CN106910246A - Speckle three-D imaging method and device that space-time is combined - Google Patents

Abstract

The invention discloses speckle three-D imaging method and device that a kind of space-time is combined, the method includes：Time correlation computing is carried out to the left speckle image sequence and the right speckle image sequence,To determine whole Pixel-level corresponding points in the right speckle image sequence,According to the whole Pixel-level corresponding points,The pixel point coordinates of each left speckle image in spatial correlation function and the left speckle image sequence,To carrying out sub-pix corresponding points search arithmetic per the right speckle image of frame in the right speckle image sequence,Obtain sub-pix corresponding points,Time-averaging operation according to the sub-pix corresponding points calculates the corresponding points for treating three-dimensional reconstruction,On the timing node three-dimensional reconstruction is carried out by the corresponding points for treating three-dimensional reconstruction,So it is combined with time correlation computing by by space correlation computing,Correspondence point processing can be scanned for the multiple image of any time node starting,Search the corresponding points for treating three-dimensional reconstruction of high precision,And then improve the precision of three-dimensional reconstruction.

Description

Speckle three-D imaging method and device that space-time is combined

Technical field

The invention belongs to image processing field, more particularly to the speckle three-D imaging method and device that a kind of space-time is combined.

Background technology

It is a kind of contactless, optical 3-dimensional digital imagery and measurement side based on pattern optical illumination 3 Dimension Image Technique Method.It is widely used in object dimensional deformation strain measurement.Can more preferably be managed by pattern optical illumination 3 Dimension Image Technique The performance of the material of solution and analysis testee.With three-dimensional imaging and the fast development of e measurement technology, shorten time of measuring and Improving certainty of measurement turns into main research direction at present, because reconstruction accuracy can influence certainty of measurement, therefore how The precision for improving three-dimensional reconstruction becomes particularly important.

In the prior art, the three-dimensional rebuilding method based on random speckle image mainly uses space correlation method, space phase Pass method only need to be to be capable of achieving three-dimensional reconstruction using single image, but space correlation method is built upon the change of matching area gray scale Change on basis, due to the difference of imaging device exhaust position, and the factor such as the surface graded change of object under test is uneven Influence, the three-dimensional reconstruction result precision of space correlation method is relatively low.

The content of the invention

The present invention provides the speckle three-D imaging method and device that a kind of space-time is combined, it is intended to solve existing space correlation The relatively low problem of the reconstruction accuracy of method.

The speckle three-D imaging method that a kind of space-time that the present invention is provided is combined, including：

The access time node from preset time sequence, and obtain left and right imaging since the timing node chosen One group of left speckle image sequence and one group of right speckle image sequence that device is exported respectively, wherein the left speckle image sequence and The quantity of the image included in the right speckle image sequence is identical；

Time correlation computing is carried out to the left speckle image sequence and the right speckle image sequence, with described right scattered Whole Pixel-level corresponding points are determined in spot image sequence；

According to the whole Pixel-level corresponding points, spatial correlation function and each left speckle pattern in the left speckle image sequence The pixel point coordinates of picture, to carrying out sub-pix corresponding points search arithmetic per the right speckle image of frame in the right speckle image sequence, Obtain sub-pix corresponding points；

Time-averaging operation according to the sub-pix corresponding points calculates the corresponding points for treating three-dimensional reconstruction；

Treat that the corresponding points of three-dimensional reconstruction carry out three-dimensional reconstruction by described on the timing node.

The speckle three-dimensional image forming apparatus that a kind of space-time that the present invention is provided is combined, including：

Acquisition module, for the access time node from preset time sequence, and since the timing node chosen One group of left speckle image sequence and one group of right speckle image sequence that left and right imaging device is exported respectively are obtained, wherein the left side Speckle image sequence is identical with the quantity of the image included in the right speckle image sequence；

Corresponding points search module, for carrying out time phase to the left speckle image sequence and the right speckle image sequence Computing is closed, to determine whole Pixel-level corresponding points in the right speckle image sequence；

And, according to the whole Pixel-level corresponding points, spatial correlation function and each left side in the left speckle image sequence The pixel point coordinates of speckle image, to carrying out sub-pix correspondence point search in the right speckle image sequence per the right speckle image of frame Computing, obtains sub-pix corresponding points；

And, the time-averaging operation according to the sub-pix corresponding points calculates the corresponding points for treating three-dimensional reconstruction；

Three-dimensional reconstruction module, for treating that the corresponding points of three-dimensional reconstruction carry out Three-dimensional Gravity by described on the timing node Build.

Speckle three-D imaging method and device that the space-time that the present invention is provided is combined, the access time from preset time sequence Node, and obtained since the timing node chosen one group of left speckle image sequence that left and right imaging device exports respectively and The quantity phase of the image included in one group of right speckle image sequence, the wherein left speckle image sequence and the right speckle image sequence Together, time correlation computing is carried out to the left speckle image sequence and the right speckle image sequence, with the right speckle image sequence Middle determination whole Pixel-level corresponding points, according in the whole Pixel-level corresponding points, spatial correlation function and the left speckle image sequence The pixel point coordinates of each left speckle image, searches to carrying out sub-pix corresponding points per the right speckle image of frame in the right speckle image sequence Rope computing, obtains sub-pix corresponding points, and the time-averaging operation according to the sub-pix corresponding points calculates the correspondence for treating three-dimensional reconstruction Point, three-dimensional reconstruction is carried out on the timing node by the corresponding points for treating three-dimensional reconstruction, so by by space correlation computing It is combined with time correlation computing, correspondence point processing, search can be scanned for the multiple image of any time node starting To the corresponding points for treating three-dimensional reconstruction of high precision, three-dimensional reconstruction is carried out in the corresponding points for treating three-dimensional reconstruction according to the high precision, And then improve the precision of three-dimensional reconstruction.

Brief description of the drawings

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention.

