CN106412400A - Bionic vision imaging system based on visible light and near infrared and focusing method thereof - Google Patents
Bionic vision imaging system based on visible light and near infrared and focusing method thereof Download PDFInfo
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- CN106412400A CN106412400A CN201610916057.5A CN201610916057A CN106412400A CN 106412400 A CN106412400 A CN 106412400A CN 201610916057 A CN201610916057 A CN 201610916057A CN 106412400 A CN106412400 A CN 106412400A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
Abstract
The present invention provides a bionic vision imaging system based on visible light and near infrared. The system comprises a collection module, a focusing execution mechanism, a light splitting element and a near-infrared source set. The collection module includes visible light CCD and near-infrared light CCD and is configured to collect the near-infrared image information and the visible light image information; the focusing execution mechanism is configured to transmit the natural light to the light splitting element; the light splitting element is configured to split the natural light and allow the splitting natural light to income the visible light CCD and the near-infrared light CCD; the visible light CCD and the near-infrared light CCD are respectively arranged at two opposite sides of one surface used for receiving the natural light; the incidence direction of the visible light CCD is perpendicular to the incidence direction of the natural light, the incidence directions of the visible light CCD and the natural light are parallel to the focusing execution mechanism, and the near-infrared light CCD is arranged at the position where the near-infrared image information separated by the light splitting element can be received; and the near-infrared source set is arranged around the near-infrared light CCD.
Description
Technical field
The present invention relates to a kind of visible ray and near infrared bionical Vision imaging system and its focus adjustment method, belong to bionical and regard
Feel imaging technique application.
Background technologyBionical vision technique is to develop a more rapid research field in recent years, and it is actually adopted
Enable the optical imaging device mould from personification class Vision imaging system of Automatic adjusument with advanced optical element design, wherein
More crucial technology is to realize the function of similar retinal photoreceptor imaging using imageing sensor and utilize zoom lens real
Now similar to the function of crystalline lenses focus adjustment.
At present, many scholars have carried out many researchs for this two aspects both at home and abroad, include among these designing single channel
Single band optical system is simultaneously imaged to target object and using passive based on image procossing using high resolution CCD or CMOS
Formula automatic focusing algorithm controls zoom lens carry out focus adjustment.2009, Christian Siagian etc. was based on bionical vision
Devise a kind of robot positioning system；2010, Mao Xiaobo etc., according to the feature of human visual system, constructed a kind of wide area
Monitor the bionical visual system combining with local accurate tracking, and realize required function using camera review collecting unit；
2010, mountain peak etc. described a kind of bionical eye system of monocular, and demonstrates the response speed of system；2013, Wang Wei etc. carried
Go out a kind of multi-optical spectrum imaging system；2014, Zhang Xiong etc. proposed a kind of bionic compound eyes system；2015, Li Weilong etc. carried
A kind of unmanned plane autonomous positioning road sign acquisition methods based on bionical vision are gone out；2016, the figure based on human-eye visual characteristic
As Processing Algorithm is studied.Although above research all achieves certain achievement, for bionical vision technique, this
A little systems receive certain restriction when obtaining image using scene.I.e. imaging device is all comparatively ideal in daylight
In the case of be operated, once cannot work on it is impossible to see to target object in the environment of night does not have illumination
Survey.
For the limitation of current research, the present invention proposes one kind and is based on visible ray and near infrared bionical visual imaging
System and method.
Content of the invention
The purpose of the application there are provided one kind and is based on visible ray and near infrared bionical Vision imaging system, its feature
It is：Described system includes acquisition module, zoom actuator, beam splitter, near-infrared light source group, wherein：Described collection mould
Block is used for gathering natural light, and includes Visible-light CCD and near infrared light CCD, for gathering near-infrared image information respectively
And visible light image information；Described zoom actuator is by described natural optical transport to described beam splitter；Described zoom execution
Mechanism is vertical with described natural light incident direction；Described beam splitter is described visible by being incident to respectively after described natural light light splitting
In light CCD and near infrared light CCD；Described Visible-light CCD and near infrared light CCD be respectively in described beam splitter be used for receiving described
The opposite sides of natural light one side；Described Visible-light CCD is vertical with natural light incident direction, and executes machine parallel to described zoom
Structure；Described near infrared light CCD be arranged at the position that can receive the detached near-infrared image information of described beam splitter it is ensured that
Described Visible-light CCD and near infrared light CCD obtain the on all four image in visual angle；Described near-infrared light source group is arranged at described near
Around infrared light CCD；Described near-infrared light source group middle setting has aperture, and described zoom actuator is arranged in the hole.
