CN106842178A - A kind of light field method for estimating distance and optical field imaging system - Google Patents
A kind of light field method for estimating distance and optical field imaging system Download PDFInfo
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
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Abstract
A kind of light field method for estimating distance and optical field imaging system, the optical field imaging system includes demarcating thing and camera, wherein described camera bag includes main lens, microlens array and imaging unit, the distance of the microlens array and the imaging unit is fixed as the focal length of the microlens array, methods described using camera shoot obtaining light field image, extract the imaging diameter of object in light field image, imaging diameter is updated in set up distance estimations model, the distance between plane and main lens where object is solved.Only microlens array and imaging unit need to be moved during focusing mark earnest of the present invention so that the imaging diameter of the calibration point demarcated on thing reaches minimum, it is not necessary to complicated refocusing process.The imaging system simple structure, and the distance estimations model computation complexity for proposing is low, distance estimations precision is higher.
Description
Technical field
The present invention relates to computer vision and digital image processing field, more particularly to a kind of light field method for estimating distance with
Optical field imaging system.
Background technology
Light-field camera can obtain the multidimensional information of scene because of it, be obtained extensively in fields such as computer vision, robots
Using wherein using light field find range being increasingly becoming the problem of researchers' concern.Traditional distance-finding method is broadly divided into two
Major class：Active depth measuring and passive ranging.Active depth measuring includes laser ranging and radar range finding etc., and this distance-finding method is not
The equipment for only needing costliness, and requirement to environment is higher.Passive ranging includes binocular range finding and camera array range finding etc.,
This method is mainly using the principle of Stereo matching, but the process of camera calibration is complex, and equipment is not portable.Therefore,
Researchers are based on proposing the analysis of the imaging system of hand-held light-field camera the distance-finding method of ray tracing.This method
Follow the trail of a series of light that sends of pixels from sensor, and assume the light that the pixel of same position under each lenticule sends
Line horizontal infection, by after microlens array and main lens, the light that the pixel under each lenticule sends can be handed in object space
In a bit, the distance between the intersection point and main lens are the distance of plane where the point.But current this method is being estimated
In light field image all planes apart from when need to carry out multiple refocusing, and when focussing plane is close apart from main lens, need
Row interpolation is entered to light field image and expend larger calculating internal memory.
The content of the invention
It is a primary object of the present invention in view of the shortcomings of the prior art, there is provided a kind of light field method for estimating distance and light field
Imaging system.
To achieve the above object, the present invention uses following technical scheme：
A kind of light field method for estimating distance, using an optical field imaging system, the optical field imaging system include demarcating thing and
Camera, wherein the camera bag includes main lens, microlens array and imaging unit, the microlens array and the imaging unit
Distance be fixed as the focal length of the microlens array；
The described method comprises the following steps：
S1：The optical parametric of the camera is demarcated and obtained to the camera；
S2：The position of the imaging unit and the microlens array is adjusted in the horizontal direction, focuses on the camera
On the demarcation thing, now the distance between the microlens array and described main lens and compensating factor are obtained；
S3：Collection light field image, extracts the imaging diameter of correspondence object in the light field image；
S4：It is determined that the distance estimations mould of the relation between the imaging diameter and the distance of plane where object of reflection object
Type, using imaging diameter and the distance estimations model, determines the distance of plane where object.
Further：
Demarcate the center for including making all optics in the camera in Yi Tiaoshui to the camera in step S1
On flat axle.
The optical parametric obtained in step S1 includes focal length, radius of curvature, pupil diameter and the center of the main lens
The diameter of single pixel on thickness, the focal length of the lenticule and the imaging unit.
By making picture in the vertical direction of the calibration point on the demarcation thing on the imaging unit straight in step S2
Footpath reaches minimum to make the camera focus on the demarcation thing.
The extracting mode of the imaging diameter of correspondence object is thing on calculating vertical direction in light field image described in step S3
Number of pixels and the product of the diameter of single pixel that the picture of body is covered.
Determine that the number of pixels that the picture of object on vertical direction is covered is included according to following any one method in step S3
Judge the valid pixel at the edge of picture：(1) set up the distribution histogram of edge pixel values, choose number account for overall distribution reach it is pre-
Pixel value corresponding to certainty ratio will be regarded as valid pixel, and count as being covered as threshold value more than the pixel of the threshold value
In number of pixels；(2) average value of the pixel value of edge pixel is asked for, the pixel value for comparing current pixel is big with average value
It is small, will be regarded as valid pixel more than the pixel of the value, and count the number of pixels as being covered；(3) edge pixel is asked for
Pixel value gradient, sets a threshold value, and the graded of current pixel will be regarded as valid pixel less than the threshold value.
