CN105203102B - Sky polarization mode detection method and system based on s- wave plates - Google Patents
Sky polarization mode detection method and system based on s- wave plates Download PDFInfo
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Abstract
A kind of sky polarization mode detection system of present invention offer and detection method.Technical solution one is：Detection system includes s wave plates, polarizing film, hand-held light-field camera, camera lens；S wave plates and polarizing film are located at plane where the aperture of camera lens, and in face of camera lens from the direction in the front of camera lens, s wave plates are located at the front of polarizing film.Polarizing film has higher extinction ratio and transmitance in the operating wavelength range of s wave plates.Technical solution second is that：Detection method includes the following steps：The first step shoots a width sky image using sky polarization mode detection system, and converts the gray value of sky image to the light intensity value of target emanation.Second step obtains sky degree of polarization and polarization direction angle.Real-time difference and system structure are complicated when the present invention solves the problems, such as existing method polarization mode detects on high.
Description
Technical field
The application of the present invention belongs to celestial navigation technical field, is related to a kind of visiting using s- wave plates and hand-held light-field camera
The method and system of observation sky polarization mode.
Background technology
It can be navigated using the polarisation distribution information of skylight, it has strong antijamming capability, the more low spy of cost
Point.To realize accurate sky polarotactic navigation, need accurately to detect degree of polarization and polarization of the sky within the scope of larger field
Change direction angle information.Degree of polarization and polarization direction angle information are usually collectively referred to as polarization mode.Currently used for big visual field day
There are mainly two types of the methods of empty polarization mode detection, is the method for method and camera imaging based on photodiode respectively.Base
Many photodiodes are needed to be directed toward different day region measurements in the method for photodiode, thus system structure is complicated, it is real
It is now also more difficult.The method of camera imaging can be to the sky areas direct imaging of big visual field by means of wide-angle lens, but is
It measures polarization mode to need to obtain the sky image under several different polarization directions, this generally requires multiple by a camera
Shooting or multiple cameras shoot two kinds of approach to realize simultaneously, and previous realization means real-time is not strong, latter implementation approach meeting
Cause system structure complicated.
In short, when realizing big visual field sky polarization mode detection, or existing method real-time difference or system knot
Structure is complicated.The appearance of hand-held light-field camera provides to realize by Polaroid i.e. measurable big visual field sky polarization mode
It may.Hand-held light-field camera is a kind of novel imager being equipped with microlens array before the light sensor of general camera
Part, it was invented by scientist Ren Ng of Chinese origin in 2005.Due to the presence of microlens array, hand-held light-field camera is to day
The areas some certain view Xia Tian are imaged as disperse hot spot by each lenticule when sky shooting.By the disperse hot spot according to difference
Region segmentation utilizes, and realizes the acquisition of sky same viewpoint different polarization direction hypograph, then can reach Polaroid i.e. completion
The purpose of big visual field sky polarization mode detection.
Invention content
Technical problems to be solved by the inivention are：The present invention is based on a kind of sky polarization mode detection systems, provide a kind of day
Empty polarization mode detection method.The present invention to the Polaroid of big visual field sky, that is, is realized by single hand-held light-field camera
The detection of sky polarization mode, or when polarization mode is detected on high for solving existing method due to needing repeatedly to measure
So that system real time difference or caused by needing more set measuring units system structure complexity problem.
Technical scheme of the present invention one is：
A kind of sky polarization mode detection system, including s- wave plates, polarizing film, hand-held light-field camera, camera lens.Its feature
It is, s- wave plates and polarizing film are located at plane where the aperture of camera lens, in face of camera lens from the direction in the front of camera lens, s-
Wave plate is located at the front of polarizing film.Polarizing film has higher extinction ratio and transmitance in the operating wavelength range of s- wave plates.
Technical scheme of the present invention second is that：
A kind of sky polarization mode detection method, the sky polarization mode detection system provided using technical solution one, tool
Body includes the following steps：
The first step shoots a width sky image using sky polarization mode detection system, and by the gray value of sky image
It is converted into the light intensity value of target emanation.
Second step obtains sky degree of polarization and polarization direction angle.