Fig. 1 be first embodiment of the invention provide space-time combine speckle three-D imaging method realize flow illustrate Figure；

Fig. 2 is the position view of projection arrangement provided in an embodiment of the present invention and imaging device；

Fig. 3 is the schematic diagram of the three-dimensional digital model that existing space correlation method is rebuild to a flabellum；

Fig. 4 is three dimensions that the speckle three-D imaging method that space-time provided in an embodiment of the present invention is combined is rebuild to a flabellum The schematic diagram of word model；

Fig. 5 is the structural representation of the speckle three-dimensional image forming apparatus that the space-time that second embodiment of the invention is provided is combined.

Specific embodiment

To enable that goal of the invention of the invention, feature, advantage are more obvious and understandable, below in conjunction with the present invention Accompanying drawing in embodiment, is clearly and completely described to the technical scheme in the embodiment of the present invention, it is clear that described reality It is only a part of embodiment of the invention to apply example, and not all embodiments.Based on the embodiment in the present invention, people in the art The every other embodiment that member is obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.

Fig. 1 is referred to, Fig. 1 provides the realization stream of the speckle three-D imaging method of space-time combination for first embodiment of the invention Journey schematic diagram, can be applied to optical three-dimensional scanning system, the speckle three-D imaging method that the space-time shown in Fig. 1 is combined, main bag Include following steps：

S101, the access time node from preset time sequence, and since choose the timing node obtain it is left and right into As one group of left speckle image sequence and one group of right speckle image sequence that device is exported respectively.

, wherein it is desired to meet two acquisition conditions：One is bag in the left speckle image sequence and the right speckle image sequence The quantity of the image for containing is identical；Two is that the timing node for obtaining each speckle image in left speckle image sequence dissipates with the right side is obtained The timing node of each speckle image is consistent in spot image sequence.It is illustrated below：

If set from timing node t₀The order for starting to obtain and obtain is t₀,t₁,...t_n, then t₀When, respectively from left and right T is obtained in imaging device₀The left speckle image of a frame and the right speckle image of a frame that moment shoots, next timing node t₁, again Respectively t is obtained from left and right imaging device₁The left speckle image of a frame and the right speckle image of a frame that moment shoots, the like Repeat no more.

Additionally, obtaining one group of left speckle image that left and right imaging device is exported respectively since the timing node chosen Sequence and one group of right speckle image sequence do not limit the order for obtaining speckle image, need to only meet above-mentioned two and obtain condition i.e. Can.For example, it is t to set time series₀,t₁,...t₅If, and from timing node t₃Start to obtain, then image can be obtained with inverted order, Image can be obtained with positive sequence, image can respectively be obtained with positive sequence and inverted order.

Under the conditions of above-mentioned two acquisition is met, the mode for obtaining image sequence has various representations, for example, with one group As a example by left speckle image sequence, the left speckle image sequence can be expressed as：t_i(i=0,1,2 ... n), it is located at timing node t₀ Start to be retrieved as n, then the left speckle image sequence of left imaging device output is t₀,t₁,...t_n, similarly in timing node t₁Start N+1 is retrieved as, then the left speckle image sequence of left imaging device output is t₁,t₂,...t_n+1。

Further, also include before step S101：By surface projection's random digit speckle from projection arrangement to object Pattern, and the left and right speckle with the object is gathered respectively by being positioned over the left and right imaging device of the projection arrangement both sides Image.

As shown in Fig. 2 Fig. 2 is the position view of projection arrangement and imaging device.From figure 2 it can be seen that two into As device, such as camera is positioned at the both sides of projection arrangement.It should be noted that for convenience of description, in all realities of the invention Apply in example and the imaging device for being located at the left side of the projection arrangement is referred to as left imaging device；Being referred to as on the right side of the projection arrangement Right imaging device, if the one group of image exported from the left imaging device is left speckle image sequence, exports from the right imaging device One group of image be right speckle image sequence.Wherein projection arrangement and two imaging devices constitutes traditional binocular tri-dimensional Feel device.Wherein the speckle regions of each image are the object for shooting in the left speckle image sequence and the right speckle image sequence.

S102, time correlation computing is carried out to the left speckle image sequence and the right speckle image sequence, dissipated with the right side Whole Pixel-level corresponding points are determined in spot image sequence.

It is related that time correlation is also called time domain.

Further, time correlation computing is carried out to the left speckle image sequence and the right speckle image sequence, with this Determine that whole Pixel-level corresponding points are specially in right speckle image sequence：

Time correlation is carried out to the left speckle image sequence and the right speckle image sequence according to time correlation computing formula Computing, to determine in right speckle image sequence the corresponding corresponding points of each pixel in the left speckle image sequence, wherein this when Between correlation computations formula be：

Wherein, X_i,j,tIt is expressed as left imaging device figure Image plane point (i, j) the left speckle image of t width gray value, X '_i′,j′,tRepresent corresponding points in the right imaging device plane of delineation (i ', j ') in the gray value of the right speckle image of t width,WithPoint in the left and right imaging device plane of delineation is represented respectively (i, j) and corresponding points (i ', j ') average gray of the left speckle image sequence and the right speckle image sequence in k width in k width Average gray；

The corresponding corresponding points of maximum are chosen in the result of calculation value by the time correlation computing formula and is used as whole picture Plain level corresponding points.

Wherein k is more than or equal to 2.Here k represents in left speckle image sequence there is k width images, right speckle image sequence In have k width images.

S103, according to the whole Pixel-level corresponding points, spatial correlation function and each left speckle in the left speckle image sequence The pixel point coordinates of image, to carrying out sub-pix corresponding points search arithmetic per the right speckle image of frame in the right speckle image sequence, Obtain sub-pix corresponding points.

Spatial correlation function is also called spatial correlation function.