Described distance estimations model is retrodirected ray trace model, and step S4 comprises the following steps：
A () obtains formula (1) using similar triangle theory, association type (2) solves the Exit positions (p of lighti,qi)：
(R-T/2+pi)2+qi 2=R2, (2)
Wherein D is the pupil diameter of main lens；fxIt is the focal length of microlens array；dinIt is micro- for what is obtained after focusing mark earnest
The distance between lens array and main lens；viBe coordinate of the picture on imaging unit, then | v1-v2| as it is imaged diameter；sgn
I () is sign function, determined by formula (3)：
R is the radius of curvature of main lens；T is the center thickness of main lens；
B () neglects refraction of the light on microlens array, obtain formula (4)：
Wherein ωiIt is the shooting angle of light, φiDetermined by formula (5)：
Shooting angle ωiDetermined by formula (6)：
C () light is reflected when being blazed abroad from main lens in Exit positions, refraction type is determined by formula (7)：
n1sin(θ-ψi+φi)=sin ωi, (7)
Wherein n1It is the refractive index of main lens；ψiFor the refraction angle that light enters after main lens；θ meets formula (8)：
Convolution (7) and (8), angle ψ is calculated using formula (9)i：
D () light is reflected after main lens are entered, refraction type is determined by formula (10)：
WhereinMeet：
Wherein Δ h is the side-play amount of object relative level axle, if object is on center shaft, Δ h=0；d′outAs thing
The distance of plane where body；Formula (10) and formula (11) show：
Angle is solved using formula (12)Afterwards, offset Δ h is solved by formula (14)：
Again by Δ h and accordinglySubstitution formula (13) can be calculated the distance of plane where object.
The main lens are single convex lens, and its f-number matches with the f-number of microlens array.
The position for demarcating thing can change and can survey, and the position of microlens array and imaging unit is according to the position for demarcating thing
Put and correspondingly adjust.
A kind of optical field imaging system for implementing described light field method for estimating distance, the optical field imaging system includes
Thing and camera are demarcated, wherein the camera bag includes main lens, microlens array and imaging unit, the microlens array and described
The distance of imaging unit is fixed as the focal length of the microlens array.
Beneficial effects of the present invention：
The present invention proposes a kind of light field method for estimating distance and optical field imaging system, need to only carry out once simple focusing
Process can estimate the distance of all planes in light field image, and improve the precision of distance estimations.Idea of the invention is that：Light
After field picture focuses on the plane at certain distance, the degree of defocusing of other planes can be because plane be different from the distance of main lens
Difference, and picture of the object on imaging unit is often different.The imaging diameter of picture this feature of object is extracted, is created as
The distance between distance as diameter and plane estimates model, preferably optical ray trace model, and the optical ray trace model is reverse
Trace model, i.e., on the reverse trace of light that the pixel from imaging unit sends to the plane of object space.Therefore, the present invention is first
First light-field camera is demarcated so that the center of main lens, microlens array and imaging unit is on a trunnion axis；Then
Light-field camera is focused on the demarcation thing of known distance, obtain now between camera internal microlens array and main lens away from
From and compensating factor；Keep this apart from constant, using camera shoot obtaining light field image；Finally extract in light field image
The imaging diameter of object, imaging diameter is updated in set up distance estimations model, solves plane and master where object
The distance between camera lens.Need to only move microlens array during the method focusing mark earnest and imaging unit causes the mark demarcated on thing
The imaging diameter of fixed point reaches minimum, it is not necessary to complicated refocusing process.The imaging system simple structure, and proposed away from
From estimating that model computation complexity is low, distance estimations precision is higher.
Optical field imaging system of the invention, simple structure, implementation method for estimating distance complexity is low, can accurately estimate
The distance of object in light field image.
Brief description of the drawings
Fig. 1 is the imaging system schematic diagram of the embodiment of the present invention, and to demarcate thing, A2 is graduated telescopic to wherein A1
Pull bar, B1 is camera, from left to right respectively main lens, microlens array and imaging unit；
Fig. 2 is the light field distance estimations flow chart of the embodiment of the present invention；
Fig. 3 is the image space optical ray trace model schematic diagram of the embodiment of the present invention, is the submodel of reverse trace model；
Fig. 4 is the object space optical ray trace model schematic diagram of the embodiment of the present invention, is the submodel of reverse trace model.
Specific embodiment
Embodiments of the present invention are elaborated below.It is emphasized that what the description below was merely exemplary,
Rather than in order to limit the scope of the present invention and its application.
