CN106842178B - 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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- CN106842178B CN106842178B CN201710026478.5A CN201710026478A CN106842178B CN 106842178 B CN106842178 B CN 106842178B CN 201710026478 A CN201710026478 A CN 201710026478A CN 106842178 B CN106842178 B CN 106842178B
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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
Abstract
A kind of light field method for estimating distance and optical field imaging system, the optical field imaging system includes calibration object 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, the method is shot using camera to obtain light field image, extract the imaging diameter of object in light field image, imaging diameter is updated in established distance estimations model, the distance between plane and main lens where object are solved.Microlens array need to be only moved when focusing mark earnest of the present invention and imaging unit makes the imaging diameter for the calibration point demarcated on object reach minimum, do not need complicated refocusing process.The imaging system structure is simple, and the distance estimations model computation complexity proposed is low, and distance estimations precision is higher.
Description
Technical field
The present invention relates to computer vision and digital image processing field, in particular to a kind of light field method for estimating distance with
Optical field imaging system.
Background technique
Light-field camera can obtain the multidimensional information of scene because of it, obtain extensively in fields such as computer vision, robots
Using wherein carrying out the project that ranging is increasingly becoming researchers' concern using light field.Traditional distance measuring 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 measuring method is not
Expensive equipment is only needed, and to the more demanding of environment.Passive ranging includes binocular ranging and camera array ranging etc.,
This method mainly utilizes the principle of Stereo matching, but the process of camera calibration is complex, and equipment is not portable.Therefore,
Researchers propose the distance measuring method of ray tracing based on the analysis of the imaging system to hand-held light-field camera.This method
A series of light that pixels from sensor issue is tracked, and assumes the light that the pixel of same position under each lenticule issues
Line propagates in parallel, and after microlens array and main lens, the light that the pixel under each lenticule issues can be handed in object space
In a bit, the distance between the intersection point and main lens are at a distance from the plane of point place.But this method is being estimated at present
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
Interpolation is carried out to light field image and expend biggish calculating memory.
Summary of the invention
It is a primary object of the present invention in view of the deficiencies of the prior art, provide a kind of light field method for estimating distance and light field
Imaging system.
To achieve the above object, the invention adopts the following technical scheme:
A kind of light field method for estimating distance, using an optical field imaging system, the optical field imaging system include calibration object 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；
It the described method comprises the following steps:
S1: the optical parameter of the camera is demarcated and obtained to the camera；
S2: adjusting the position of the imaging unit and the microlens array in the horizontal direction, focuses the camera
On the calibration object, the distance between the microlens array and the main lens and compensation factor at this time are obtained；
S3: acquisition light field image extracts the imaging diameter that object is corresponded in the light field image；
S4: the distance estimations mould of the relationship between determining the imaging diameter for reflecting object at a distance from plane where object
Type, using the imaging diameter and the distance estimations model, the distance of plane where determining object.
Further:
Carrying out calibration to the camera in step S1 includes making the center of all optical devices in the camera in Yi Tiaoshui
On flat axis.
The optical parameter 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 keeping picture of the calibration point on the calibration object on the imaging unit straight in the vertical direction in step S2
Diameter reaches minimum, focus on the camera on the calibration object.
The extracting mode of the imaging diameter of object is corresponded in light field image described in step S3 to calculate object on vertical direction
The product of the diameter of number of pixels and single pixel that the picture of body is covered.
The number of pixels for determining that the picture of object on vertical direction is covered in step S3 includes according to following any method
Determine the valid pixel at the edge of picture: (1) establishing the distribution histogram of edge pixel values, selection number accounts for overall distribution and reaches pre-
For pixel value corresponding to certainty ratio as threshold value, the pixel greater than the threshold value will be regarded as valid pixel, and be included in as being covered
In number of pixels；(2) average value for seeking the pixel value of edge pixel, compare current pixel pixel value and average value it is big
Small, the pixel greater than the value will be regarded as valid pixel, and be included in the number of pixels as being covered；(3) edge pixel is sought
Pixel value gradient, sets a threshold value, and the change of gradient of current pixel will be regarded as valid pixel less than the threshold value.