Further, according to the whole Pixel-level corresponding points, spatial correlation function and each left side in the left speckle image sequence The pixel point coordinates of speckle image, to carrying out sub-pix correspondence point search fortune in the right speckle image sequence per the right speckle image of frame Calculate, obtain sub-pix corresponding points and be specially：

It is (2w that window size is created in each left speckle image in the left speckle image sequence_m+1)×(2w_m+ 1) reference Subwindow；

Using non-linear space correlation function w (s) under second order parallax model as N-R interative computations function to be optimized；

Wherein,For this refers to pixel gray level average value in subwindow on the left speckle image,It is the right speckle pattern As pixel gray level average value, p in upper reference subwindow^R(u^R,v^R) for left speckle image, this refers to pixel p in subwindow^R's Gray value, p^G(u^G,v^G) it is corresponding points p on right speckle image to be matched^GGray value；

According to preset iterative steps, and according to N-R interative computation formulaIt is iterated computing, It is determined that the correlation function value s that last time interative computation is calculated_NIt is end value, wherein,

Wherein, the span of N is the integer more than or equal to 1；Under original state, N values are 1, then s₀Changed for preset For initial estimate；It is correlation function in s_N-1The Grad at place,It is correlation function in s_N-1The two of place Secondary local derviation, M represents the number of s parameters；

The sub-pix corresponding points are calculated according to the end value and second order parallax model.

Interative computation is the iteration since N=1, is subsequently N=2,3 ....The preset iterative steps are preset value, and this is preset The value of iterative steps can be 1 step, or multistep.

It should be noted thatObtained according to the deformation of above-mentioned w (s) formula, therefore w (s)=w (s_N-1)。

Here the sub-pix corresponding points for calculating are multiple sub-pix corresponding points, as one group sub-pix correspondence point sequence.

With the above method side by side, further, according to the whole Pixel-level corresponding points, spatial correlation function and the left speckle The pixel point coordinates of each left speckle image in image sequence, to carrying out sub- picture per the right speckle image of frame in the right speckle image sequence Plain corresponding points search arithmetic, obtains sub-pix corresponding points and is specially：

It is (2w that window size is created in each left speckle image in the left speckle image sequence_m+1)×(2w_m+ 1) reference Subwindow；

Using non-linear space correlation function w (s) under second order parallax model as N-R interative computations function to be optimized；

Wherein,For this refers to pixel gray level average value in subwindow on the left speckle image,It is the right speckle pattern As pixel gray level average value, p in upper reference subwindow^R(u^R,v^R) for left speckle image, this refers to pixel p in subwindow^R's Gray value, p^G(u^G,v^G) it is corresponding points p on right speckle image to be matched^GGray value；

According to N-R interative computation formulaComputing is iterated, correlation function value s is calculated_N, its In,

Wherein, the span of N is the integer more than or equal to 1；Under original state, N values are 1, then s₀Changed for preset For initial estimate；It is correlation function in s_N-1The Grad at place,It is correlation function in s_N-1The two of place Secondary local derviation, M represents the number of s parameters；

According to the correlation function value s for calculating_NCoordinate value is calculated with second order parallax model, and adjacent interative computation twice is calculated The correlation function value s for going out_NCorresponding coordinate value asks poor, calculates difference；

If the difference is less than preset threshold value, stop interative computation, and the related letter that last time interative computation is calculated Numerical value s_NCorresponding coordinate value is used as the sub-pix corresponding points.

S104, the corresponding points for treating three-dimensional reconstruction are calculated according to the time-averaging operation of the sub-pix corresponding points.

According to the time-averaging operation of the sub-pix corresponding points, accurate corresponding points are calculated, i.e., this treats the right of three-dimensional reconstruction Ying Dian.

Further, the time-averaging operation according to the sub-pix corresponding points is calculated and treats that the corresponding points of three-dimensional reconstruction are specific For：

To sub-pix corresponding points P_t ^G(i ', j ') carries out time-averaging operation, calculates the corresponding points for treating three-dimensional reconstruction

If left speckle image sequence and right speckle image sequence have k width images respectively, in the speckle image sequence The left speckle image of t width in selected point P_t ^R(i, j), point P_t ^R(i, j) corresponding sub- picture on the right speckle image of t width Plain corresponding points are P_t ^G(i ', j '), then this treat that the corresponding points of three-dimensional reconstruction are

S105, on the timing node carry out three-dimensional reconstruction by the corresponding points for treating three-dimensional reconstruction.

The process of three-dimensional reconstruction is carried out by the corresponding points for treating three-dimensional reconstruction on the timing node, is to utilize stereopsis Feel that principle is calculated, the principle of stereoscopic vision is prior art, and here is omitted.

It should be noted that time series be to maintain with speckle image sequence it is consistent, for example, in time series choose Timing node is t, then it is also that t width dissipates in t width speckle image and right speckle image sequence to be in left speckle image sequence Spot image.Image described in the embodiment of the present invention is speckle image.

As shown in Figure 3 and Figure 4, Fig. 3 and Fig. 4 are respectively using being retouched in existing space correlation method and the embodiment of the present invention The schematic diagram of the three-dimensional digital model that the method stated is rebuild to a flabellum.Comparison diagram 3 and Fig. 4, it is seen that the embodiment of the present invention is provided Method precision be higher than existing space correlation method.

In the embodiment of the present invention, the access time node from preset time sequence, and since the timing node chosen One group of left speckle image sequence and one group of right speckle image sequence that left and right imaging device is exported respectively are obtained, to the left speckle Image sequence and the right speckle image sequence carry out time correlation computing, and whole Pixel-level is determined with the right speckle image sequence Corresponding points, according to the whole Pixel-level corresponding points, spatial correlation function and each left speckle image in the left speckle image sequence Pixel point coordinates, to carrying out sub-pix corresponding points search arithmetic per the right speckle image of frame in the right speckle image sequence, obtains Asia Pixel corresponding points, the time-averaging operation according to the sub-pix corresponding points calculates the corresponding points for treating three-dimensional reconstruction, segmentum intercalaris at this Three-dimensional reconstruction is carried out by the corresponding points for treating three-dimensional reconstruction on point, so by by space correlation computing and time correlation computing It is combined, correspondence point processing can be scanned for the multiple image of any time node starting, search high precision treats three The corresponding points rebuild are tieed up, three-dimensional reconstruction is carried out in the corresponding points for treating three-dimensional reconstruction according to the high precision, and then improve three-dimensional The precision of reconstruction.