If the microlens array of hand-held light-field camera includes M rows, N row lenticules in sky polarization mode detection system；
Arbitrary lenticule Lenm,nCoordinate of the pixel at corresponding imaging round spot center under image coordinate system is (Xm,n, Ym,n), imaging circle
Spot radius is D pixel, wherein D >=5,1≤m≤M, 1≤n≤N.It is imaged first coordinate element in round spot center pixel coordinate
Indicate the row serial number of pixel in the picture, the row serial number of second coordinate element representation pixel in the picture.Image coordinate system is about
It is fixed as follows：The image upper left corner is the origin of coordinate system, and vertically downward direction is the forward direction of first coordinate element, figure in image
Horizontal direction to the right is the forward direction of second coordinate element as in.The focal length of all lenticules is identical in the present invention, size phase
Together, imaging round spot radius is also identical.
Obtain all in sky image plane and pixel (Xm,n, Ym,n) distance be less than or equal to D pixel image district
Domain, the image-region are circle, and it is G to enable itm,n.To circular image regions Gm,nRadon transformation is carried out, Radon transformation is selected
Projection angle range is 0 degree and arrives 180 degree, and it is that (selection of the numerical value of S should meet S can by S to enable the projection angle step-length that Radon is converted
Divide exactly 90 requirement), then it sharesA projection angle remembers that projection angle sequence that they are formed is C, C=0, S,
2S ... k × S ..., 180 },For any one projection angle k × S in the projection angle sequence C, then
There are the Radon transformation results of the projection angle, the sequence that it is made of 2D+1 numerical value is denoted as Rk, all projections
The Radon transformation results sequences of angle are denoted as Ra,Search any sequence in Ra
RowIn maximum, be denoted as Rmaxk.Then it is directed to all very big value sequences that all projection angles obtainMaximum is searched in MaxR, is as a result denoted as MaxMaxR, it is right
Should element numbers of the maximum in MaxR be denoted as NmaxR,Then there is the element of serial number NmaxR
It is to be obtained in the Radon transformation results that projection angle is NmaxR × S, finally there is lenticule Lenm,nCorresponding polarization side
To angle θm,n=NmaxR × S.
The element R of serial number K is chosen in Radon transformation results sequences RaK,The determination of the value of K should be sentenced
Disconnected projection angle θm,nValue whether determine more than 90 degree, if more than 90 degree thenIf less than 90 degreeIn RKSubsequenceMiddle lookup minimum, is denoted as MinMinR,
In, [] indicates round number.Lenticule Lenm,nCorresponding day area degree of polarization Pm,nIt can calculate as follows：
To all lenticule Len1,1,...Lenm,n...,LenM,NIt is calculated according to the method described above, to obtain
There is lenticule to correspond to the day area degree of polarization matrix P (P at visual angle1,1,...Pm,n,...PM,N) and polarization direction angular moment battle array θ
(θ1,1,...θm,n,...θM,N).Degree of polarization matrix P and polarization direction angular moment battle array θ is that the sky polarization mode needed measures
As a result.
The beneficial effects of the invention are as follows：S- wave plates and polarizing film is added using hand-held light-field camera and in aperture position
Wide-angle lens includes multiple polarization directions under visual angle by obtaining a width to the primary shooting of big visual field sky
Sky image, and then by converting to obtain degree of polarization and the polarization direction angle of sky visual angle to the Radon for obtaining image
Information.Therefore, the Polaroid detection that realizes sky polarization mode of the present invention by single camera to big visual field sky,
Real-time difference and system structure are complicated when solving the problems, such as existing method polarization mode detecting on high.
Description of the drawings
Figure one is sky polarization mode detection system principle schematic provided by the invention；
Figure two is specific implementation flow chart；
Figure three is s- wave plate pictorial diagrams；
Figure four is the fish eye lens pictorial diagram that s- wave plates and polarizing film are inserted at lens aperture；
Figure five is sky polarization mode detection system pictorial diagram；
Figure six is laboratory experiment scene figure；
Figure seven is the image that sky polarization mode detection system is obtained when once being shot to liquid crystal display；
Figure eight is the result of seven partial enlargement of figure；
Figure nine is the Radon transformation results that a lenticule corresponds to imaging round spot
Figure ten is the measurement result that the polarization direction angle of liquid crystal display is distributed；
Figure 11 is the measurement result that the degree of polarization of liquid crystal display is distributed.