The distance estimations model is retrodirected ray trace model, and step S4 includes the following steps:
(a) it is obtained 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；fxFor the focal length of microlens array；dinIt is micro- to be obtained after focusing mark earnest
The distance between lens array and main lens；For as coordinate on imaging unit, then | v1-v2| as imaging 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) refraction of the light on microlens array is neglected, formula (4) are obtained:
Wherein ωiFor the shooting angle of light, φiIt is determined by formula (5):
Shooting angle ωiIt is determined by formula (6):
(c) it is reflected when light blazes abroad from main lens in Exit positions, refraction type is determined by formula (7):
n1sin(θ-ψi+φi)=sin ωi, (7)
Wherein n1For the refractive index of main lens；ψiRefraction angle after entering main lens for light；θ meets formula (8):
Convolution (7) and (8) calculate angle ψ using formula (9)i:
(d) light reflects after entering main lens, and refraction type is determined by formula (10):
WhereinMeet:
Wherein Δ h is the offset of object relative level axis, if object is on center shaft, Δ h=0；d′outAs object
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 accordinglyThe distance of plane where object can be calculated in substitution formula (13).
The main lens are single convex lens, and the f-number of f-number and microlens array matches.
The position of the calibration object is changeable and can survey, and the position of microlens array and imaging unit is according to the position for demarcating object
It sets and correspondingly adjusts.
It is a kind of for implementing the optical field imaging system of the light field method for estimating distance, the optical field imaging system includes
Object 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 invention proposes a kind of light field method for estimating distance and optical field imaging systems, need to only carry out primary 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 some distance, the degree of defocusing of other planes can be due to difference of the plane at a distance from main lens
Difference, and picture of the object on imaging unit is often different.This feature of the imaging diameter of picture of object is extracted, is created as
As diameter estimates model, preferably optical ray trace model the distance between at a distance from plane, which is reversed
Trace model, i.e., from the light reversed trace to the plane of object space that the pixel on imaging unit issues.For this purpose, 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 calibration object of known distance, obtain at this time between camera internal microlens array and main lens away from
From and compensation factor；This is kept to be shot using camera to obtain light field image apart from constant；Finally extract in light field image
Imaging diameter is updated in established distance estimations model by the imaging diameter of object, plane and master where solving object
The distance between camera lens.Microlens array need to be only moved when this method focusing mark earnest and imaging unit makes the mark demarcated on object
The imaging diameter of fixed point reaches minimum, does not need complicated refocusing process.The imaging system structure is simple, and proposed away from
Low from estimation model computation complexity, distance estimations precision is higher.
Optical field imaging system of the invention, structure is simple, and implementation method for estimating distance complexity is low, can accurately estimate
The distance of object in light field image.
Detailed description of the invention
Fig. 1 is the imaging system schematic diagram of the embodiment of the present invention, and wherein A1 is calibration object, and A2 is graduated telescopic
Pull rod, B1 are 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 reversed 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 reversed trace model.
Specific embodiment
It elaborates below to embodiments of the present invention.It is emphasized that following the description is only exemplary,
The range and its application being not intended to be limiting of the invention.
Refering to fig. 1 to Fig. 4, in one embodiment, a kind of light field method for estimating distance, the optical field imaging system packet of use
Calibration object and camera is 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, f-number and microlens array
F-number matches.The light field method for estimating distance the following steps are included:
S1: the optical parameter of camera is demarcated and obtained to camera；
S2: adjusting the position of imaging unit and microlens array simultaneously in horizontal direction, focuses on camera on calibration object,
Obtain the distance between microlens array and main lens and compensation factor at this time；
S3: acquisition light field image extracts the imaging diameter that object is corresponded 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 described in journey (calibration of such as camera, the extraction that diameter is imaged) is all only to enumerate explanation, and the present invention is covered
Range be not limited to these cited methods.
S1: the main purpose demarcated to camera is the center of all optical devices on a trunnion axis.It is used
Method can are as follows: a laser light source is placed at place at an arbitrary position, and the center of horizontal irradiation main lens adjusts micro- in the vertical direction
Lens array and imaging unit, so that hot spot is located at the center of imaging unit.The parameter for obtaining each optical device, 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
Focal length, radius of curvature, pupil diameter and the center thickness of main lens, focal length of lenticule etc. are used for distance estimations model, at
As the diameter of single pixel on unit is used to extract the imaging diameter of object.
