imaging method, utilize image pixel intensities ratio between adjacent two frame sectioning images and the mapping relations between distance energy Ratios, carrying out inverting, to obtain the bit degree of depth be 64bit, the gray level Three-Dimensional Gray distance map much larger than 256;
First the bit degree of depth is 64bit by step 3, the optimization display module 6 be embedded in PC 4, gray level linearly normalizes to 256 grades of gray scales much larger than the Gray homogeneity figure of 256;
Step 4, optimization display module 6, for the distance map of grade gray scale of 256 after normalization, utilize isodensity pseudo-color coding method, carry out pseudo-color coding and show on PC 4 it.
Wherein, the described Range-gated Imager algorithm construction that utilizes has the sectioning image of triangle or trapezoid space energy envelope, is by pulsed laser 1 output laser pulse, to target illumination, and forms the echoed signal of back-propagation; Gated imaging device 2 target echo signal propagate into grow up to be a useful person device time, open storbing gate, collect the echoed signal of target, other times storbing gate is closed and is formed.When laser pulse and strobe pulse have square wave time domain arteries and veins shape, and when gating gate-width equals laser pulse width, the sectioning image with triangle energy envelope can be formed; When laser pulse and strobe pulse have square wave time domain arteries and veins shape, and gating gate-width be two times of laser pulse width constantly, the sectioning image with trapezoidal energy envelope can be formed.
Described range gating three-D imaging method, need pulsed laser 1 and gated imaging device 2 by certain work schedule work, as shown in Figure 3, in a frame of CCD, there are N number of laser pulse and N number of strobe pulse, a laser pulse and a strobe pulse form a pulse pair, and pulse is to formation one width subgraph but do not export, and N width subgraph accumulates and exports a frame two-dimensional slice image in CCD; In CCD mono-frame, laser pulse is identical with the time delay of strobe pulse, is τ aor τ b, correspondingly, this frame sectioning image is called A frame or B frame, τ aand τ bdifference equal laser pulse width.Under this work schedule and under range gating super-resolution three-D imaging method, any adjacent two frames (A-B, B-A) all can realize three-dimensional imaging.
Described super-resolution three-dimensional imaging refers to and utilizes image pixel intensities ratio between adjacent two frame sectioning images and the mapping relations between distance energy Ratios, and inverting obtains the distance map of the high bit degree of depth, namely
r i , x , y = τ i c 2 + I i + 1 , x , y I i + 1 , x , y + I i , x , y t L c 2 - - - ( 1 )
In formula (1), i represents the i-th two field picture; r i, x, yrepresent that, in the i-th frame distance map, the gray-scale value of coordinate (x, y) place pixel, also represents the distance value at this pixel place; τ irepresent in the i-th frame slice map picture frame, the time delay between laser pulse and strobe pulse; C represents the transmission speed of laser in actuating medium; I i, x, y, I i+1, x, yrepresent in the i-th frame, the i-th+1 frame sectioning image respectively, the gray-scale value of coordinate (x, y) place pixel; In the frame of the i-th frame, the i-th+1 frame sectioning image, time delay is different.
Described Three-Dimensional Gray distance map, refers to that the gray-scale value of each pixel of distance map represents the distance value of correspondence position in visual field.Therefore, distance map not only comprises two-dimensional field of view information, also comprises three-dimensional distance information.In addition, because distance map grey scale pixel value represents target range value, in different scenes, the distance of target is not from several meters to a few km etc., therefore the grey scale pixel value of distance gray scale figure is generally represent by the floating number of 64.
The sectioning image of the described high bit degree of depth can improve the range resolution of range gating super-resolution three-dimensional imaging, can pass through formula (1) and understand: in formula (1), I i, x, y, I i+1, x, yrepresent in the i-th frame, the i-th+1 frame sectioning image respectively, the gray-scale value of coordinate (x, y) place pixel; And the grey scale pixel value of sectioning image is by the analog to digital converter of image device inside, be converted to that digital signal obtains by receiving simulating signal; The resolution of analog to digital converter is determined by the bit degree of depth of pixel, namely
Q = E FSR 2 M - - - ( 2 )
In formula (2), Q represents the resolution of analog to digital converter, E fSRrepresent total energy measurement scope of image device analog to digital converter, i.e. the difference of acceptable highest energy and minimum energy; M represents the bit degree of depth of image device; From formula (2), the bit degree of depth of image device is higher, and the resolution of analog to digital converter is lower, then grey scale pixel value I i, x, y, I i+1, x, ymeticulousr to the sampling of echoed signal energy; From formula (1), I i, x, y, I i+1, x, ymeticulousr to the sampling of echoed signal energy, then r i, x, ythe division of adjusting the distance is meticulousr, and three-dimensional imaging range resolution is higher.