Preferably, described near-infrared light source group is set to annular.
Preferably, described zoom actuator is set to liquid zoom lens.
Preferably, described beam splitter is set to prism.
Preferably, described beam splitter, Visible-light CCD and Near Infrared CCD are provided with containment vessel, for integration packaging.
Preferably, it is additionally provided with adjustable aperture between described zoom actuator and described beam splitter.
According to another aspect of the invention, it is proposed that a kind of focus adjustment method it is characterised in that：Described focus adjustment method is by clear
Degree evaluation function and Step-varied back propagation search strategy are constituted.
Preferably, described sharpness evaluation function is set up using Roberts operator, concrete grammar is：
If the gray value at image point (i, j) place is g (i, j), then it is represented by with the relation in eight fields about
Sharpness evaluation function theoretical calculation formula is：
Preferably, described Step-varied back propagation search strategy step is：
Step0:Described system is applied tentatively to be imaged and gather；
Step1:System original position is located at over focus, toward electric current increase side in liquid zoom lens driving current range
Scan for big step-length, and record corresponding evaluation function value；
Step2:Big step length searching process is carried out according to Step1, judges whether the evaluation function value of sampled point continuously occurs
Three decline, if so, then enters step Step3；If it is not, then return to step Step0 continues collection image；
Step3:Scanned for middle step-length with big step-length output current rightabout, and calculate corresponding evaluation function in real time
Value；
Step4:Middle step length searching process is carried out according to Step3, under judging whether sampled point evaluation function value occurs twice
Fall, if so, then enters step Step5；If it is not, then return to step Step3；
Step5:Then scanned for small step length with middle step-length output current rightabout, and calculate sampled point evaluation in real time
Functional value；
Step6:Little step-length search procedure is carried out according to Step5, judges whether evaluation of estimate occurs once declining, if so, enter
Enter step Step7；Otherwise, return to step Step5；
Step7：It is focal plane position that evaluation of estimate declines previous sampled point；Enter step Step8；
Step8：Whole focussing process terminates.
It should be appreciated that aforementioned description substantially and subsequently detailed description are exemplary illustration and explanation, should not
As the restriction to the claimed content of the present invention.
Brief description
With reference to the accompanying drawing enclosed, the more purpose of the present invention, function and advantage will be as follows by embodiment of the present invention
Description is illustrated, wherein：
Fig. 1 shows the index path of the bionical Vision imaging system according to the present invention；
Fig. 2 shows the adaptive search strategies flow chart of the bionical Vision imaging system according to the present invention；
Fig. 3 shows the image of the bionical Vision imaging system according to the present invention；Wherein, (a), (c) lead to for visible ray
Imaging effect under preferable illumination and low illumination for the road, (b), (d) are one-tenth under preferable illumination and low illumination for the near infrared channels
As effect；
Fig. 4 shows the sharpness evaluation function curve of the bionical Vision imaging system according to the present invention.
Specific embodiment
By reference to one exemplary embodiment, the purpose of the present invention and function and the side for realizing these purposes and function
Method will be illustrated.However, the present invention is not limited to one exemplary embodiment disclosed below；Can by multi-form Lai
It is realized.The essence of description is only to aid in the detail of the various equivalent modifications Integrated Understanding present invention.
Hereinafter, embodiments of the invention will be described with reference to the drawings.In the accompanying drawings, identical reference represent identical
Or similar part, or same or similar step.
The present invention, according to multi-optical spectrum imaging technology principle, devises and executes machine using liquid zoom lens and prism as zoom
Structure and the same bore dual-waveband imaging system of beam splitter, make the near infrared imaging passage of system by built-in near-infrared light source group
Do not affected by outside illumination condition, so that whole system can be observed to target object on daytime and night.
As shown in figure 1, being the index path of the bionical Vision imaging system according to the present invention；Described system includes acquisition module
101st, zoom actuator 102, beam splitter 103, near-infrared light source group 104, wherein：Described acquisition module is used for gathering nature
Light 105, and include Visible-light CCD 106 and near infrared light CCD107, for gathering near-infrared image information and visible respectively
Light image information；Described zoom actuator is by described natural optical transport to described beam splitter；Described zoom actuator with
Described natural light incident direction is vertical；Described beam splitter is incident to described Visible-light CCD respectively by after described natural light light splitting
In near infrared light CCD；Described Visible-light CCD and near infrared light CCD are respectively in described beam splitter and are used for receiving described nature
The opposite sides of light one side；Described Visible-light CCD is vertical with natural light incident direction, and parallel to described zoom actuator；
Described near infrared light CCD is arranged at the position that can receive the detached near-infrared image information of described beam splitter it is ensured that institute
State Visible-light CCD and near infrared light CCD obtains the on all four image in visual angle；Described near-infrared light source group is arranged at described closely red
Around outer smooth CCD；Described near-infrared light source group middle setting has aperture, and described zoom actuator is arranged in the hole it is ensured that being
System, under low photoenvironment, also enables near-infrared image collection and observes.
