CN106443703A - Device and method for realizing quick three-dimensional imaging of laser radar by means of random sampling - Google Patents

Device and method for realizing quick three-dimensional imaging of laser radar by means of random sampling Download PDF

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Publication number
CN106443703A
CN106443703A CN201610859974.4A CN201610859974A CN106443703A CN 106443703 A CN106443703 A CN 106443703A CN 201610859974 A CN201610859974 A CN 201610859974A CN 106443703 A CN106443703 A CN 106443703A
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China
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stochastical sampling
dimensional imaging
information
laser
laser radar
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CN106443703B (en
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时东锋
王英俭
吕申龙
黄见
苑克娥
胡顺星
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Hefei Institutes of Physical Science of CAS
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Hefei Institutes of Physical Science of CAS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging

Abstract

The invention discloses a device and a method for realizing quick three-dimensional imaging of a laser radar by means of random sampling. The device comprises a pulse laser, a beam uniform expander, an optical modulator, an optical imaging system, an image intensifier, a CCD detector and a delay pulse generation controller. According to the method of the invention, through combining range gating technology, random sampling technology and undersampling information recovery technology, acquisition of scene three-dimensional information and strength information through single exposure image inversion by the CCD detector is realized. Real-time performance in three-dimensional imaging of an imaging system is improved, particularly a three-dimensional imaging effect in a strong scattering environment. The device and the method have a good application prospect in fields of target detection, identification and tracking, etc.