Fig. 5 is referred to, Fig. 5 is the structure of the speckle three-dimensional image forming apparatus that the space-time that second embodiment of the invention is provided is combined Schematic diagram, for convenience of description, illustrate only the part related to the embodiment of the present invention.The speckle that the space-time of Fig. 5 examples is combined Three-dimensional image forming apparatus can be the execution master of the speckle three-D imaging method that the space-time that foregoing embodiment illustrated in fig. 1 is provided is combined Body.The speckle three-dimensional image forming apparatus that the space-time of Fig. 5 examples is combined, mainly include：Acquisition module 501, corresponding points search module 502 With three-dimensional reconstruction module 503.Each functional module describes in detail as follows above：

Acquisition module 501, for the access time node from preset time sequence, and since the timing node chosen Obtain one group of left speckle image sequence and one group of right speckle image sequence that left and right imaging device is exported respectively.

, wherein it is desired to meet two acquisition conditions：One is bag in the left speckle image sequence and the right speckle image sequence The quantity of the image for containing is identical；Two is that the timing node for obtaining each speckle image in left speckle image sequence dissipates with the right side is obtained The timing node of each speckle image is consistent in spot image sequence.It is illustrated below：

If set from timing node t₀The order for starting to obtain and obtain is t₀,t₁,...t_n, then t₀When, respectively from left and right T is obtained in imaging device₀The left speckle image of a frame and the right speckle image of a frame that moment shoots, next timing node t₁, again Respectively t is obtained from left and right imaging device₁The left speckle image of a frame and the right speckle image of a frame that moment shoots, the like Repeat no more.

Additionally, obtaining one group of left speckle image that left and right imaging device is exported respectively since the timing node chosen Sequence and one group of right speckle image sequence do not limit the order for obtaining speckle image, need to only meet above-mentioned two and obtain condition i.e. Can.For example, it is t to set time series₀,t₁,...t₅If, and from timing node t₃Start to obtain, then image can be obtained with inverted order, Image can be obtained with positive sequence, image can respectively be obtained with positive sequence and inverted order.

Under the conditions of above-mentioned two acquisition is met, the mode for obtaining image sequence has various representations, for example, with one group As a example by left speckle image sequence, the left speckle image sequence can be expressed as：t_i(i=0,1,2 ... n), it is located at timing node t₀ Start to be retrieved as n, then the left speckle image sequence of left imaging device output is t₀,t₁,...t_n, similarly in timing node t₁Start N+1 is retrieved as, then the left speckle image sequence of left imaging device output is t₁,t₂,...t_n+1。

Corresponding points search module 502, for carrying out time phase to the left speckle image sequence and the right speckle image sequence Computing is closed, to determine whole Pixel-level corresponding points in the right speckle image sequence.

Further, the corresponding points search module 502 is additionally operable to perform following steps：

Time correlation is carried out to the left speckle image sequence and the right speckle image sequence according to time correlation computing formula Computing, to determine in right speckle image sequence the corresponding corresponding points of each pixel, the time phase in the left speckle image sequence Closing computing formula is：

Wherein, X_i,j,tIt is expressed as left imaging device figure Image plane point (i, j) the left speckle image of t width gray value, X '_i′,j′,tRepresent corresponding points in the right imaging device plane of delineation (i ', j ') in the gray value of the right speckle image of t width,WithPoint in the left and right imaging device plane of delineation is represented respectively (i, j) and corresponding points (i ', j ') average gray of the left speckle image sequence and the right speckle image sequence in k width in k width Average gray, wherein k is more than or equal to 2；

The corresponding corresponding points of maximum are chosen in the result of calculation value by the time correlation computing formula and is used as whole picture Plain level corresponding points.

Corresponding points search module 502, is additionally operable to according to the whole Pixel-level corresponding points, spatial correlation function and the left speckle The pixel point coordinates of each left speckle image in image sequence, to carrying out sub- picture per the right speckle image of frame in the right speckle image sequence Plain corresponding points search arithmetic, obtains sub-pix corresponding points.

Further, the corresponding points search module 502 is additionally operable to perform following steps：

It is (2w that window size is created in each left speckle image in the left speckle image sequence_m+1)×(2w_m+ 1) reference Subwindow；

Using non-linear space correlation function w (s) under second order parallax model as N-R interative computations function to be optimized；

Wherein,For this refers to pixel gray level average value in subwindow on the left speckle image,It is the right speckle pattern As pixel gray level average value, p in upper reference subwindow^R(u^R,v^R) for left speckle image, this refers to pixel p in subwindow^R's Gray value, p^G(u^G,v^G) it is corresponding points p on right speckle image to be matched^GGray value；

According to preset iterative steps, and according to N-R interative computation formulaIt is iterated computing, It is determined that the correlation function value s that last time interative computation is calculated_NIt is end value, wherein,

Wherein, the span of N is the integer more than or equal to 1；Under original state, N values are 1, then s₀Changed for preset For initial estimate；It is correlation function in s_N-1The Grad at place,It is correlation function in s_N-1The two of place Secondary local derviation, M represents the number of s parameters；

The sub-pix corresponding points are calculated according to the end value and second order parallax model.

It should be noted thatObtained according to the deformation of above-mentioned w (s) formula, therefore w (s)=w (s_N-1).It is optional Ground, the corresponding points search module 502 is additionally operable to perform following steps：

It is (2w that window size is created in each left speckle image in the left speckle image sequence_m+1)×(2w_m+ 1) reference Subwindow；

Using non-linear space correlation function w (s) under second order parallax model as N-R interative computations function to be optimized；

Wherein,For this refers to pixel gray level average value in subwindow on the left speckle image,It is the right speckle pattern As pixel gray level average value, p in upper reference subwindow^R(u^R,v^R) for left speckle image, this refers to pixel p in subwindow^R's Gray value, p^G(u^G,v^G) it is corresponding points p on right speckle image to be matched^GGray value；

According to N-R interative computation formulaComputing is iterated, correlation function value s is calculated_N, its In,

Wherein, the span of N is the integer more than or equal to 1；Under original state, N values are 1, then s₀Changed for preset For initial estimate；It is correlation function in s_N-1The Grad at place,It is correlation function in s_N-1The two of place Secondary local derviation, M represents the number of s parameters；

According to the correlation function value s for calculating_NCoordinate value is calculated with second order parallax model, and adjacent interative computation twice is calculated The correlation function value s for going out_NCorresponding coordinate value asks poor, calculates difference；

If the difference is less than preset threshold value, stop interative computation, and the related letter that last time interative computation is calculated Numerical value s_NCorresponding coordinate value is used as the sub-pix corresponding points.

