CN106791781A - A kind of continuous wave phase measurement formula single pixel 3-D imaging system and method - Google Patents
A kind of continuous wave phase measurement formula single pixel 3-D imaging system and method Download PDFInfo
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Abstract
A kind of continuous wave phase measurement formula single pixel 3-D imaging system and method, are related to 3 Dimension Image Technique, in order to meet the growth requirement of 3 Dimension Image Technique.The speckle light field that launching light is modulated to spatial stochastically distribution is gone illumination target by light field modulator, single-element detector collects all optical signals returned from target, signal will be received to be mixed with transmission signal, computer is sent to after integrated device accumulation to be preserved, simultaneous computer records the random distribution of speckle light field, random speckle is varied multiple times, is recorded respectively, can finally calculate the three-dimensional image of target.System and method of the present invention need not carry out high-speed sampling to signal, considerably reduce the hardware spending of system, while improve the image taking speed of system, and the resolution ratio of system has been broken away from the limitation of high-speed sampling bandwidth.
Description
Technical field
The present invention relates to 3 Dimension Image Technique.
Background technology
Conventional two-dimensional optical imaging means are all based on detector array as CCD, CMOS at present.And three-dimensional optical
The realization for being imaged (3-D view is also referred to as range image, and three-dimensional is tri- dimensions of X, Y, X) is still at present relatively difficult problem.
Because ripe array belongs to integration device as CCD, CMOS, the intensity of optical signal can only be detected, and cannot resolved light letter
Number temporal information.And have the technology of the photodetector array such as APD array of time resolution ripe not enough, not only valency
The expensive and commercial at present only small array as 32 × 32 of lattice, is difficult to realize high-resolution three-dimensional imaging.This year goes out
Existing single pixel image camera provides a promising solution route for this demand.Most single pixel imaging at present
Technology is that towards two-dimensional imaging, a small number of three-dimensional single pixel imaging techniques are required for carrying out signal high-speed sampling, subsequently right
Substantial amounts of data carry out the computing of complexity, substantially increase the hardware spending of system, while the image taking speed of system is reduced,
And the resolution ratio of system is limited by high-speed sampling bandwidth.
The content of the invention
A kind of growth requirement the invention aims to meet 3 Dimension Image Technique, there is provided continuous wave phase measurement formula
Single pixel 3-D imaging system and method.
A kind of continuous wave phase measurement formula single pixel 3-D imaging system of the present invention includes continuous wave laser 1, list
First detector 2, light field modulator 3, beam expander optical system 4, transmitting/receiving optics 5, continuous signal source 6, frequency mixer 7, product
Divide device 8 and phase delay device 9；
Continuous signal source 6 is used to produce two-way identical sinusoidal signal, and sinusoidal signal is used to drive continuous wave laser all the way
1, the transmitting light intensity of continuous wave laser 1 is changed according to the frequency of the sinusoidal signal；Another road sinusoidal signal is sent to phase and prolongs
Slow device 9；
After the launching light of continuous wave laser 1 is expanded through beam expander optical system 4, it is incident on light field modulator 3；
The light field modulator 3 is used to produce random light field under the control of the random matrix that computer 10 is produced, the light
Field is launched by transmitting/receiving optics 5, and target is illuminated；
Transmitting/receiving optics 5 receives the light wave that target is returned；
Single-element detector 2 is used to carry out opto-electronic conversion to the light wave for returning；
Frequency mixer 7 is used for the sinusoidal signal produced to continuous signal source 6 and the detectable signal of the output of single-element detector 2 to be carried out
Mixing；
Integrator 8 is used to be integrated the mixed frequency signal of the output of frequency mixer 7, and the integrated signal of generation is sent to meter
Calculation machine 10；
Phase delay device 9 is used to carry out phase delay to the sinusoidal signal that continuous signal source 6 produces, and by after phase delay
Sinusoidal signal send to frequency mixer 7.