Refering to Fig. 1 to Fig. 4, in one embodiment, a kind of light field method for estimating distance, the optical field imaging system bag of use
Demarcation thing and camera are included, wherein camera includes main lens, microlens array, imaging unit, microlens array and imaging unit
Distance is fixed, is the focal length of microlens array.Main lens used can be single convex lens, its f-number and microlens array
F-number matches.The light field method for estimating distance is comprised the following steps：
S1：The optical parametric of camera is demarcated and obtained to camera；
S2：The position of imaging unit and microlens array is adjusted in horizontal direction simultaneously, camera is focused on demarcation thing,
Obtain the distance between now microlens array and main lens and compensating factor；
S3：Collection light field image, extracts the imaging diameter of correspondence object in light field image；
S4：Imaging diameter is input in distance estimations model, the distance of plane where output object.
In a particular embodiment, mask body mode can be pressed to be operated.It is noted that in following implementation
Specific method (such as demarcation of camera, the extraction of imaging diameter) described in journey is all only to enumerate explanation, and the present invention is covered
Scope be not limited to these cited methods.
S1：The main purpose demarcated to camera is the center of all optics on a trunnion axis.It is used
Method can be：A LASER Light Source is placed at place at an arbitrary position, and the center of horizontal irradiation main lens, in the vertical direction adjustment is micro-
Lens array and imaging unit so that hot spot is located at the center of imaging unit.Obtain the parameter of each optics, including main lens
Focal length, radius of curvature, pupil diameter and center thickness, the focal length of lenticule, the diameter of single pixel on imaging unit.Wherein
The focal length of main lens, radius of curvature, pupil diameter and center thickness, focal length of lenticule etc. are used for distance estimations model, into
It is used to extract the imaging diameter of object as the diameter of single pixel on unit.
S2：The position of imaging unit and microlens array is adjusted in horizontal direction simultaneously, camera is focused on demarcation thing.
Method therefor can be：(1) LASER Light Source and enlarging objective, LASER Light Source and enlarging objective are placed at the plane where thing is demarcated
Center and main lens center on same level axle.The parallel rays that laser sends focuses on the follow-up supervention of focus of object lens
Dissipate and propagate, wherein light enters camera with the pupil diameter that dispersion angle can cover main lens.It is moved into simultaneously in horizontal direction
As unit and microlens array so that the hot spot in the vertical direction diameter presented on imaging unit reaches minimum.Stop movement
Imaging unit and microlens array, record the distance between now microlens array and main lens；(2) mark is set on thing is demarcated
Fixed point, such as angle point, while mobile imaging unit and microlens array in horizontal direction so that the picture of selected angle point on imaging unit
In the vertical direction diameter reaches minimum.Stop mobile imaging unit and microlens array, record now microlens array and master
The distance between camera lens.The reason for compensating factor is introduced after focusing is that single main lens have aberration so that the reality of object
There is deviation with theoretical imaging in imaging.The compensating factor is used in distance estimations model.
S3：Collection light field image, extracts the imaging diameter of correspondence object in light field image.It is extracted into as the mode of diameter is
The picture of object is covered on calculating vertical direction number of pixels and the product of the diameter of single pixel.Because object is not focused on,
It seems what is defocused, and main lens have aberration, therefore the edge of picture is not sharp.Therefore, it is object on determination vertical direction
As the number of pixels for being covered, the valid pixel at the edge of picture need to be judged.Decision method has various, can be：(1) edge picture is set up
The distribution histogram of element value, chooses number and accounts for overall distribution and reach pixel value corresponding to certain proportion as threshold value, more than this
The pixel of threshold value will be regarded as valid pixel, and count the number of pixels as being covered；(2) pixel value of edge pixel is asked for
Average value, compares the pixel value of current pixel and the size of average value, will be regarded as valid pixel more than the pixel of the value, and count
In the number of pixels that picture is covered；(3) pixel value gradient of edge pixel is asked for, a threshold value is set, the gradient of current pixel becomes
Change and will be regarded as valid pixel less than the threshold value.