Description

The device and method of laser radar rapid three dimensional imaging is realized using stochastical sampling
Technical field
The present invention relates to three-dimensional laser imaging radar field, specifically to realize laser radar using stochastical sampling quick for one kind The device and method of three-dimensional imaging.
Background technology
3 Dimension Image Technique is studied and be applied to by people the multiple fields such as remote sensing, biological and national defence always for many years. Laser radar of the tradition based on image intensifying image device is using the echo-signal of scene at rangerate-gate technique detection different distance To rebuild scene graphics.Such system just towards miniaturization develop, system typically using small-sized pulse laser, have The image intensifier of gating function and ccd detector, the frame frequency of normal CCD detector will be much smaller than laser pulse and image intensifier The frequency of switch gate.Traditional imaging systems need the collection of ccd detector multiexposure, multiple exposure a large amount of to obtain the three-dimensional information of scene Slice information restoring scene three-dimensional information.Especially descend in strong scattering environment (under water, rain, mist etc.), need to adopt distance Gating technique eliminating the interference of path scattered light, in order to obtain scene three-dimensional information, it is also necessary to substantial amounts of CCD exposure will be carried out Collection, which has limited the real-time of system detection, and then limits application of the system under the scenes such as movement environment.It is thus desirable to Reduce the collection frame number of ccd detector, improve the three-dimensional imaging efficiency of imaging system.
Content of the invention
It is an object of the invention to provide a kind of utilization stochastical sampling realizes device and the side of laser radar rapid three dimensional imaging Method, to overcome the low problem of existing three-dimensional laser imaging radar system imaging rate, improves the three-dimensional imaging real-time of system, with When can effectively reduce data volume.
In order to achieve the above object, the technical solution adopted in the present invention is：
The device of laser radar rapid three dimensional imaging is realized using stochastical sampling, it is characterised in that：
Including delay pulse generator controller, pulse laser, homogenizer beam expander, imaging len, photomodulator, as Booster and ccd detector, the optical synchronous signal outfan that goes out of the pulse laser accesses delay pulse generator controller, institute The sequencing contro for stating photomodulator, image intensifier and ccd detector is terminated into delay pulse generator controller.
The described device for realizing laser radar rapid three dimensional imaging using stochastical sampling, it is characterised in that：Pulse laser Device can be launched the light beam of narrow pulse width and have phototiming output signal.
The device of laser radar rapid three dimensional imaging is realized using stochastical sampling, it is characterised in that：Photomodulator has outer Portion's triggering and the controlled function of modulated signal.
The device of laser radar rapid three dimensional imaging is realized using stochastical sampling, it is characterised in that：Image intensifier has choosing Logical function.
The device of laser radar rapid three dimensional imaging is realized using stochastical sampling, it is characterised in that：Delay pulse is controlled Device processed can produce the controlled and split-second precision delay pulse trigger of pulsewidth.
The method for laser radar rapid three dimensional imaging being realized using stochastical sampling, which mainly comprises the following steps：
1) pulse laser emission pulse laser accesses delay pulse generator controller, laser instrument while going out optical synchronous signal The pulse laser of transmitting irradiates target scene after homogenizer beam expander carries out uniform intensity and expands；2) target scene Reaching photomodulator after the imaged lens of reflected light carries out stochastical sampling；3) image intensifier is selected to the signal after stochastical sampling Logical and amplification；4) 1-3 step is repeated, and the stochastical sampling matrix for wherein each photomodulator being applied enters line translation, and ensures These sampling matrixs are mutually orthogonal, and image intensifier carries out different door opening delays every time；5) in the ccd detector single exposure time Interior execution aforesaid operations, now detection has collected the scene image information of multiple stochastical sampling, gating and amplification；6) by CCD In detector list time of exposure, the single-frame imagess of collection are carried out related calculation with stochastical sampling matrix, can be parsed at different distance The lack sampling reflectivity information of target；7) using restore in compressive sensing theory lack sampling information analytically scene different away from Complete reflectivity information from place；8) delayed data for finally being provided using delay pulse generator controller, calculates distance letter Breath, obtains the three-dimensional information of target scene.
Fusion distance gating technique of the present invention, random sampling technique and lack sampling information recovery technology, using photomodulator Stochastical sampling is realized, range information is determined by modulation intelligence dependency, the recovery of lack sampling information is realized by compressed sensing, Being achieved in three peacekeeping strength information of scene being obtained by the inverting of ccd detector single exposure image, improves imaging system Three-dimensional imaging real-time, is with a wide range of applications with tracking field in target recognition, has broad application prospects.
Description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the concrete sequential chart of imaging system.
Fig. 3 is radar system experimental result picture.
Specific embodiment
As shown in figure 1, a kind of method that utilization stochastical sampling realizes laser radar rapid three dimensional imaging, its device includes Pulse laser 1, homogenizer beam expander 2, imaging len 3, photomodulator 4, image intensifier 5, ccd detector 6, delay pulse Generator controller 7；
Pulse laser 1 sends pulse laser, with larger cross-sectional distribution after modulating through homogenizer beam expander 2, and Light distribution is uniform；
Light beam after homogenizer beam expander 2 is irradiated on target scene, and the imaged lens 3 of target scene reflected light are arrived Reach on photomodulator 4；
The target scene echo-signal that modulates through photomodulator 4 is gated through image intensifier 5 and is amplified.
There is multiple scene echoes signal within the 6 single exposure time period of ccd detector, successively different echo-signals are carried out Different modulation, gating and amplification, add up in the single time of exposure of such ccd detector 6 and obtain multiple different modulating, gate and put Big information；
Delay pulse generator controller 7 controls pulse laser 1, photomodulator 4, image intensifier 5 and ccd detector 6 Work schedule relation；
In the single exposure period of ccd detector 6, multiple pulses light launched by pulse laser 1, and scene returns multiple arteries and veins Echo-signal is rushed, 4 pairs of different pulse echo signals of photomodulator apply different stochastical sampling matrixes successively, and different random is adopted Mutually orthogonal between sample matrix, while image intensifier 5 carries out different time delay choosings to different modulation pulse echo signals successively Logical and amplification；
Using the single-frame imagess for gathering in the single exposure period of ccd detector 6 with the dependency between stochastical sampling matrix, The reflectivity information of target at different distance can be isolated, as photomodulator 4 has carried out stochastical sampling to echo-signal, because Echo signal at this different distance that isolates is lack sampling information；
The reflectance of scene at different distance can be gone out from the lack sampling information reverting that isolates using compressive sensing theory Information；
Using the delay parameter of delay pulse generator controller 7, the distance of scene can be calculated, using the distance of scene The three-dimensional information of target scene is obtained with reflectivity information, while the complete reflectivity information of scene can be obtained.
Time delayses triggering is the key technology that the system is implemented, and Fig. 2 gives the concrete sequential chart of imaging system.
The restriction of laser pulse pulsewidth is not considered, corresponding system range resolution ratio Δ z is：
Wherein, c is image intensifier door opening width of the aerial spread speed of light, the Δ t for imaging system.
Assume that the image for obtaining in ccd detector list exposure period is I, then
In formula, RiRepresent apart from diThe reflectivity information of the target scene at place, SiRepresent the two-value stochastical sampling with 0,1 Matrix, and stochastical sampling matrix has following property：
Wherein, 0 represents full null matrix.
The single exposure image I for being obtained by ccd detector and stochastical sampling matrix Si, the two carries out related operation, obtains：
I*Si=(R1*S1+R2*S2+…+Ri*Si+…+Rn*Sn)*Si(3),
To the expansion of (3) formula, abbreviation, obtain：
I*Si=Ri*Si*Si
Order, Y=I*Si=Ri*Si(4),
Si*RiThe undersampled image of a certain specific range that correspondence is gated by image intensifier, Y represents the lack sampling that isolates Image, by compressed sensing principle, can restore high-precision image R by Yi.
argmin[||Y-Ri*Si||2+λΦTV(Ri)] (5),
Here, ΦTVTotal variation (TV) pattern function is represented, λ represents smoothing factor.By solution formula (5), it is possible to obtain Obtain high-precision image Ri.
Selected restored image RiBackground pixel value a as threshold value, by restored image RiIt is converted into bianry image Xi,
Using the delay parameter of delay pulse generator controller, the distance of scene can be calculated：
Range information d by sceneiWith bianry image XiWeighting processes the three-dimensional information D that can obtain target scene：
While recovery information adds up can just obtain full strength information I of sceneR：
Obviously, those skilled in the art can be by the quick three-dimensional based on random sampling technique involved in the present invention Scene imaging radar is modified with modification without departing from the spirit and scope of the present invention.So, if these modifications and variation Belong within the scope of the claims in the present invention and its equivalent technologies, then the present invention is also intended to exist comprising these modifications and modification Interior.
Experimental result：
For verifying the feasibility of the inventive method, once tested, experimental result is as shown in Figure 3.The target of experiment Scene placed three target objects as shown in (a) in Fig. 3 in scene, wherein, 1. the distance of number target object and system is about For 5.5m, 2. number target object is about 6.6m with the distance of system, and 3. number target object is about 7.7m with the distance of system.Fig. 3 In (b) be the image that collects in the mono- time of exposure of imaging radar system CCD, (c) in Fig. 3 is the strong of rejuvenation target scene Degree figure, (d) in Fig. 3 is the three-dimensional information figure of rejuvenation target scene.