Specific implementation mode
The present invention is described in further details below with reference to Figure of description.
Figure one is sky polarization mode detection system (hereinafter referred to as system) principle schematic provided by the invention.As schemed
Show, system includes camera lens 1, s- wave plates 3, polarizing film 4, hand-held light-field camera 7.It is larger to sky in order to obtain as far as possible
Areas imaging, camera lens 1 suggest the fish eye lens for selecting field angle to reach 180 degree in this embodiment.S- wave plates 3 and polarizing film
4 are located at the 2 place plane of aperture of camera lens 1.S- wave plates 3 are circle in this embodiment, from the direction immediately ahead of camera lens
Observation, s- wave plates are located at the front of polarizing film.Polarizing film have in the operating wavelength range of s- wave plates higher extinction ratio and thoroughly
Cross rate.S- wave plates 3 are invented by University of Southampton professor Peter G.Kazansky, and it is radial mode and angle to share two classes respectively
To type, they can be used in the present invention, effect and indistinction.Document is can refer to about being discussed in detail for s- wave plates 3
Polarization sensitive elements fabricated by femtosecond laser
Nanostructuring of glass, OPTICAL MATERIALS EXPRESS, 2011,1 (4):783-795.Lenticule battle array
Row 5 are located between camera lens 1 and the photosurface 6 of camera, and microlens array 5 is identical by many focal lengths, the identical lenticule row of size
It arranges, sees microlens array details enlarged drawing 8.Microlens array details enlarged drawing 8 is that lenticule is arranged according to square
It arranges with the more efficient photosurface 6 using camera according to hexagonal honeycomb shape as a result, may be designed in when practical application
Space.The photosurface 6 of microlens array 5 and camera, which is combined, constitutes hand-held light-field camera 7.About hand-held light field
The Ph.D. Dissertation of camera structure being discussed in detail referring to Ren Ng《Digital light field photography》.
In order to easily use system, the sky image that system is obtained carries out subsequent processing, can reconnect computer 9 to system.
Computer 9 is responsible for camera control, Image Acquisition storage, the work of image procossing and data calculation.Computer 9 can give hand-held
Light-field camera 7 sends control signal 10, the arrow indication signal flow direction of control signal 10, and hand-held light-field camera 7 can also be beaten
It wraps to computer 9 and sends image data packet 11, the arrow designation date flow direction of image data packet 11.
Figure two gives the work flow diagram of the method for the present invention, wherein converts the gray value of sky image in the first step
This process of radiation light intensity value is also known as camera response curve calibration, the method (1997 proposed using Debevec and Malik
Year ACM SIGGRAPH97 meeting papers, Recovering high dynamic range radiance maps from
Photographs), the gray value of image that sky polarization mode detection system is shot can be obtained and radiate light intensity with photographic subjects
Between the Intensity response curve that meets.After sky polarization mode detection system is built, it is only necessary to use for the first time when
It waits and implements a camera response curve calibration, the step can be directly omitted when using later, demarcated without repeating.In this step
When hand-held light-field camera 7 shoots a secondary sky image in rapid, it should be noted that the light exposure for controlling camera, with downscaled images as far as possible
Middle overexposure or under-exposure area size, because ill-exposed image can reduce the essence for the sky polarization mode that the present invention obtains
Degree.Second step obtains sky degree of polarization and polarization direction angle, in the step definition of image coordinate system with《At digital picture
Reason》Identical (the author of definition in one book：Paul Gonzales, Electronic Industry Press publish for 2005, page 8).In this step,
Radon transformation Chinese is also referred to as " Radon transform ", is a kind of image projecting method of J.Radon inventions, document has detailed to its
It introduces：J.Radon,P.C.Parks.On the determination of functions from their integral
Values along certain manifolds, IEEE Transactions on Medical Imaging, 1986
The fourth phases of volume five, page 170-176.