S2: adjusting the position of imaging unit and microlens array simultaneously in horizontal direction, focuses on camera on calibration object.
Method therefor can are as follows: (1) laser light source and enlarging objective, laser light source and enlarging objective is placed at plane demarcating where object
Center and main lens center on same level axis.The parallel rays that laser issues focuses on the subsequent supervention of focus of object lens
It dissipates and propagates, 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 diameter reaches minimum to the hot spot presented on imaging unit in the vertical direction.Stop movement
Imaging unit and microlens array record the distance between microlens array and main lens at this time；(2) mark is set on calibration object
Fixed point, such as angle point, mobile imaging unit and microlens array simultaneously in horizontal direction so that on imaging unit selected angle point picture
Diameter reaches minimum in the vertical direction.Stop mobile imaging unit and microlens array, records microlens array and master at this time
The distance between camera lens.The reason of compensation factor is introduced after focusing is that there are aberrations for single main lens, so that the reality of object
There are deviations for imaging and theoretical imaging.The compensation factor is in distance estimations model.
S3: acquisition light field image extracts the imaging diameter that object is corresponded in light field image.Extract imaging diameter mode be
The product of the diameter of the picture of object is covered on calculating vertical direction number of pixels and single pixel.Since object is unfocused,
It seems to defocus, and there are aberrations for main lens, therefore the edge of picture is not sharp.It therefore, is object on determining vertical direction
As the number of pixels covered, the valid pixel at the edge of picture need to be determined.There are many determination methods, can are as follows: (1) establishes edge picture
The distribution histogram of element value, selection number account for overall distribution and reach pixel value corresponding to certain proportion as threshold value, and being greater than should
The pixel of threshold value will be regarded as valid pixel, and be included in the number of pixels as being covered；(2) pixel value of edge pixel is sought
Average value compares the pixel value of current pixel and the size of average value, and the pixel greater than the value will be regarded as valid pixel, and be included in
In the number of pixels that picture is covered；(3) pixel value gradient of edge pixel is sought, 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, which is reversed trace model, the model foundation
Imaging diameter at a distance from plane where object between relationship.Specific solution procedure are as follows:
(a) as shown in figure 3, being the submodel of reversed trace model, i.e. image space optical ray trace model.In reversed trace mould
In type, object is counted as off-axis point light source.Due to focal length of micro-lens array and thickness very little, therefore ignore light in lenticule
Refraction on array is obtained formula (1) 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；fxFor the focal length of microlens array；dinIt is micro- to be obtained after focusing mark earnest
The distance between lens array and main lens；For as coordinate on a sensor, then | v1-v2| as imaging diameter；sgn(i)
For sign function, determined by formula (3):
R is the radius of curvature of main lens；T is the center thickness of main lens.
(b) due to neglecting refraction of the light on microlens array, it is known that formula (4) is set up:
Wherein ωiFor the shooting angle of light, φiIt is determined by formula (5):
Further, shooting angle ωiIt can be calculated by formula (6):
(c) it is reflected when light blazes abroad from main lens in Exit positions, refraction type is determined by formula (7):
n1sin(θ-ψi+φi)=sin ωi, (7)
Wherein n1For the refractive index of main lens；ψiRefraction angle after entering main lens for light, as shown in Figure 4；θ meets formula
(8):
Therefore, convolution (7) and (8) calculate angle ψ 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 offset of object relative level axis, 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 accordinglyThe distance of plane where object can be calculated in substitution formula (13).
Refering to fig. 1, in another embodiment, a kind of optical field imaging system, for implementing the light of aforementioned any embodiment
Field method for estimating distance, the optical field imaging system includes calibration object 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.
The above content is combine it is specific/further detailed description of the invention for preferred embodiment, cannot recognize
Fixed specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs,
Without departing from the inventive concept of the premise, some replacements or modifications can also be made to the embodiment that these have been described,
And these substitutions or variant all shall be regarded as belonging to protection scope of the present invention.