Described linearly normalizes to 256 grades of gray scales by the high bit degree of depth, gray level much larger than the Gray homogeneity figure of 256, carries out in the following way:
r i , x , y , N = 255 r i , max - r i , min ( r i , x , y - r i , min ) - - - ( 3 )
In formula (3), r i, x, yrepresent in the i-th frame Gray homogeneity figure, the gray-scale value of coordinate (x, y) place pixel, it represents with 64 bits; r i, x, y, Nin the i-th frame Gray homogeneity figure after normalization, the gray-scale value of coordinate (x, y) place pixel, it represents with 8 bits; r i, max, r i, minrepresent the gray scale maximal value in the i-th frame Gray homogeneity figure and minimum value respectively.
Described isodensity pseudo-color coding is by realizing according to waiting aberration principle to arrange pseudo-colours in uniform color space, setting up a kind of mapping relations of image gray levels and continuous color.And this isodensity pseudo-color coding method is only applicable to the bit degree of depth does not all obtain gray level image higher than 256 grades higher than 8bit, gray level.As gray-scale-color transform technology, first it arrange red, green, blue three transducers according to principle such as aberration such as grade in uniform color space, then gray level image is sent into and there are different red, green, blue three transducers becoming features, and then the difference of three transducers is exported deliver to respectively coloured image the display of red, green, blue passage.Fig. 4 is a kind of conventional transducer, and wherein L is the gray level of gray-scale map.
According to a specific embodiment of the present invention, range gating super-resolution three-dimensional imaging distance map provided by the invention optimizes display packing, and concrete steps are as follows:
Step 1: system boot;
Step 2:PC machine 4 pairs of time schedule controllers 3 carry out optimum configurations, comprise laser pulse width, gate width, the repetition frequency of laser pulse and strobe pulse, time delay between the inner laser pulse of A frame and strobe pulse, the time delay between the inner laser pulse of B frame and strobe pulse;
Step 3: time schedule controller 3 produces work schedule according to optimum configurations, pulsed laser 1 and gated imaging device 2 are according to work schedule work, and gated imaging device 2 generation has the two-dimensional slice image of triangle or trapezoid space energy envelope and returns to PC 4;
Step 4: three-dimensional imaging module 5 is realized by C++ programming language, and be embedded in PC 4.It utilizes adjacent two frame sectioning images to generate, and the bit degree of depth are 64bit, gray level is much larger than the Three-Dimensional Gray distance map of 256 grades;
Step 5: optimizing display module 6 also has C++ programming language to realize, and is embedded in PC 4.First high bit depth distance figure is compressed to 256 grades of gray scales by it, then sets up red, green, blue three pseudocolor transformation devices, finally utilize three transducers to carry out isodensity pseudo-color coding to the distance map after compression, and it shows by ground on PC.
Optimize display device and method for range gating super-resolution three-dimensional imaging distance map, the present invention has built principle prototype, and has carried out preliminary experiment.Object of experiment position lays respectively at three self-control target boards of 16m, 17m, 19m from right to left, and experiment shows that this device can realize the optimization display of range gating super-resolution three-dimensional imaging distance map, and experimental result as shown in Figure 5.Wherein, Fig. 5 (a) is the raw range figure without pseudo-color coding, Fig. 5 (b) is the pseudo-colours distance map that classic method obtains, and Fig. 5 (c) is the color distance figure utilizing method and apparatus provided by the invention to obtain.Contrasted can be found by Fig. 5 (c) and Fig. 5 (a), raw range figure cannot eye recognition because gray level is too low, and apparatus and method provided by the present invention can realize the display of color distance figure, are more conducive to eye-observation; Comparison diagram 5 (c) and Fig. 5 (b) can find, the pseudo-colours distance map that apparatus and method provided by the present invention obtain can obtain more details, contribute to the detection of small objects, not only increase range resolution, and make 3-D view more vivid.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (13)

1. a range gating super-resolution three-dimensional imaging distance map optimizes display device, this device comprises pulsed laser (1), gated imaging device (2), time schedule controller (3), PC (4), three-dimensional imaging module (5) and optimizes display module (6), wherein:
Pulsed laser (1), launches laser pulse under the triggering of first via TTL trigger pip that produces at time schedule controller (3), throws light on, and form the echoed signal of back-propagating to target;