A kind of continuous wave phase measurement formula single pixel three-D imaging method of the present invention is：
Step one, the continuous light to light source generation carry out Sine Modulated, the light after Sine Modulated is incident to light field and modulate
On device 3；
The light field modulator 3 produces random patterns under the control of the random matrix that computer 10 is produced, and then produces
Random light field, the light field is used to be illuminated target；
The light wave returned using the detection target of single-element detector 2；
The detectable signal that sinusoidal modulation signal and single-element detector 2 are exported is mixed, the signal after mixing is carried out
Integration, obtains integrated value；
Computer 10 often changes a random matrix, just obtains an integrated value；
Multiple random matrixes constitute random speckle sequence, and multiple integrated values constitute integration value sequence；
Random speckle sequence is carried out into related operation or compressed sensing computing with integration value sequence, two dimensional image is obtained；
The strength formula of each pixel is in the two dimensional image：
Wherein A is intensity, P0It is the amplitude of transmission signal (sinusoidal signal that i.e. continuous signal source 6 produces), P1For detection is believed
The amplitude of number (i.e. the output signal of single-element detector (2)), m is modulation depth, and φ is the phase of detectable signal；A can basis
Two dimensional image is obtained, A, P0It is, it is known that P with m1With φ for unknown,
Step 2, sinusoidal modulation signal is carried out different phase delays, repeat step one obtains multiple strength formulas,
The equation group that multiple strength formulas are constituted is solved, the φ values of each pixel are obtained；
Step 3, using formulaThe distance of each pixel is calculated, wherein R is the distance, and c is the light velocity, and f is
The frequency of sinusoidal modulation signal, the range data of all pixels constitutes 3-D view.
The speckle light field that launching light is modulated to spatial stochastically distribution is gone illumination target by light field modulator 3, uses the unit time
Resolved detector (i.e. single-element detector 2) collects all optical signals returned from target, will receive signal with transmission signal (i.e.
The sinusoidal modulation signal that continuous signal source 6 produces) it is mixed, being sent to computer 10 after integrated device accumulation is preserved,
Simultaneous computer 10 records the random distribution of speckle light field, and random speckle is varied multiple times, and is recorded respectively, can finally resolve
Go out the three-dimensional image of target.System and method of the present invention need not carry out high-speed sampling to signal, considerably reduce and be
The hardware spending of system, while improve the image taking speed of system, and makes the resolution ratio of system break away from high-speed sampling bandwidth
Limitation.
Brief description of the drawings
Fig. 1 is a kind of principle frame of the continuous wave phase measurement formula single pixel 3-D imaging system described in implementation method one
Figure, wherein 11 represent transmitting light field, 12 represent reception light field；
Fig. 2 is the oscillogram of transmission signal and reception signal in implementation method two；
Fig. 3 is the theory diagram of 3-D view solution process in implementation method two.
Specific embodiment
Specific embodiment one：Present embodiment is illustrated with reference to Fig. 1, a kind of continuous wave phase described in present embodiment is surveyed
Amount formula single pixel 3-D imaging system, including continuous wave laser 1, single-element detector 2, light field modulator 3, beam expander optical system 4,
Transmitting/receiving optics 5, continuous signal source 6, frequency mixer 7, integrator 8 and phase delay device 9；
Continuous signal source 6 is used to produce sinusoidal signal, and the sinusoidal signal is used to drive continuous wave laser 1, makes continuous laser
The transmitting light intensity of device 1 changes according to the frequency of the sinusoidal signal；
After the launching light of continuous wave laser 1 is expanded through beam expander optical system 4, it is incident on light field modulator 3；
The light field modulator 3 is used to produce random light field under the control of the random matrix that computer 10 is produced, the light
Field is launched by transmitting/receiving optics 5, and target is illuminated；
Transmitting/receiving optics 5 receives the light wave that target is returned；
Single-element detector 2 is used to carry out opto-electronic conversion to the light wave for returning；
Frequency mixer 7 is used for the sinusoidal signal produced to continuous signal source 6 and the detectable signal of the output of single-element detector 2 to be carried out
Mixing；
Integrator 8 is used to be integrated the mixed frequency signal of the output of frequency mixer 7, and the integrated signal of generation is sent to meter
Calculation machine 10；
Phase delay device 9 is used to carry out phase delay to the sinusoidal signal that continuous signal source 6 produces, and by after phase delay
Sinusoidal signal send to frequency mixer 7.