Corresponding points search module 502, is additionally operable to be calculated according to the time-averaging operation of the sub-pix corresponding points and treats Three-dimensional Gravity The corresponding points built.

Further, corresponding points search module 502 is additionally operable to sub-pix corresponding points P_t ^GIt is average that (i ', j ') carries out the time Computing, calculates the corresponding points for treating three-dimensional reconstruction

Three-dimensional reconstruction module 503, for carrying out Three-dimensional Gravity by the corresponding points for treating three-dimensional reconstruction on the timing node Build.

Further, the device also include acquisition module (not shown), for by table from projection arrangement to object Face projects random digit speckle pattern, and gathers band respectively by being positioned over the left and right imaging device of the projection arrangement both sides There is the left and right speckle image of the object.

From figure 2 it can be seen that two imaging devices, such as camera is positioned at the both sides of projection arrangement.It should be noted that For convenience of description, the imaging device for being located at the left side of the projection arrangement is referred to as left imaging in all embodiments of the invention Device；It is referred to as right imaging device on the right side of the projection arrangement, if the one group of image exported from the left imaging device dissipates for left Spot image sequence, the one group of image exported from the right imaging device is right speckle image sequence.The wherein projection arrangement and two Imaging device constitutes traditional binocular stereo vision device.Wherein in the left speckle image sequence and the right speckle image sequence The speckle regions of each image are the object for shooting.

The present embodiment details not to the greatest extent, refers to the description of foregoing embodiment illustrated in fig. 1, and here is omitted.

In the embodiment of the present invention, the access time node from preset time sequence of acquisition module 501, and from choose this when Intermediate node starts to obtain one group of left speckle image sequence and one group of right speckle image sequence that left and right imaging device is exported respectively, The left speckle image sequence of corresponding points search module 502 pairs and the right speckle image sequence carry out time correlation computing, with this Whole Pixel-level corresponding points are determined in right speckle image sequence, according to the whole Pixel-level corresponding points, spatial correlation function and the left side The pixel point coordinates of each left speckle image in speckle image sequence, to being carried out per the right speckle image of frame in the right speckle image sequence Sub-pix corresponding points search arithmetic, obtains sub-pix corresponding points, and the time-averaging operation according to the sub-pix corresponding points is calculated to be treated The corresponding points of three-dimensional reconstruction, three-dimensional reconstruction module 503 carries out three on the timing node by the corresponding points for treating three-dimensional reconstruction Dimension is rebuild, and is so combined with time correlation computing by by space correlation computing, can be to many of any time node starting Width image scans for correspondence point processing, the corresponding points for treating three-dimensional reconstruction of high precision is searched, in treating according to the high precision The corresponding points of three-dimensional reconstruction carry out three-dimensional reconstruction, and then improve the precision of three-dimensional reconstruction.

In multiple embodiments provided herein, it should be understood that disclosed system, apparatus and method, can be with Realize by another way.For example, device embodiment described above is only schematical, for example, the module Divide, only a kind of division of logic function there can be other dividing mode when actually realizing, such as multiple module or components Can combine or be desirably integrated into another system, or some features can be ignored, or do not perform.It is another, it is shown or The coupling each other for discussing or direct-coupling or communication linkage can be the indirect couplings of device or module by some interfaces Close or communication linkage, can be electrical, mechanical or other forms.

The module that is illustrated as separating component can be or may not be it is physically separate, it is aobvious as module The part for showing can be or may not be physical module, you can with positioned at a place, or can also be distributed to multiple On mixed-media network modules mixed-media.Some or all of module therein can be according to the actual needs selected to realize the mesh of this embodiment scheme 's.

In addition, during each functional module in each embodiment of the invention can be integrated in a processing module, it is also possible to It is that modules are individually physically present, it is also possible to which two or more modules are integrated in a module.Above-mentioned integrated mould Block can both be realized in the form of hardware, it would however also be possible to employ the form of software function module is realized.

If the integrated module is to realize in the form of software function module and as independent production marketing or use When, can store in a computer read/write memory medium.Based on such understanding, technical scheme is substantially The part for being contributed to prior art in other words or all or part of the technical scheme can be in the form of software products Embody, the computer software product is stored in a storage medium, including some instructions are used to so that a computer Equipment (can be personal computer, server, or network equipment etc.) performs the complete of each embodiment methods described of the invention Portion or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey The medium of sequence code.

It should be noted that for foregoing each method embodiment, in order to simplicity is described, therefore it is all expressed as a series of Combination of actions, but those skilled in the art should know, the present invention not by described by sequence of movement limited because According to the present invention, some steps can sequentially or simultaneously be carried out using other.Secondly, those skilled in the art should also know Know, embodiment described in this description belongs to preferred embodiment, and involved action and module might not all be this hairs Necessary to bright.

In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not have the portion described in detail in certain embodiment Point, may refer to the associated description of other embodiments.

It is more than the description of the speckle three-D imaging method and device that are combined to space-time provided by the present invention, for ability The technical staff in domain, according to the thought of the embodiment of the present invention, will change in specific embodiments and applications, To sum up, this specification content should not be construed as limiting the invention.

Claims (10)

1. the speckle three-D imaging method that a kind of space-time is combined, it is characterised in that including：

The access time node from preset time sequence, and obtain left and right imaging device since the timing node chosen The one group of left speckle image sequence and one group of right speckle image sequence for exporting respectively, wherein the left speckle image sequence and described The quantity of the image included in right speckle image sequence is identical；

Time correlation computing is carried out to the left speckle image sequence and the right speckle image sequence, with the right speckle pattern As determining whole Pixel-level corresponding points in sequence；

According to the whole Pixel-level corresponding points, spatial correlation function and each left speckle image in the left speckle image sequence Pixel point coordinates, to carrying out sub-pix corresponding points search arithmetic per the right speckle image of frame in the right speckle image sequence, obtains Sub-pix corresponding points；

Time-averaging operation according to the sub-pix corresponding points calculates the corresponding points for treating three-dimensional reconstruction；

Treat that the corresponding points of three-dimensional reconstruction carry out three-dimensional reconstruction by described on the timing node.