Claims (6)

1. the device of laser radar rapid three dimensional imaging is realized using stochastical sampling, it is characterised in that：
Including delay pulse generator controller, pulse laser, homogenizer beam expander, imaging len, photomodulator, image intensifying Device and ccd detector, the optical synchronous signal outfan that goes out of the pulse laser accesses delay pulse generator controller, the light The sequencing contro of manipulator, image intensifier and ccd detector is terminated into delay pulse generator controller.
2. utilization stochastical sampling according to claim 1 realizes the device of laser radar rapid three dimensional imaging, and its feature exists In：Pulse laser can be launched the light beam of narrow pulse width and have phototiming output signal.
3. utilization stochastical sampling according to claim 1 realizes the device of laser radar rapid three dimensional imaging, and its feature exists In：Photomodulator has the controlled function of external trigger and modulated signal.
4. utilization stochastical sampling according to claim 1 realizes the device of laser radar rapid three dimensional imaging, and its feature exists In：Image intensifier has gating function.
5. utilization stochastical sampling according to claim 1 realizes the device of laser radar rapid three dimensional imaging, and its feature exists In：Delay pulse generator controller can produce the controlled and split-second precision delay pulse trigger of pulsewidth.
6. a kind of method for realizing laser radar rapid three dimensional imaging using stochastical sampling based on claim 1 described device, Which mainly comprises the following steps：
1）Pulse laser emission pulse laser goes out optical synchronous signal simultaneously and accesses delay pulse generator controller, and laser instrument is launched Pulse laser carry out uniform intensity through homogenizer beam expander and irradiate target scene after expanding；2）The reflected light of target scene Reaching photomodulator after imaged lens carries out stochastical sampling；3）Image intensifier is gated to the signal after stochastical sampling and is put Greatly；4）1-3 step is repeated, the stochastical sampling matrix for wherein each photomodulator being applied enters line translation, and ensures that these are adopted Sample matrix is mutually orthogonal, and image intensifier carries out different door opening delays every time；5）Execute within the ccd detector single exposure time Aforesaid operations, now detection has collected the scene image information of multiple stochastical sampling, gating and amplification；6）By ccd detector In single time of exposure, the single-frame imagess of collection are carried out related calculation with stochastical sampling matrix, can parse target at different distance Lack sampling reflectivity information；7）Using restoring at scene different distance in compressive sensing theory lack sampling information analytically Complete reflectivity information；8）The delayed data for finally being provided using delay pulse generator controller, calculates range information, obtains The three-dimensional information of target scene.
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