, by the use of continuous wave laser 1 as lighting source, single-element detector 2 is using with time resolution for present embodiment
Device such as APD, photomultiplier etc..Light field modulator 3 can select LCD space light modulator or digital micromirror array (DMD)
Deng.Continuous signal source 6 can produce the sine wave signal of various frequencies, and in present embodiment, frequency is more than MHz.
Above-mentioned 3-D imaging system is divided into transmitting and receives two parts.Emitting portion is by continuous wave laser 1, continuous signal
Source 6, beam expander optical system 4, light field modulator 3 and transmitting/receiving optics 5 are constituted.Continuous signal source 6 produces certain frequency
Sinusoidal signal drive continuous wave laser 1, the intensity of the launching light of continuous wave laser 1 is changed according to modulating frequency.Continuous laser
After the laser beam of the outgoing of device 1 is expanded through beam expander optical system 4, directly beat on light field modulator 3.Light field modulator 3 is transmitting
The core component of system, for realizing the control to launching Photofield Emission pattern.Produced at random by computer 10 in this programme
(each element in matrix is corresponding with each pixel of final 3-D view, and each element in random matrix is random for matrix
Change), and random matrix is transferred in the internal memory of light field modulator 3 in real time, make the real-time update Random Graph of light field modulator 3
Sample, so that transmitting light field produces the speckle pattern of random distribution, the illumination to target is realized with such random light field.System
Receiving portion be made up of single-element detector 2, frequency mixer 7, integrator 8, phase delay device 9 and transmitting/receiving optics 5.
The light scattered in target is transmitted/received optical system 5 and receives, and converges to opto-electronic conversion is carried out on single-element detector 2.Unit
Detector 2 can select the high speed avalanche diode APD of high-gain.The signal of the output of single-element detector 2 is (i.e. continuous with transmission signal
The sine wave signal that signal source 6 is produced) frequency mixer 7 and integrator 8 are passed sequentially through, it is laggard equivalent to two signals are carried out into multiplication
Row integration, the integrated value of acquisition is the function of two signal delays.
Image-forming principle：
Continuous signal source 6 carries out Sine Modulated to the continuous light that continuous wave laser 1 is produced, and the light after Sine Modulated is incident to
On light field modulator 3；Light field modulator 3 produces random patterns under the control of the random matrix that computer 10 is produced, and then produces
Raw random light field, the light field is used to be illuminated target；The light wave that the detection target of single-element detector 2 is returned；To Sine Modulated
Signal and the detectable signal of the output of single-element detector 2 are mixed, and the signal after mixing is integrated, and obtain integrated value；
Computer 10 often changes a random matrix, just obtains an integrated value；
Multiple random matrixes constitute random speckle sequence, and multiple integrated values constitute integration value sequence；
Random speckle sequence is carried out into related operation or compressed sensing computing with integration value sequence, two dimensional image is obtained；
The strength formula of each pixel is in the two dimensional image：
Wherein A is intensity, P0It is the amplitude of transmission signal (sinusoidal signal that continuous signal source 6 produces), P1It is detectable signal
Amplitude, m is modulation depth, and φ is the phase of detectable signal；A can be obtained according to two dimensional image, A, P0It is, it is known that P with m1With
φ for unknown,
Sinusoidal modulation signal is carried out into phase delay, another strength formula is obtained after the same method, solve two
The equation group that strength formula is constituted, obtains the φ values of each pixel；
Using formulaThe distance of each pixel is calculated, wherein R is the distance, and c is the light velocity, and f is adjusted for sinusoidal
The frequency of signal processed；
The range information of each pixel is fused in the two dimensional image that step one is obtained, 3-D view is obtained.