2. method according to claim 1, it is characterised in that described to the left speckle image sequence and the right speckle Image sequence carries out time correlation computing, determines that whole Pixel-level corresponding points include with the right speckle image sequence：

Time correlation is carried out to the left speckle image sequence and the right speckle image sequence according to time correlation computing formula Computing, to determine in right speckle image sequence the corresponding corresponding points of each pixel, wherein institute in the left speckle image sequence Stating time correlation computing formula is：

Wherein, X_i,j,tLeft imaging device image is expressed as to put down Millet cake (i, j) the left speckle image of t width gray value, X '_i′,j′,tRepresent corresponding points in the right imaging device plane of delineation (i ', J ') in the gray value of the right speckle image of t width,WithPoint (i, j) in the left and right imaging device plane of delineation is represented respectively With corresponding points (i ', j ') in the average gray of left speckle image sequence described in k width and in right speckle image sequence described in k width Average gray, wherein k are more than or equal to 2；

The corresponding corresponding points of maximum are chosen in by the result of calculation value of the time correlation computing formula and is used as whole pixel Level corresponding points.

3. method according to claim 2, it is characterised in that described according to the whole Pixel-level corresponding points, space correlation The pixel point coordinates of each left speckle image in function and the left speckle image sequence, to every in the right speckle image sequence The right speckle image of frame carries out sub-pix corresponding points search arithmetic, and obtaining sub-pix corresponding points includes：

It is (2w that window size is created in each left speckle image in the left speckle image sequence_m+1)×(2w_m+ 1) reference Window；

Using non-linear space correlation function w (s) under second order parallax model as N-R interative computations function to be optimized；

$w\left(s\right)=1-\frac{1}{2}\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{(\frac{p^R(u^R,v^R)-{\stackrel{\‾}{p}}^R}{\sqrt{\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[p^R(u^R,v^R)-{\stackrel{\‾}{p}}^R\]}^2}}-\frac{p^G(u^G,v^G)-{\stackrel{\‾}{p}}^G}{\sqrt{\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[p^G(u^G,v^G)-{\stackrel{\‾}{p}}^G\]}^2}})}^2,$

Wherein,It is pixel gray level average value in the reference subwindow on the left speckle image,It is the right speckle With reference to pixel gray level average value, p in subwindow on image^R(u^R,v^R) it is with reference to pixel in subwindow described in left speckle image p^RGray value, p^G(u^G,v^G) it is corresponding points p on right speckle image to be matched^GGray value；

According to preset iterative steps, and according to N-R interative computation formulaComputing is iterated, it is determined that The correlation function value s that last time interative computation is calculated_NIt is end value, wherein,

$\▿w\left(s_{N-1}\right)=\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[(\frac{p^R(u^R,v^R)-{\stackrel{\‾}{p}}^R}{{\widetilde{\mathrm{\σ}}}^R}-\frac{p^G(u^G,v^G)-{\stackrel{\‾}{p}}^G}{{\widetilde{\mathrm{\σ}}}^G})\·\frac{1}{{\widetilde{\mathrm{\σ}}}^G}\·\frac{\∂p^G(u^G,v^G)}{\∂s_i}\]}_{i=1,\mathrm{...}M},$

$\▿\▿w\left(s_{N-1}\right)=\frac{-1}{{\left({\widetilde{\mathrm{\σ}}}^G\right)}^2}\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{(\frac{\∂p^G(u^G,v^G)}{\∂s_i}\·\frac{\∂p^G(u^G,v^G)}{\∂s_j})}_{\begin{array}{c}i=1,\mathrm{...}M\\ j=1,\mathrm{...}M\end{array}},$

${\stackrel{\‾}{p}}^R=\frac{1}{{(2w_m+1)}^2}\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{p}^R(u^R,v^R),{\stackrel{\‾}{p}}^G=\frac{1}{{(2w_m+1)}^2}\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{p}^G(u^G,v^G),$

${\widetilde{\mathrm{\σ}}}^R=\sqrt{\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[p^R(u^R,v^R)-{\stackrel{\‾}{p}}^R\]}^2},{\widetilde{\mathrm{\σ}}}^G=\sqrt{\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[p^G(u^G,v^G)-{\stackrel{\‾}{p}}^G\]}^2},$

Wherein, the span of N is the integer more than or equal to 1；Under original state, N values are 1, then s₀For preset iteration is initial Estimate；▽w(s_N-1) for correlation function in s_N-1The Grad at place, ▽ ▽ w (s_N-1) for correlation function in s_N-1That locates is secondary inclined Lead, M represents the number of s parameters；

The sub-pix corresponding points are calculated according to the end value and second order parallax model.

4. method according to claim 2, it is characterised in that described according to the whole Pixel-level corresponding points, space correlation The pixel point coordinates of each left speckle image in function and the left speckle image sequence, to every in the right speckle image sequence The right speckle image of frame carries out sub-pix corresponding points search arithmetic, and obtaining sub-pix corresponding points includes：

It is (2w that window size is created in each left speckle image in the left speckle image sequence_m+1)×(2w_m+ 1) reference Window；

Using non-linear space correlation function w (s) under second order parallax model as N-R interative computations function to be optimized；

$w\left(s\right)=1-\frac{1}{2}\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{(\frac{p^R(u^R,v^R)-{\stackrel{\‾}{p}}^R}{\sqrt{\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[p^R(u^R,v^R)-{\stackrel{\‾}{p}}^R\]}^2}}-\frac{p^G(u^G,v^G)-{\stackrel{\‾}{p}}^G}{\sqrt{\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[p^G(u^G,v^G)-{\stackrel{\‾}{p}}^G\]}^2}})}^2,$

Wherein,It is pixel gray level average value in the reference subwindow on the left speckle image,It is the right speckle With reference to pixel gray level average value, p in subwindow on image^R(u^R,v^R) it is with reference to pixel in subwindow described in left speckle image p^RGray value, p^G(u^G,v^G) it is corresponding points p on right speckle image to be matched^GGray value；