Claims (8)
1. a kind of light field method for estimating distance, which is characterized in that use an optical field imaging system, the optical field imaging system includes
Object 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；
It the described method comprises the following steps:
S1: the optical parameter of the camera is demarcated and obtained to the camera；
S2: adjusting the position of the imaging unit and the microlens array in the horizontal direction, and the camera is made to focus on institute
It states on calibration object, obtains the distance between the microlens array and the main lens and compensation factor at this time；
S3: acquisition light field image extracts the imaging diameter that object is corresponded in the light field image；
S4: the distance estimations model of the relationship between determining the imaging diameter for reflecting object at a distance from plane where object, benefit
With the imaging diameter and the distance estimations model, the distance of plane where determining object；
The distance estimations model is retrodirected ray trace model, and step S4 includes the following steps:
(a) it is obtained 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；fxFor the focal length of microlens array；dinFor the lenticule obtained after focusing mark earnest
The distance between array and main lens；For as coordinate on imaging unit, then | v1-v2| as imaging 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) refraction of the light on microlens array is neglected, formula (4) are obtained:
Wherein ωiFor the shooting angle of light, φiIt is determined by formula (5):
Shooting angle ωiIt is determined by formula (6):
(c) it is reflected when light blazes abroad from main lens in Exit positions, refraction type is determined by formula (7):
n1sin(θ-ψi+φi)=sin ωi, (7)
Wherein n1For the refractive index of main lens；ψiRefraction angle after entering main lens for light；θ meets formula (8):
Convolution (7) and (8) calculate angle ψ using formula (9)i:
(d) light reflects after entering main lens, and refraction type is determined by formula (10):
WhereinMeet:
Wherein Δ h is the offset of object relative level axis, 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 accordinglyThe distance of plane where object can be calculated in substitution formula (13).
2. light field method for estimating distance as described in claim 1, which is characterized in that demarcated in step S1 to the camera
Including making the center of all optical devices in the camera on a trunnion axis.
3. light field method for estimating distance as described in claim 1, which is characterized in that the optical parameter obtained in step S1 includes
Focal length, radius of curvature, pupil diameter and the center thickness of the main lens, the focal length of the lenticule and the imaging unit
The diameter of upper single pixel.
4. light field method for estimating distance as described in claim 1, which is characterized in that by making on the calibration object in step S2
Picture of the calibration point on the imaging unit diameter reaches minimum in the vertical direction, to make the camera focus on the mark
On earnest.
5. light field method for estimating distance as described in claim 1, which is characterized in that corresponding in light field image described in step S3
The extracting mode of the imaging diameter of object is calculates the number of pixels that is covered of picture and single pixel of object on vertical direction
The product of diameter.
6. light field method for estimating distance as claimed in claim 5, which is characterized in that determine object on vertical direction in step S3
The number of pixels that is covered of picture include the valid pixel that the edge of picture is determined according to following any method: (1) establish edge
The distribution histogram of pixel value, selection number account for overall distribution and reach pixel value corresponding to predetermined ratio as threshold value, be greater than
The pixel of the threshold value will be regarded as valid pixel, and be included in the number of pixels as being covered；(2) pixel value of edge pixel is sought
Average value, compare the pixel value of current pixel and the size of average value, the pixel greater than the value will be regarded as valid pixel, and count
Enter in the number of pixels as being covered；(3) pixel value gradient of edge pixel is sought, a threshold value, the gradient of current pixel are set
Variation will be regarded as valid pixel less than the threshold value.
7. such as light field method for estimating distance as claimed in any one of claims 1 to 6, which is characterized in that the main lens are single
The f-number of convex lens, f-number and microlens array matches.
8. such as light field method for estimating distance as claimed in any one of claims 1 to 6, which is characterized in that the position of the calibration object
It can be changed and can survey, the position of microlens array and imaging unit is correspondingly adjusted according to the position of calibration object.
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| CN107424195B (en) * | 2017-07-20 | 2020-03-31 | 清华大学深圳研究生院 | Light field distance estimation method |
| 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 |
| CN109239067A (en) * | 2018-08-31 | 2019-01-18 | 天津大学 | A kind of ultrashort burnt visual imaging detection method of miniaturization |
| 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 |
| CN110009693B (en) * | 2019-04-01 | 2020-12-11 | 清华大学深圳研究生院 | Rapid blind calibration method of light field camera |
| 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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