Specific embodiment two：Present embodiment is illustrated with reference to Fig. 2, a kind of continuous wave phase described in present embodiment is surveyed
Amount formula single pixel three-D imaging method is：
Step one, the continuous light to light source generation carry out Sine Modulated, the light after Sine Modulated is incident to light field and modulate
On device 3；
The light field modulator 3 produces random patterns under the control of the random matrix that computer 10 is produced, and then produces
Random light field, the light field is used to be illuminated target；
The light wave returned using the detection target of single-element detector 2；
The detectable signal that sinusoidal modulation signal and single-element detector 2 are exported is mixed, the signal after mixing is carried out
Integration, obtains integrated value；
Computer 10 often changes a random matrix, just obtains an integrated value；
Multiple random matrixes constitute random speckle sequence, and multiple integrated values constitute integration value sequence；
Random speckle sequence is carried out into related operation or compressed sensing computing with integration value sequence, two dimensional image is obtained；
The strength formula of each pixel is in the two dimensional image：
Wherein A is intensity；P0It is the amplitude of transmission signal (sinusoidal signal that i.e. continuous signal source 6 produces)；P1For detection is believed
The amplitude of number (i.e. the output signal of single-element detector 2), the signal is the average amplitude of multiframe signal, reflects the reflection of target
Rate；M is modulation depth；φ is the phase of detectable signal；A can be obtained according to two dimensional image, A, P0It is, it is known that P with m1It is with φ
It is unknown,
Step 2, sinusoidal modulation signal is carried out different phase delays, repeat step one obtains multiple strength formulas,
The equation group that multiple strength formulas are constituted is solved, the φ values of each pixel are obtained；
Step 3, using formulaThe distance of each pixel is calculated, wherein R is the distance, and c is the light velocity, and f is
The frequency of sinusoidal modulation signal, the range data according to all pixels obtains 3-D view.The range data of all pixels is constituted
Matrix be three-dimensional image matrix.
Method described in present embodiment can be realized using the 3-D imaging system described in implementation method one.
As shown in Fig. 2 transmission signal is sine wave, due to there is a certain distance between target and 3-D imaging system, because
This detectable signal has the phase delay that size is φ relative to transmission signal, can be calculated with the relation of distance according to phase delay
Go out the distance of each pixel distance 3-D imaging system.
Light field modulator often changes a random patterns, and integrator completes a signal integration and is defeated by computer.By
The pattern of hundreds and thousands of times changes and signal integration, is performed mathematical calculations eventually through by pattern data and integration data, so that it may
The phase code image (two dimensional image that i.e. step one is obtained) of target is resolved.For this kind of modulation system, it is necessary to many
The different phase code image of width can just resolve the three-dimensional distance picture of target.The specific flow that resolves is as follows, for
Each pixel, it is assumed that：
Transmission signal is：
PT=P0[1+msin(ωt)]
Receiving signal is：
PR=P1[1+msin(ωt+φ)]
It is after mixing：
It is to the output valve after the mixed frequency signal integral mean of multiple number of cycles：
Wherein A, P0, m is, it is known that P1It is unknown with φ, solve φ, you can converse the distance of target：
In order to try to achieve φ, two equations (1) are at least needed, transmission signal can be carried out the delay of multiple fixed bit phases,
Again with reception signal mixing, multiple equations (1) of getting back carry out joint solution and obtain φ.In practice, more using postpone pi/2, π,
3 pi/2s set up equation, and four equations carry out joint solution.
Specific embodiment three：Present embodiment is illustrated with reference to Fig. 1, present embodiment is to the methods described of implementation method two
Further restriction, in present embodiment, in random matrix the value of each element be 0 or 1.