According to N-R interative computation formulaComputing is iterated, correlation function value s is calculated_N, wherein,

$\▿w\left(s_{N-1}\right)=\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[(\frac{p^R(u^R,v^R)-{\stackrel{\‾}{p}}^R}{{\widetilde{\mathrm{\σ}}}^R}-\frac{p^G(u^G,v^G)-{\stackrel{\‾}{p}}^G}{{\widetilde{\mathrm{\σ}}}^G})\·\frac{1}{{\widetilde{\mathrm{\σ}}}^G}\·\frac{\∂p^G(u^G,v^G)}{\∂s_i}\]}_{i=1,\mathrm{...}M},$

$\▿\▿w\left(s_{N-1}\right)=\frac{-1}{{\left({\widetilde{\mathrm{\σ}}}^G\right)}^2}\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{(\frac{\∂p^G(u^G,v^G)}{\∂s_i}\·\frac{\∂p^G(u^G,v^G)}{\∂s_j})}_{\begin{array}{c}i=1,\mathrm{...}M\\ j=1,\mathrm{...}M\end{array}},$

${\stackrel{\‾}{p}}^R=\frac{1}{{(2w_m+1)}^2}\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{p}^R(u^R,v^R),{\stackrel{\‾}{p}}^G=\frac{1}{{(2w_m+1)}^2}\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{p}^G(u^G,v^G),$

${\widetilde{\mathrm{\σ}}}^R=\sqrt{\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[p^R(u^R,v^R)-{\stackrel{\‾}{p}}^R\]}^2},{\widetilde{\mathrm{\σ}}}^G=\sqrt{\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[p^G(u^G,v^G)-{\stackrel{\‾}{p}}^G\]}^2},,$

Wherein, the span of N is the integer more than or equal to 1；Under original state, N values are 1, then s₀For preset iteration is initial Estimate；▽w(s_N-1) for correlation function in s_N-1The Grad at place, ▽ ▽ w (s_N-1) for correlation function in s_N-1That locates is secondary inclined Lead, M represents the number of s parameters；

According to the correlation function value s for calculating_NCoordinate value is calculated with second order parallax model, and adjacent interative computation twice is calculated Correlation function value s_NCorresponding coordinate value asks poor, calculates difference；

If the difference is less than preset threshold value, stop interative computation, and the correlation function that last time interative computation is calculated Value s_NCorresponding coordinate value is used as the sub-pix corresponding points.

5. the method according to claim 3 or 4, it is characterised in that the time according to the sub-pix corresponding points puts down Equal computing is calculated treats that the corresponding points of three-dimensional reconstruction include：

To the sub-pix corresponding points P_t ^G(i ', j ') carries out time-averaging operation, calculates the corresponding points for treating three-dimensional reconstruction

6. the speckle three-dimensional image forming apparatus that a kind of space-time is combined, it is characterised in that described device includes：

Acquisition module, for the access time node from preset time sequence, and obtains since the timing node chosen One group of left speckle image sequence and one group of right speckle image sequence that left and right imaging device is exported respectively, wherein the left speckle Image sequence is identical with the quantity of the image included in the right speckle image sequence；

Corresponding points search module, for carrying out time correlation fortune to the left speckle image sequence and the right speckle image sequence Calculate, to determine whole Pixel-level corresponding points in the right speckle image sequence；

And, according to the whole Pixel-level corresponding points, spatial correlation function and each left speckle in the left speckle image sequence The pixel point coordinates of image, to carrying out sub-pix correspondence point search fortune in the right speckle image sequence per the right speckle image of frame Calculate, obtain sub-pix corresponding points；

And, the time-averaging operation according to the sub-pix corresponding points calculates the corresponding points for treating three-dimensional reconstruction；

Three-dimensional reconstruction module, for treating that the corresponding points of three-dimensional reconstruction carry out three-dimensional reconstruction by described on the timing node.

7. device according to claim 6, it is characterised in that the corresponding points search module is additionally operable to perform following step Suddenly：

Time correlation is carried out to the left speckle image sequence and the right speckle image sequence according to time correlation computing formula Computing, to determine in right speckle image sequence the corresponding corresponding points of each pixel in the left speckle image sequence, when described Between correlation computations formula be：

Wherein, X_i,j,tLeft imaging device image is expressed as to put down Millet cake (i, j) the left speckle image of t width gray value, X '_i′,j′,tRepresent corresponding points in the right imaging device plane of delineation (i ', J ') in the gray value of the right speckle image of t width,WithPoint (i, j) in the left and right imaging device plane of delineation is represented respectively With corresponding points (i ', j ') in the average gray of left speckle image sequence described in k width and in right speckle image sequence described in k width Average gray, wherein k are more than or equal to 2；

The corresponding corresponding points of maximum are chosen in by the result of calculation value of the time correlation computing formula and is used as whole pixel Level corresponding points.

8. device according to claim 7, it is characterised in that the corresponding points search module is additionally operable to perform following step Suddenly：

It is (2w that window size is created in each left speckle image in the left speckle image sequence_m+1)×(2w_m+ 1) reference Window；

Using non-linear space correlation function w (s) under second order parallax model as N-R interative computations function to be optimized；

$w\left(s\right)=1-\frac{1}{2}\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{(\frac{p^R(u^R,v^R)-{\stackrel{\‾}{p}}^R}{\sqrt{\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[p^R(u^R,v^R)-{\stackrel{\‾}{p}}^R\]}^2}}-\frac{p^G(u^G,v^G)-{\stackrel{\‾}{p}}^G}{\sqrt{\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[p^G(u^G,v^G)-{\stackrel{\‾}{p}}^G\]}^2}})}^2,$

Wherein,It is pixel gray level average value in the reference subwindow on the left speckle image,It is the right speckle With reference to pixel gray level average value, p in subwindow on image^R(u^R,v^R) it is with reference to pixel in subwindow described in left speckle image p^RGray value, p^G(u^G,v^G) it is corresponding points p on right speckle image to be matched^GGray value；