S4：Imaging diameter is input in distance estimations model, the estimation model is reverse trace model, the model is set up
Relation between the distance of plane where imaging diameter and object.Specifically solution procedure is：
A () is as shown in figure 3, be the submodel of reverse trace model, i.e. image space optical ray trace model.In reverse trace mould
In type, object is counted as off-axis spot light.Due to focal length of micro-lens array and thickness very little, therefore ignore light in lenticule
Refraction on array, formula (1) is obtained using similar triangle theory, and association type (2) solves the Exit positions (p of lighti,qi)：
(R-T/2+pi)2+qi 2=R2, (2)
Wherein D is the pupil diameter of main lens；fxIt is the focal length of microlens array；dinIt is micro- for what is obtained after focusing mark earnest
The distance between lens array and main lens；viBe picture coordinate on a sensor, then | v1-v2| as it is imaged diameter；sgn(i)
It is sign function, is determined by formula (3)：
R is the radius of curvature of main lens；T is the center thickness of main lens.
B () is due to neglecting refraction of the light on microlens array, it is known that formula (4) is set up：
Wherein ωiIt is the shooting angle of light, φiDetermined by formula (5)：
Further, shooting angle ωiCan be calculated by formula (6)：
C () light is reflected when being blazed abroad from main lens in Exit positions, refraction type is determined by formula (7)：
n1sin(θ-ψi+φi)=sin ωi, (7)
Wherein n1It is the refractive index of main lens；ψiIt is the refraction angle that light enters after main lens, as shown in Figure 4；θ meets formula
(8)：
Therefore, convolution (7) and (8), angle ψ is calculated using formula (9)i：
(d) object space optical ray trace model as shown in Figure 4, light enter main lens after reflect, refraction type by
Formula (10) determines：
WhereinMeet：
Wherein Δ h is the side-play amount of object relative level axle, if object on center shaft, illustrates Δ h=0；d′outI.e.
The distance of plane where object.Formula (10) and formula (11) show：
Then angle is solved using formula (12)Afterwards, offset Δ h can be solved by formula (14)：
Again by Δ h and accordinglySubstitution formula (13) can be calculated the distance of plane where object.
Refering to Fig. 1, in another embodiment, a kind of optical field imaging system, the light for implementing foregoing any embodiment
Field method for estimating distance, the optical field imaging system includes demarcating thing and camera, wherein the camera bag includes main lens, lenticule
The distance of array and imaging unit, the microlens array and the imaging unit is fixed as the focal length of the microlens array.
Above content is to combine specific/preferred embodiment further description made for the present invention, it is impossible to recognized
Fixed specific implementation of the invention is confined to these explanations.For general technical staff of the technical field of the invention,
Without departing from the inventive concept of the premise, its implementation method that can also have been described to these makes some replacements or modification,
And these are substituted or variant should all be considered as belonging to protection scope of the present invention.
Claims (10)
1. a kind of light field method for estimating distance, it is characterised in that use the optical field imaging system, the optical field imaging system to include
Thing and camera are demarcated, wherein the camera bag includes main lens, microlens array and imaging unit, the microlens array and described
The distance of imaging unit is fixed as the focal length of the microlens array；
The described method comprises the following steps：
S1：The optical parametric of the camera is demarcated and obtained to the camera；
S2：The position of the imaging unit and the microlens array is adjusted in the horizontal direction, the camera is focused on institute
State on demarcation thing, obtain now the distance between the microlens array and described main lens and compensating factor；
S3：Collection light field image, extracts the imaging diameter of correspondence object in the light field image；
S4：It is determined that the distance estimations model of the relation between the imaging diameter and the distance of plane where object of reflection object, profit
With imaging diameter and the distance estimations model, the distance of plane where object is determined.
2. light field method for estimating distance as claimed in claim 1, it is characterised in that demarcated to the camera in step S1
Including making the center of all optics in the camera on a trunnion axis.
3. light field method for estimating distance as claimed in claim 1, it is characterised in that the optical parametric obtained in step S1 includes
The focal length of the main lens, radius of curvature, pupil diameter and center thickness, the focal length of the lenticule and the imaging unit
The diameter of upper single pixel.
4. light field method for estimating distance as claimed in claim 1, it is characterised in that by making on the demarcation thing in step S2
Calibration point reach minimum as in the vertical direction diameter to make the camera focus on the mark on the imaging unit
On earnest.
5. light field method for estimating distance as claimed in claim 1, it is characterised in that correspondence in light field image described in step S3
The extracting mode of the imaging diameter of object is to calculate number of pixels and single pixel that the picture of object on vertical direction is covered
The product of diameter.
6. light field method for estimating distance as claimed in claim 5, it is characterised in that object on vertical direction is determined in step S3
The number of pixels that is covered of picture include the valid pixel at the edge that picture is judged according to following any one method：(1) edge is set up
The distribution histogram of pixel value, chooses number and accounts for overall distribution and reach pixel value corresponding to predetermined ratio as threshold value, is more than
The pixel of the threshold value will be regarded as valid pixel, and count the number of pixels as being covered；(2) pixel value of edge pixel is asked for
Average value, compare the pixel value of current pixel and the size of average value, will be regarded as valid pixel more than the pixel of the value, and count
Enter as in the number of pixels that is covered；(3) pixel value gradient of edge pixel is asked for, a threshold value, the gradient of current pixel is set
Change will be regarded as valid pixel less than the threshold value.