According to one embodiment of present invention, described near-infrared light source group is set to annular.
According to one embodiment of present invention, described zoom actuator is set to liquid zoom lens.
According to one embodiment of present invention, described beam splitter is set to prism.
Using liquid zoom lens and prism in imaging device, respectively as zoom actuator and beam splitter, simultaneously
Setting near-infrared light source group, whole system integration packaging the most at last.Thus compared to multispectral imaging system at this stage in volume
System has very big improvement.
According to one embodiment of present invention, described prism, Visible-light CCD, Near Infrared CCD are provided with containment vessel, are used for
Integration packaging.
According to one embodiment of present invention, be additionally provided between described zoom actuator and described beam splitter adjustable
Aperture.
Present invention additionally comprises according to being continually changing of target object location in bionical Vision imaging system visual field, using automatic
Focusing algorithm is implemented as the quick regulation as system focal.
After the preliminary imaging to target object when visible ray and near infrared imaging device, need to be become according to the displacement of target object
Change the focal length of real-time regulating system, make imaging remain at best sharpness it is therefore desirable to carry out using automatic focusing algorithm
Control.During automatic focusing, image definition is to judge whether to focus on accurate important indicator.Preferably evaluation function should
There is the characteristics such as unbiasedness, unimodality, susceptiveness.Wherein, unbiasedness, the correctness of unimodality decision algorithm, susceptiveness is then
It is the basic demand realizing real-time detection.Comprehensive visible ray and the feature of near-infrared image.
According to another aspect of the present invention it is proposed that a kind of focus adjustment method being applied to the system it is characterised in that：Institute
State focus adjustment method to be made up of sharpness evaluation function and Step-varied back propagation search strategy.
According to one embodiment of present invention, described sharpness evaluation function, concrete grammar are set up using Roberts operator
For：
If the gray value at image point (i, j) place is g (i, j), then it is represented by with the relation in eight fields about
Sharpness evaluation function theoretical calculation formula is：
The preferable image of one width definition is it should have maximum evaluation function value.
As Image Definition, extremum search strategy be also impact automatic focusing algorithm performance important because
Element.Search strategy requires fast convergence rate, accuracy rate high.The major defect of traditional search by hill climbing strategy is that step-length determines subjectivity
Very strong.As step-length is too small, acquisition process image spends the time more, poor real of focusing, and is easily subject to outside noise, environmental change
Deng impact.On the contrary, but focusing accuracy is relatively low although speed can have been lifted for step-length choosing excessive, therefore this patent adopts self adaptation
Variable step extremum search strategy, and realize whole search procedure with reference to liquid lens fast response time, zoom the features such as smoothing, its
Basic procedure is as shown in Figure 2.
According to one embodiment of present invention, described Step-varied back propagation search strategy step is：
Step 201:Described system is applied tentatively to be imaged and gather；
Step 202:System original position is located at over focus, increases toward electric current in liquid zoom lens driving current range
Direction is scanned for big step-length, and records corresponding evaluation function value；
Step 203:Big step length searching process is carried out according to step 202, judges whether the evaluation function value of sampled point is continuous
Three decline occurs, if so, then enters step 204；If it is not, then continuing collection image；
Step 204:Scanned for middle step-length with big step-length output current rightabout, and calculate corresponding evaluation letter in real time
Numerical value；
Step 205:Middle step length searching process is carried out according to step 204, judges whether sampled point evaluation function value occurs two
Secondary decline, if so, then enters step 206；If it is not, then return to step 204；
Step 206:Then scanned for small step length with middle step-length output current rightabout, and calculate sampling comment in real time
Valency functional value；
Step 207:Little step-length search procedure is carried out according to step 206, sentences whether evaluation of estimate occurs once declining, if so,
Enter step 208；Otherwise, return to step 206；
Step 208：It is focal plane position that evaluation of estimate declines previous sampled point；Enter step 209；
Step 209：Whole focussing process terminates.