According to preset iterative steps, and according to N-R interative computation formulaComputing is iterated, it is determined that The correlation function value s that last time interative computation is calculated_NIt is end value, wherein,

$\▿w\left(s_{N-1}\right)=\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[(\frac{p^R(u^R,v^R)-{\stackrel{\‾}{p}}^R}{{\widetilde{\mathrm{\σ}}}^R}-\frac{p^G(u^G,v^G)-{\stackrel{\‾}{p}}^G}{{\widetilde{\mathrm{\σ}}}^G})\·\frac{1}{{\widetilde{\mathrm{\σ}}}^G}\·\frac{\∂p^G(u^G,v^G)}{\∂s_i}\]}_{i=1,\mathrm{...}M},$

$\▿\▿w\left(s_{N-1}\right)=\frac{-1}{{\left({\widetilde{\mathrm{\σ}}}^G\right)}^2}\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{(\frac{\∂p^G(u^G,v^G)}{\∂s_i}\·\frac{\∂p^G(u^G,v^G)}{\∂s_j})}_{\begin{array}{c}i=1,\mathrm{...}M\\ j=1,\mathrm{...}M\end{array}},$

${\stackrel{\‾}{p}}^R=\frac{1}{{(2w_m+1)}^2}\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{p}^R(u^R,v^R),{\stackrel{\‾}{p}}^G=\frac{1}{{(2w_m+1)}^2}\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{p}^G(u^G,v^G),$

${\widetilde{\mathrm{\σ}}}^R=\sqrt{\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[p^R(u^R,v^R)-{\stackrel{\‾}{p}}^R\]}^2},{\widetilde{\mathrm{\σ}}}^G=\sqrt{\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[p^G(u^G,v^G)-{\stackrel{\‾}{p}}^G\]}^2},$

Wherein, the span of N is the integer more than or equal to 1；Under original state, N values are 1, then s₀For preset iteration is initial Estimate；▽w(s_N-1) for correlation function in s_N-1The Grad at place, ▽ ▽ w (s_N-1) for correlation function in s_N-1That locates is secondary inclined Lead, M represents the number of s parameters；

The sub-pix corresponding points are calculated according to the end value and second order parallax model.

9. device according to claim 7, it is characterised in that the corresponding points search module is additionally operable to perform following step Suddenly：

It is (2w that window size is created in each left speckle image in the left speckle image sequence_m+1)×(2w_m+ 1) reference Window；

Using non-linear space correlation function w (s) under second order parallax model as N-R interative computations function to be optimized；

$w\left(s\right)=1-\frac{1}{2}\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{(\frac{p^R(u^R,v^R)-{\stackrel{\‾}{p}}^R}{\sqrt{\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[p^R(u^R,v^R)-{\stackrel{\‾}{p}}^R\]}^2}}-\frac{p^G(u^G,v^G)-{\stackrel{\‾}{p}}^G}{\sqrt{\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[p^G(u^G,v^G)-{\stackrel{\‾}{p}}^G\]}^2}})}^2,$

Wherein,It is pixel gray level average value in the reference subwindow on the left speckle image,It is the right speckle With reference to pixel gray level average value, p in subwindow on image^R(u^R,v^R) it is with reference to pixel in subwindow described in left speckle image p^RGray value, p^G(u^G,v^G) it is corresponding points p on right speckle image to be matched^GGray value；

According to N-R interative computation formulaComputing is iterated, correlation function value s is calculated_N, wherein,

$\▿w\left(s_{N-1}\right)=\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[(\frac{p^R(u^R,v^R)-{\stackrel{\‾}{p}}^R}{{\widetilde{\mathrm{\σ}}}^R}-\frac{p^G(u^G,v^G)-{\stackrel{\‾}{p}}^G}{{\widetilde{\mathrm{\σ}}}^G})\·\frac{1}{{\widetilde{\mathrm{\σ}}}^G}\·\frac{\∂p^G(u^G,v^G)}{\∂s_i}\]}_{i=1,\mathrm{...}M},$

$\▿\▿w\left(s_{N-1}\right)=\frac{-1}{{\left({\widetilde{\mathrm{\σ}}}^G\right)}^2}\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{(\frac{\∂p^G(u^G,v^G)}{\∂s_i}\·\frac{\∂p^G(u^G,v^G)}{\∂s_j})}_{\begin{array}{c}i=1,\mathrm{...}M\\ j=1,\mathrm{...}M\end{array}},$

${\stackrel{\‾}{p}}^R=\frac{1}{{(2w_m+1)}^2}\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{p}^R(u^R,v^R),{\stackrel{\‾}{p}}^G=\frac{1}{{(2w_m+1)}^2}\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{p}^G(u^G,v^G),$

${\widetilde{\mathrm{\σ}}}^R=\sqrt{\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[p^R(u^R,v^R)-{\stackrel{\‾}{p}}^R\]}^2},{\widetilde{\mathrm{\σ}}}^G=\sqrt{\underset{u=-w_m}{\overset{w_m}{\mathrm{\Σ}}}\underset{v=-w_m}{\overset{w_m}{\mathrm{\Σ}}}{\[p^G(u^G,v^G)-{\stackrel{\‾}{p}}^G\]}^2},,$

Wherein, the span of N is the integer more than or equal to 1；Under original state, N values are 1, then s₀For preset iteration is initial Estimate；▽w(s_N-1) for correlation function in s_N-1The Grad at place, ▽ ▽ w (s_N-1) for correlation function in s_N-1That locates is secondary inclined Lead, M represents the number of s parameters；

According to the correlation function value s for calculating_NCoordinate value is calculated with second order parallax model, and adjacent interative computation twice is calculated Correlation function value s_NCorresponding coordinate value asks poor, calculates difference；

If the difference is less than preset threshold value, stop interative computation, and the correlation function that last time interative computation is calculated Value s_NCorresponding coordinate value is used as the sub-pix corresponding points.

10. device according to claim 8 or claim 9, it is characterised in that

The corresponding points search module, is additionally operable to the sub-pix corresponding points P_t ^G(i ', j ') carries out time-averaging operation, calculates The corresponding points for treating three-dimensional reconstruction