P1The reflectivity of target is reflected, it can be considered that transmission signal out of phase postpones lower P1Value it is constant.At random
When certain element of matrix takes 0, corresponding pixel no light.When limiting the value of element as 0 or 1, data-handling efficiency is most
It is high.
Claims (3)
1. a kind of continuous wave phase measurement formula single pixel 3-D imaging system, it is characterised in that including continuous wave laser (1), single
First detector (2), light field modulator (3), beam expander optical system (4), transmitting/receiving optics (5), continuous signal source (6),
Frequency mixer (7), integrator (8) and phase delay device (9)；
For producing sinusoidal signal, the sinusoidal signal is used to drive continuous wave laser (1), makes continuous laser in continuous signal source (6)
The transmitting light intensity of device (1) changes according to the frequency of the sinusoidal signal；
After the launching light of continuous wave laser (1) is expanded through beam expander optical system (4), it is incident on light field modulator (3)；
The light field modulator (3) for producing random light field under the control of the random matrix that computer (10) is produced, the light
Field is launched by transmitting/receiving optics (5), and target is illuminated；
Transmitting/receiving optics (5) receives the light wave that target is returned；
Single-element detector (2) to the light wave for returning for carrying out opto-electronic conversion；
The detectable signal of sinusoidal signal and single-element detector (2) output of the frequency mixer (7) for being produced to continuous signal source (6) enters
Row mixing；
Integrator (8) is sent to meter the integrated signal of generation for being integrated to the mixed frequency signal that frequency mixer (7) is exported
Calculation machine (10)；
Phase delay device (9) for carrying out phase delay to the sinusoidal signal that continuous signal source (6) produce, and by after phase delay
Sinusoidal signal send to frequency mixer (7).
2. a kind of continuous wave phase measurement formula single pixel three-D imaging method, it is characterised in that the method is：
Step one, the continuous light to light source generation carry out Sine Modulated, the light after Sine Modulated is incident to light field modulator (3)
On；
The light field modulator (3) produces random patterns under the control of the random matrix that computer (10) is produced, and then produces
Random light field, the light field is used to be illuminated target；
The light wave returned using single-element detector (2) detection target；
The detectable signal that sinusoidal modulation signal and single-element detector (2) are exported is mixed, the signal after mixing is accumulated
Point, obtain integrated value；
Computer (10) often changes a random matrix, just obtains an integrated value；
Multiple random matrixes constitute random speckle sequence, and multiple integrated values constitute integration value sequence；
Random speckle sequence is carried out into related operation or compressed sensing computing with integration value sequence, two dimensional image is obtained；
The strength formula of each pixel is in the two dimensional image：
Wherein A is intensity, P0For transmission signal is the amplitude of the sinusoidal signal that continuous signal source (6) produces, P1For detectable signal is
The amplitude of the output signal of single-element detector (2), m is modulation depth, and φ is the phase of detectable signal；A can be according to X-Y scheme
As obtaining, A, P0It is, it is known that P with m1With φ for unknown,
Step 2, sinusoidal modulation signal is carried out different phase delays, repeat step one obtains multiple strength formulas, solved
The equation group that multiple strength formulas are constituted, obtains the φ values of each pixel；
Step 3, using formulaThe distance of each pixel is calculated, wherein R is the distance, and c is the light velocity, and f is sine
The frequency of modulated signal, the range data according to all pixels obtains 3-D view.
3. method according to claim 2, it is characterised in that the value of each element is 0 or 1 in random matrix.
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| CN112834431A (en) * | 2020-12-31 | 2021-05-25 | 之江实验室 | Single-pixel imaging method and device |
| CN116609794A (en) * | 2023-07-21 | 2023-08-18 | 中国人民解放军国防科技大学 | Single-pixel imaging method, device and equipment based on radial Chebyshev light field |
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