Gated imaging device (2), for controlling the Push And Release of storbing gate under the triggering of the second road TTL trigger pip that produces at time schedule controller (3), the collection of realize target echoed signal, and the two-dimensional slice image collected is returned to PC (4);
Time schedule controller (3), for producing the work schedule of range gating super-resolution three-dimensional imaging under the control of PC (4), export two-way TTL trigger pip, respectively trigger pulse laser instrument (1) and gated imaging device (2) work;
PC (4), on the one hand by Control timing sequence controller (3), the work schedule of paired pulses laser instrument (1) and gated imaging device (2) carries out optimum configurations, utilizes three-dimensional imaging module (5) on the other hand and optimize display module (6) realize the three-dimensional reconstruction of image and optimize display;
Three-dimensional imaging module (5), be embedded in PC (4), for utilizing image pixel intensities ratio between adjacent two frame sectioning images and the mapping relations between distance energy Ratios, the distance map that inverting obtains the high bit degree of depth, three-dimensional frame frequency equals camera frame frequency;
Optimize display module (6), be embedded in PC (4), for the treatment of high bit depth distance figure, first by its linear normalization to 256 grades of gray scales, then with isodensity pseudo-color coding method, it is encoded, and the color distance figure after pseudo-color coding is above shown at PC (4).
2. range gating super-resolution three-dimensional imaging distance map according to claim 1 optimizes display device, and wherein, described pulsed laser (1) adopts the semiconductor laser with square wave time domain arteries and veins shape.
3. range gating super-resolution three-dimensional imaging distance map according to claim 1 optimizes display device, and wherein, described gated imaging device (2) adopts gating intensified CCD (Intensified CCD, ICCD).
4. range gating super-resolution three-dimensional imaging distance map according to claim 1 optimizes display device, wherein, described time schedule controller (3) realizes based on FPGA, and described PC (4) can provide the programming platform based on C Plus Plus.
5. range gating super-resolution three-dimensional imaging distance map according to claim 1 optimizes display device, wherein, described three-dimensional imaging module (5) by three-dimensional imaging algorithm based on C Plus Plus, programming realization on the platform that PC (4) provides; Described optimization display module (6) by isodensity pseudo-color coding algorithm based on C Plus Plus, programming realization on the platform that PC (4) provides.
6. range gating super-resolution three-dimensional imaging distance map optimizes a display packing, and based on the device according to any one of claim 1 to 5, the method comprises:
The sequential working that step 1, pulsed laser (1) and gated imaging device (2) produce according to time schedule controller (3), utilizes Range-gated Imager method construct to have the sectioning image of triangle or trapezoid space energy envelope;
Step 2, the three-dimensional imaging module (5) be embedded in PC (4), according to range gating super-resolution three-D imaging method, utilize image pixel intensities ratio between adjacent two frame sectioning images and the mapping relations between distance energy Ratios, carrying out inverting, to obtain the bit degree of depth be 64bit, the gray level Three-Dimensional Gray distance map much larger than 256;
First the bit degree of depth is 64bit by step 3, the optimization display module (6) be embedded in PC (4), gray level linearly normalizes to 256 grades of gray scales much larger than the Gray homogeneity figure of 256;
Step 4, optimization display module (6), for the distance map of grade gray scale of 256 after normalization, utilize isodensity pseudo-color coding method, carry out pseudo-color coding and above show at PC (4) it.
7. range gating super-resolution three-dimensional imaging distance map according to claim 6 optimizes display packing, wherein, Range-gated Imager algorithm construction is utilized to have the sectioning image of triangle or trapezoid space energy envelope described in step 1, by pulsed laser (1) output laser pulse, to target illumination, and form the echoed signal of back-propagation; Gated imaging device (2) target echo signal propagate into grow up to be a useful person device time, open storbing gate, collect the echoed signal of target, other times storbing gate is closed and is formed; When laser pulse and strobe pulse have square wave time domain arteries and veins shape, and when gating gate-width equals laser pulse width, the sectioning image with triangle energy envelope can be formed; When laser pulse and strobe pulse have square wave time domain arteries and veins shape, and gating gate-width be two times of laser pulse width constantly, the sectioning image with trapezoidal energy envelope can be formed.