The combination pictorial diagram for the s- wave plates 3 and polarizing film 4 that figure three is processed for our customizeds.Using double faced adhesive tape by s- waves
Piece 3 and polarizing film 4 are close to be fixed together, and white background is liquid crystal display in figure.When observation s- wave plates 3 than polarizing film 4 away from
Chaotropic crystal display closer to.Since liquid crystal display is regarded as complete polarized light, it is positioned over the s- wave plates 3 before display
The variation of brightness is shown with the transmitted light of the combination of polarizing film 4.
Figure four is in kind for the camera lens 1 for being inserted into s- wave plates 3 and polarizing film 4 in 2 place plane of aperture, and white background remains unchanged in figure
For liquid crystal display.Double faced adhesive tape has been used mutually to bond at the edge of aperture 2 in the edge of s- wave plates 3 and polarizing film 4 and camera lens 1
It is fixed, the movement of relative position occurs in aperture 2 to avoid s- wave plates 3 in actual use.
Figure five is sky polarization mode detection system pictorial diagram.
We have carried out indoor replication experiment using above-mentioned method and system.We are by liquid crystal display in experiment
Measurement object as sky polarization mode detection system.Due to the intrinsic feature of liquid crystal, the light that liquid crystal display is sent out can be with
It is considered complete polarized light.Figure six is laboratory experiment scene figure, and liquid crystal display is positioned over the place closer apart from camera lens in figure,
Purpose is that display is full of to the imaging viewing field of camera as far as possible.
Figure seven gives the sky image that polarization mode detection system is obtained when once being shot to liquid crystal display.Figure eight
Be seven partial enlargement of figure as a result, in figure eight it can be seen that, have multiple and different luminance areas in each lenticule imaging,
This has corresponded to the different polarization direction of more quadrant polarizing films respectively, and the different region of each brightness, which is combined, forms rule
The pattern of apparent brightness light and shade variation.
Figure nine gives the Radon transformation results that some lenticule corresponds to imaging round spot, and abscissa indicates projection in figure
Angle value (unit be degree), ordinate have corresponded to the serial number of Radon transformation results curve under any one projection angle, A in figure
Point and B points are respectively the minimum and maximum of points searched entire Radon transformation results, this is set forth in the X and Y in figure
The corresponding projected angle angle value of point and Radon transformation results serial numbers, Z indicate the pixel light intensity value projection result of the point, i.e. A points and B
The Z coordinate of point corresponds to MinMinR and MaxMaxR in formula one respectively.
Figure ten gives the measurement knot of polarization direction angle distribution of the sky polarization mode detection system to liquid crystal display
Fruit.Gray value in image illustrates the numerical value at polarization direction angle, unit degree of being, it is seen that the polarization for liquid crystal display
The measurement result of deflection is relatively uniform, coincide with truth, and numerical value is about 45 degree, and actually measures obtained liquid crystal
Show that the true polarization direction angle numerical value of device coincide.The measured value at the polarization direction angle of liquid crystal display is with straight up
Direction is 0 degree of reference direction.In figure arrow meaning be shown as liquid crystal display polarization direction Angle Measurements numerical value correspond to exist
Position on the gray scale bar of right side.The value at some measurement point polarization direction angle of liquid crystal display is shown in the picture, is schemed
In X and Y the point be set forth correspond to coordinate under image coordinate system, Z indicates the measurement at the polarization direction angle of the point
As a result.
Figure 11 gives the measurement result of degree of polarization distribution of the sky polarization mode detection system to liquid crystal display.Figure
Gray value as in illustrates the numerical value of degree of polarization (degree of polarization does not have unit), it is seen that the survey for the degree of polarization of liquid crystal display
Amount result is equally relatively uniform, and numerical value is about 0.8, and arrow meaning is shown as the polarization direction angular measurement of liquid crystal display in figure
Result value corresponds to the position on the gray scale bar of right side.The polarization angle value of some measurement point of liquid crystal display is shown in figure
As in, X and Y in figure are set forth the point and correspond to the coordinate under image coordinate system, and Z indicates the measurement of the degree of polarization of the point
As a result.The light that liquid crystal display is sent out is regarded as complete polarized light, therefore degree of polarization measurement result exists centainly with actual value
Deviation, this is mainly due to camera lens without accurately focus caused by.It is inclined due to inserting a s- wave plate and one in camera lens
Shake piece, and camera lens is caused to realize that accurate focusing is more difficult for close-in target.