7. the light field method for estimating distance as described in any one of claim 1 to 6, it is characterised in that described distance estimations mould
Type is retrodirected ray trace model, and step S4 comprises the following steps：
A () obtains formula (1) using similar triangle theory, association type (2) solves the Exit positions (p of lighti,qi)：
(R-T/2+pi)2+qi 2=R2, (2)
Wherein D is the pupil diameter of main lens；fxIt is the focal length of microlens array；dinIt is the lenticule obtained after focusing mark earnest
The distance between array and main lens；viBe coordinate of the picture on imaging unit, then | v1-v2| as it is imaged diameter；Sgn (i) is
Sign function, is determined by formula (3)：
R is the radius of curvature of main lens；T is the center thickness of main lens；
B () neglects refraction of the light on microlens array, obtain formula (4)：
Wherein ωiIt is the shooting angle of light, φiDetermined by formula (5)：
Shooting angle ωiDetermined by formula (6)：
C () light is reflected when being blazed abroad from main lens in Exit positions, refraction type is determined by formula (7)：
n1sin(θ-ψi+φi)=sin ωi, (7)
Wherein n1It is the refractive index of main lens；ψiFor the refraction angle that light enters after main lens；θ meets formula (8)：
Convolution (7) and (8), angle ψ is calculated using formula (9)i：
D () light is reflected after main lens are entered, refraction type is determined by formula (10)：
WhereinMeet：
Wherein Δ h is the side-play amount of object relative level axle, if object is on center shaft, Δ h=0；d′outAs object institute
In the distance of plane；Formula (10) and formula (11) show：
Angle is solved using formula (12)Afterwards, offset Δ h is solved by formula (14)：
Again by Δ h and accordinglySubstitution formula (13) can be calculated the distance of plane where object.
8. the light field method for estimating distance as described in any one of claim 1 to 7, it is characterised in that the main lens are single
Convex lens, its f-number matches with the f-number of microlens array.
9. the light field method for estimating distance as described in any one of claim 1 to 8, it is characterised in that the position of the demarcation thing
Can change and can survey, the position of microlens array and imaging unit correspondingly adjusts according to the position for demarcating thing.
10. a kind of optical field imaging system for implementing light field method for estimating distance as described in any one of claim 1 to 9,
Characterized in that, the optical field imaging system includes demarcating thing and camera, wherein the camera bag includes main lens, microlens array
And imaging unit, the distance of the microlens array and the imaging unit is fixed as the focal length of the microlens array.
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| CN107610170A (en) * | 2017-08-04 | 2018-01-19 | 中国科学院自动化研究所 | The depth acquisition methods and system of more mesh image refocusings |
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| CN107424195A (en) * | 2017-07-20 | 2017-12-01 | 清华大学深圳研究生院 | A kind of light field method for estimating distance |
| CN107610170A (en) * | 2017-08-04 | 2018-01-19 | 中国科学院自动化研究所 | The depth acquisition methods and system of more mesh image refocusings |
| CN107610170B (en) * | 2017-08-04 | 2020-05-19 | 中国科学院自动化研究所 | Multi-view image refocusing depth acquisition method and system |
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| CN109489559A (en) * | 2018-10-08 | 2019-03-19 | 北京理工大学 | Point light source space-location method based on time frequency analysis and optical field imaging technology |
| CN109489559B (en) * | 2018-10-08 | 2020-07-03 | 北京理工大学 | Point light source space positioning method based on time-frequency analysis and light field imaging technology |
| WO2020199315A1 (en) * | 2019-04-01 | 2020-10-08 | 清华大学深圳研究生院 | Quick blind calibration method for light field camera |
| CN111182191A (en) * | 2019-11-15 | 2020-05-19 | 北京超放信息技术有限公司 | Wide-field high-resolution camera shooting equipment and method based on aberration compensation calculation |
| CN111182191B (en) * | 2019-11-15 | 2021-08-20 | 浙江荷湖科技有限公司 | Wide-field high-resolution camera shooting equipment and method based on aberration compensation calculation |
| CN110933279A (en) * | 2019-12-16 | 2020-03-27 | 中国辐射防护研究院 | Method for determining relative positions of microlens array, relay lens and image sensor |
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