This search strategy adopts big step length searching in region local extremum away from focal plane and easily, and liquid becomes
The dull output of focus lens driving current, can make system produce Jiao-out of focus imaging effect of out of focus-just, thus effectively prevent due to
The focal plane erroneous judgement that local extremum causes.
The system of the present invention pass through experimental verification, draw quantitatively evaluating index it was demonstrated that, automatic focusing algorithm of the present invention
An automatic focusing process can be completed in 1050ms.It is implemented as follows：
Implementation
, mainly by a PC, liquid zoom lens, one closely red for experimental provision used by proof of algorithm in the present invention
Outer and visible ray multispectral camera, a tight shot, the composition such as near-infrared light source group.Allocation of computer Intel in device
Core i7-4790 3.60G Hz CPU, 8GB internal memory, Win7 operating system, possess Matlab 8.3 and VS2010 compiling ring
Border.
In the present invention, bionical vision is tested by step (1) with the actual imaging effect of bore dual pathways imaging system
Card:First, in the environment of preferable illumination and low illumination, same target is observed, system initial imaging such as Fig. 3 in experiment
Shown.
In wherein Fig. 3, (a), (c) are imaging effect under preferable illumination and low illumination for the visible channel, and (b), (d) are
Imaging effect under preferable illumination and low illumination for the near infrared channels.Understood it is seen that light and near infrared channels can according to image
In the case of illumination is comparatively ideal, target is observed, but it is seen that optical channel just cannot be to target under low photoenvironment
Object is observed, but near infrared channels still can be observed to target object.Bionical visual imaging for the present invention
Device is just desirable to break away from the dependence to external environment condition, solves the confinement problems of application scenarios.In order to further illustrate image
Image quality, the initial image of system in Fig. 3 is utilized Robert function, Laplacian function and Variances function
Carrying out evaluation of estimate calculating, evaluation index is quantified, thus more intuitively contrasting the imaging difference under varying environment, testing number
According to as shown in table 1.
Table 1 initial pictures evaluation of estimate
Understand it is seen that light image is under two kinds of varying environments, the evaluation of estimate of three kinds of functions have dropped respectively by experimental data
45%th, 86% and 91%, this explanation visual light imaging passage is affected larger, once will be unable to mesh at night by illumination condition
Mark object is observed.Review, near-infrared image evaluation of estimate in both environments only have dropped 0.07%, 0.13% and respectively
0.14% it is known that near infrared imaging passage is affected less by external environment condition illumination condition, and therefore, it can on daytime and night
Target object is observed.
Then first emulation experiment is carried out to sharpness evaluation function in the present invention on computers, experimental data is imaging dress
The pixel putting visible channel collection is 640 × 480, one group of picture being made up of fuzzy-clear-fuzzy (23 images, its
In the 12nd width be image focal plane).It is as shown in Figure 4 that Matlab emulation experiment runs the evaluation function curve generating.
From evaluation function curve, evaluation function curve substantially meets unimodality, unbiasedness and susceptiveness, can be formed with
The image definition evaluation of effect.
For verifying real-time and the accuracy of automatic focusing algorithm of the present invention, in same hardware configuration, VS2010 compiles ring
Tested on the computer in border, in fixing visual field, automatic focusing experiment carried out to target object, and count the focusing used time and
Focal plane corresponding liquid zoom lens driving current size, detailed data is as shown in table 2.
Table 2 automatic focusing algorithm experimental data
In table focusing the used time be the total used time carrying out an automatic focusing process in fixing visual field, include gather image,
Image definition calculates and confirms extreme value, drives liquid lens focal length to change the time of three processes.Can from experimental data
Go out system and can fast and accurately complete automatic focusing process.
Beneficial effects of the present invention are：
1st, the present invention proposes one kind based on visible ray and near infrared bionical Vision imaging system, with two waveband Shared aperture
Principle design optical system so as to can be acquired to the image of visible ray and two wave bands of near-infrared simultaneously so that bionical
Visual system day and night can normal work, solve the limitation problem that traditional bionical visual imaging uses scene, and lead to
Cross the imaging of experimental verification near infrared channels less according to environmental effect by ambient light.
2nd, using liquid zoom lens and prism in the imaging system of the present invention, respectively as zoom actuator and light splitting
Element, arranges near-infrared light source group, whole system integration packaging the most at last.Thus compared to multispectral one-tenth at this stage in volume
As system has very big improvement.