Claims (2)
1. a kind of sky polarization mode detection system, including s- wave plates, polarizing film, hand-held light-field camera, camera lens, feature exist
In, s- wave plates and polarizing film are located at plane where the aperture of camera lens, in face of camera lens from the direction in the front of camera lens, s- waves
Piece is located at the front of polarizing film；Polarizing film has higher extinction ratio and transmitance in the operating wavelength range of s- wave plates.
2. a kind of sky polarization mode detection method, the sky polarization mode detection system provided using claim 1 is specific to wrap
Include following step：
The first step shoots a width sky image using sky polarization mode detection system, and the gray value of sky image is converted
For the light intensity value of target emanation；
Second step obtains sky degree of polarization and polarization direction angle：
If the microlens array of hand-held light-field camera includes M rows, N row lenticules in sky polarization mode detection system, own
Lenticule all same；Arbitrary lenticule Lenm,nCoordinate of the pixel at corresponding imaging round spot center under image coordinate system be
(Xm,n, Ym,n), imaging round spot radius is D pixel, wherein D >=5,1≤m≤M, 1≤n≤N；It is imaged round spot center pixel coordinate
In the row serial number of first coordinate element representation pixel in the picture, the row sequence of second coordinate element representation pixel in the picture
Number；Image coordinate system is defined as follows：The image upper left corner is the origin of coordinate system, and vertically downward direction is first seat in image
The forward direction for marking element, horizontal direction to the right is the forward direction of second coordinate element in image；
Obtain all in sky image plane and pixel (Xm,n, Ym,n) distance be less than or equal to D pixel image-region, the figure
Picture region is circle, and it is G to enable itm,n；To circular image regions Gm,nRadon transformation is carried out, the projection angle model of Radon transformation is selected
It encloses and arrives 180 degree for 0 degree, it is S to enable the projection angle step-length that Radon is converted, and the selection of the numerical value of S should meet the requirement of S aliquot 90,
Then share projection angle, remember that projection angle sequence that they are formed is C, C=0, S, 2S ... k × S ...,
180 }, for any one projection angle k × S in the projection angle sequence C, then there is the projection angle
Radon transformation results, the sequence that it is made of 2D+1 numerical value is denoted as Rk, the Radon transformation results sequences of all projection angles
Row are denoted as Ra, search any sequence R in RakIn maximum, be denoted as Rmaxk, then
All very big value sequences obtained for all projection angles are
Maximum is searched in MaxR, is as a result denoted as MaxMaxR, and element numbers of the corresponding maximum in MaxR are denoted as, and the element of serial number NmaxR is become in the Radon that projection angle is NmaxR × S
It changes and is obtained in result, finally there is a lenticule Lenm,nCorresponding polarization direction angle θm,n=NmaxR × S；
The element of serial number K is chosen in Radon transformation results sequences RaThe determination of the value of K should judge to throw
Shadow angle, θm,nValue whether determine more than 90 degree, if more than 90 degree thenIf less than 90 degreeIn RKSubsequenceMiddle lookup minimum, is denoted as MinMinR,
In, [] indicates round number；Lenticule Lenm,nCorresponding day area degree of polarization Pm,nIt can calculate as follows：
(formula one)
To all lenticule Len1,1,...Lenm,n...,LenM,NIt is calculated according to the method described above, it is all micro- to obtain
Lens correspond to the day area degree of polarization matrix P=(P at visual angle1,1,...Pm,n,...PM,N) and polarization direction angular moment battle array θ=
(θ1,1,...θm,n,...θM,N)；Degree of polarization matrix P and polarization direction angular moment battle array θ is that the sky polarization mode needed measures
As a result.
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| CN115060292B (en) * | 2022-08-05 | 2022-11-11 | 中国人民解放军国防科技大学 | Bionic navigation visual sensor extinction ratio evaluation method based on sine fitting |
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