8. range gating super-resolution three-dimensional imaging distance map according to claim 6 optimizes display packing, wherein, the three-D imaging method of range gating described in step 1, need pulsed laser (1) and gated imaging device (2) by certain work schedule work, in a frame of CCD, there are N number of laser pulse and N number of strobe pulse, a laser pulse and a strobe pulse form a pulse pair, pulse is to formation one width subgraph but do not export, and N width subgraph accumulates and exports a frame two-dimensional slice image in CCD; In CCD mono-frame, laser pulse is identical with the time delay of strobe pulse, is τ aor τ b, correspondingly, this frame sectioning image is called A frame or B frame, τ aand τ bdifference equal laser pulse width; Under this work schedule and under range gating super-resolution three-D imaging method, any adjacent two frames (A-B, B-A) all can realize three-dimensional imaging.
9. range gating super-resolution three-dimensional imaging distance map according to claim 6 optimizes display packing, wherein, the three-dimensional imaging of super-resolution described in step 2, utilize image pixel intensities ratio between adjacent two frame sectioning images and the mapping relations between distance energy Ratios, inverting obtains the distance map of the high bit degree of depth, namely
r i , x , y = τ i c 2 + I i + 1 , x , y I i + 1 , x , y + I i , x , y t L c 2 - - - ( 1 )
In formula (1), i represents the i-th two field picture; r i, x, yrepresent that, in the i-th frame distance map, the gray-scale value of coordinate (x, y) place pixel, also represents the distance value at this pixel place; τ irepresent in the i-th frame slice map picture frame, the time delay between laser pulse and strobe pulse; C represents the transmission speed of laser in actuating medium; I i, x, y, I i+1, x, yrepresent in the i-th frame, the i-th+1 frame sectioning image respectively, the gray-scale value of coordinate (x, y) place pixel; In the frame of the i-th frame, the i-th+1 frame sectioning image, time delay is different.
10. range gating super-resolution three-dimensional imaging distance map according to claim 9 optimizes display packing, wherein, the distance map of the described high bit degree of depth can improve the range resolution of range gating super-resolution three-dimensional imaging, understood by formula (1): in formula (1), I i, x, y, I i+1, x, yrepresent in the i-th frame, the i-th+1 frame sectioning image respectively, the gray-scale value of coordinate (x, y) place pixel; And the grey scale pixel value of sectioning image is by the analog to digital converter of image device inside, be converted to that digital signal obtains by receiving simulating signal; The resolution of analog to digital converter is determined by the bit degree of depth of pixel, namely
Q = E FSR 2 M - - - ( 2 )
In formula (2), Q represents the resolution of analog to digital converter, E fSRrepresent total energy measurement scope of image device analog to digital converter, i.e. the difference of acceptable highest energy and minimum energy; M represents the bit degree of depth of image device; From formula (2), the bit degree of depth of image device is higher, and the resolution of analog to digital converter is lower, then grey scale pixel value I i, x, y, I i+1, x, ymeticulousr to the sampling of echoed signal energy; From formula (1), I i, x, y, I i+1, x, ymeticulousr to the sampling of echoed signal energy, then r i, x, ythe division of adjusting the distance is meticulousr, and three-dimensional imaging range resolution is higher.
11. range gating super-resolution three-dimensional imaging distance maps according to claim 6 optimize display packings, and wherein, the distance map of Three-Dimensional Gray described in step 2 is the distance value that the gray-scale value of each pixel of distance map represents correspondence position in visual field; Distance map not only comprises two-dimensional field of view information, also comprises three-dimensional distance information.
12. range gating super-resolution three-dimensional imaging distance maps according to claim 6 optimize display packing, wherein, be 64bit by the bit degree of depth described in step 3, gray level linearly normalize to 256 grades of gray scales much larger than the Gray homogeneity figure of 256, carry out in the following way:
r i , x , y , N = 255 r i , max - r i , min ( r i , x , y - r i , min ) - - - ( 3 )
In formula (3), r i, x, yrepresent in the i-th frame Gray homogeneity figure, the gray-scale value of coordinate (x, y) place pixel, it represents with 64 bits; r i, x, y, Nin the i-th frame Gray homogeneity figure after normalization, the gray-scale value of coordinate (x, y) place pixel, it represents with 8 bits; r i, max, r i, minrepresent the gray scale maximal value in the i-th frame Gray homogeneity figure and minimum value respectively.
13. range gating super-resolution three-dimensional imaging distance maps according to claim 6 optimize display packing, wherein, the pseudo-color coding of isodensity described in step 4 is by realizing according to waiting aberration principle to arrange pseudo-colours in uniform color space, setting up a kind of mapping relations of image gray levels and continuous color.
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