3rd, according to being continually changing of target object location in the bionical Vision imaging system visual field of the present invention, adjusted using automatic
Burnt algorithm is implemented as the quick regulation as system focal, using based on Roberts operator evaluation function combining adaptive variable step
The automatic focusing algorithm of search strategy realizes whole focussing process, and focusing speed is up to 1050ms.
Explanation in conjunction with the present invention disclosing here and practice, the other embodiment of the present invention is for those skilled in the art
All will be readily apparent and understand.Illustrate and embodiment be to be considered only as exemplary, the true scope of the present invention and purport equal
It is defined in the claims.
Claims (9)
1. a kind of based on visible ray and near infrared bionical Vision imaging system it is characterised in that：Described system includes gathering mould
Block, zoom actuator, beam splitter, near-infrared light source group, wherein：
Described acquisition module is used for gathering natural light, and includes Visible-light CCD and near infrared light CCD, for gathering respectively
Near-infrared image information and visible light image information；
Described zoom actuator is by described natural optical transport to described beam splitter；Described zoom actuator and described nature
Light incident direction is vertical；
Described beam splitter is incident in described Visible-light CCD and near infrared light CCD respectively by after described natural light light splitting；
Described Visible-light CCD and near infrared light CCD are respectively in described beam splitter for receiving the opposite sides of natural light one side；
Described Visible-light CCD is vertical with natural light incident direction, and parallel to described zoom actuator；
Described near infrared light CCD is arranged at the position that can receive the detached near-infrared image information of described beam splitter, protects
Demonstrate,prove described Visible-light CCD and near infrared light CCD obtains the on all four image in visual angle；
Described near-infrared light source group is arranged at around described near infrared light CCD；
Described near-infrared light source group middle setting has aperture, and described zoom actuator is arranged in the hole.
2. system according to claim 1 it is characterised in that：Described near-infrared light source group is set to annular.
3. system according to claim 1 it is characterised in that：Described zoom actuator is set to liquid zoom lens.
4. system according to claim 1 it is characterised in that：Described beam splitter is set to prism.
5. system according to claim 1 it is characterised in that：Described beam splitter, Visible-light CCD and Near Infrared CCD
It is provided with containment vessel, for integration packaging.
6. system according to claim 1 it is characterised in that：Between described zoom actuator and described beam splitter also
It is provided with adjustable aperture.
7. a kind of focus adjustment method of the system being applied to described in claim 1 it is characterised in that：Described focus adjustment method is by definition
Evaluation function and Step-varied back propagation search strategy are constituted.
8. focus adjustment method according to claim 7 it is characterised in that：Set up described definition using Roberts operator to comment
Valency function, concrete grammar is：
If the gray value at image point (i, j) place is g (i, j), then it is represented by with the relation in eight fields about
Sharpness evaluation function theoretical calculation formula is：
.
9. focus adjustment method according to claim 7 it is characterised in that：Described Step-varied back propagation search strategy step is：
Step0:Described system is applied tentatively to be imaged and gather；
Step1:System original position be located at over focus, in liquid zoom lens driving current range toward electric current augment direction with
Big step-length scans for, and records corresponding evaluation function value；
Step2:Big step length searching process is carried out according to Step1, judges whether the evaluation function value of sampled point continuously occurs three times
Decline, if so, then enter step Step3；If it is not, then return to step Step0 continues collection image；
Step3:Scanned for middle step-length with big step-length output current rightabout, and calculate corresponding evaluation function value in real time；
Step4:Middle step length searching process is carried out according to Step3, judges whether sampled point evaluation function value occurs declining twice, if
It is then to enter step Step5；If it is not, then return to step Step3；
Step5:Then scanned for small step length with middle step-length output current rightabout, and calculate sampled point evaluation function in real time
Value；
Step6:Little step-length search procedure is carried out according to Step5, judges whether evaluation of estimate occurs once declining, if so, enter step
Rapid Step7；Otherwise, return to step Step5；
Step7：It is focal plane position that evaluation of estimate declines previous sampled point；Enter step Step8；
Step8：Whole focussing process terminates.
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| CN109031668B (en) * | 2018-09-18 | 2020-12-01 | 京东方科技集团股份有限公司 | Virtual reality device and intelligent focal length adjusting method thereof |
| CN109889728A (en) * | 2019-03-18 | 2019-06-14 | 上海大学 | A kind of mobile target real-time automatic focusing method based on electro-hydraulic adjustable zoom lens |
| CN109889728B (en) * | 2019-03-18 | 2020-03-24 | 上海大学 | Moving target real-time automatic focusing method based on electro-hydraulic adjustable focusing lens |
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