CN107024850B - High-speed structures light 3-D imaging system - Google Patents
High-speed structures light 3-D imaging system Download PDFInfo
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- CN107024850B CN107024850B CN201710386919.2A CN201710386919A CN107024850B CN 107024850 B CN107024850 B CN 107024850B CN 201710386919 A CN201710386919 A CN 201710386919A CN 107024850 B CN107024850 B CN 107024850B
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- 238000003384 imaging method Methods 0.000 title claims abstract description 32
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- 239000006185 dispersion Substances 0.000 claims description 35
- 239000013307 optical fiber Substances 0.000 claims description 19
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- 210000001367 artery Anatomy 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 210000003462 vein Anatomy 0.000 description 4
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03H—HOLOGRAPHIC PROCESSES OR APPARATUS
- G03H1/00—Holographic processes or apparatus using light, infrared or ultraviolet waves for obtaining holograms or for obtaining an image from them; Details peculiar thereto
- G03H1/04—Processes or apparatus for producing holograms
- G03H1/10—Processes or apparatus for producing holograms using modulated reference beam
- G03H1/12—Spatial modulation, e.g. ghost imaging
Abstract
A kind of high-speed structures light 3-D imaging system, comprising: high-speed structures light generating apparatus, image scene, optical acquisition device, image reconstruction device.High-speed structures light generating apparatus, for generating structured light patterns, and as light sources project to target object；Optical acquisition device, for being acquired to the reflection and/or scattering pulse optical signal that carry the target object three-dimensional information；Image reconstruction device, for carrying out image reconstruction to the collected information of the optical acquisition device.The embodiment of the present invention does not need machinery adjustment structure, avoids the mechanical structures such as the digital micromirror array in traditional single pixel imaging system, substantially increases image taking speed.
Description
Technical field
The present embodiments relate to a kind of high-speed structures light 3-D imaging systems.
Background technique
Structure light imaging technology is a kind of common Signal Collection Technology, and traditional structure light imaging technique uses digital micro-mirror
Array (DMD) to carry out spatial modulation to laser light source, to generate the required specific structure light pattern sequence of measurement.
But this method has very big defect, that is, digital micromirror array is usually micro mechanical structure or liquid crystal
Device, this makes micro mirror array speed when adjusting random matrix excessively slow, and image taking speed substantially reduces, be no more than 100 frames/
Second, this make single pixel imaging system can only be used to shoot static or quasi- static image, and cannot obtain high speed image and
Video seriously limits the application range of structured light three-dimensional imaging.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of high-speed structures light 3-D imaging system and corresponding with the system
High-speed structures light three-D imaging method, to solve the above technical problems.
At least one embodiment according to the present invention provides a kind of high-speed structures light 3-D imaging system, comprising: high speed
Structure light generating apparatus, for generating structured light patterns, and as light sources project to target object；Optical acquisition device, for pair
The reflection and/or scattering pulse optical signal for carrying the target object three-dimensional information are acquired；Image reconstruction device, for pair
The collected information of optical acquisition device carries out image reconstruction.
For example, the high-speed structures light generating apparatus includes: optical fiber optical signal modulation system, wherein optical fiber optical signal modulation
System includes: pulse optical signal generating device, for generating pulsed optical signals；Time domain Dispersive Devices are used for the pulsed light
The frequency spectrum of signal is unfolded in the time domain.
For example, the optical fiber optical signal modulation system further include: pattern generator, optical modulator, the pattern generator
For generated code shape；The optical modulator is used to for the code shape being modulated to by the time domain Dispersive Devices treated pulse
On optical signal.
For example, the code shape includes at least one of two-value code or gray level code or a variety of.
For example, the optical fiber optical signal modulation system further include: polarization adjusting device, the polarization adjusting device be used for pair
The pulsed optical signals carry out polarization adjustment；The spatial dispersion device is used to polarize the spectrum of pulsed optical signals adjusted
Carry out dispersion.
For example, the high-speed structures light generating apparatus includes: space light projection system, the space light projection system packet
It includes: spatial dispersion device, for by the optical fiber optical signal modulation system, treated that optical signal carries out dispersion in space, and
Irradiate the target object.
For example, the spatial dispersion device is further by the optical fiber optical signal modulation system treated optical signal in sky
Between middle dispersion at linear array or face battle array, and irradiate the target object.
For example, the space light projection system includes: projection arrangement, the light for that will pass through the light modulator modulates is believed
It number is projected；Optical signal after the projection is carried out dispersion by the spatial dispersion device in space, and irradiates the mesh
Mark object.
For example, the spatial dispersion device is grating, the grating includes the first grating and the second grating, first light
Grid and the second grating have identical line number.
For example, first grating and second parallel gratings are placed, and fixed angle having the same.
For example, the fixed angle is determined by the diffraction main pole wide-angle of scattered grating.
For example, the high-speed structures light generating apparatus further include: light beam manipulation device, the light beam manipulation device will be in skies
Between the middle pulsed optical signals carried out after dispersion be adjusted according to the size of the target object, and be irradiated to the object
Body.
For example, the light collection unit includes: light adjustment component, according to the propagation angle of light and position, to the target
Object reflection and/or scattered light signal are adjusted, so that the frequency domain in reflection and/or scattered light signal is mapped to the letter of time domain
Breath can be detected.
For example, the light adjustment component is spatial light intensity mask, the transmissivity of the spatial light intensity exposure mask spatially is pressed
Certain rule distribution, the spatial light intensity exposure mask is reflected the target object and/or scattered light signal is adjusted, so that institute
The optical signal stating the different location reflection of target object and/or scattering is attached different luminous intensity.
For example, the optical acquisition device further include: photodetector, the photodetector are covered to through the spatial light intensity
Mould optical signal adjusted is detected, according to the intensity of optical signal in result of that probe, determine the optical signal from
The spatial position of the target object.
For example, the incident light that the high-speed structures light generating apparatus generates irradiates the object with the first incident angle
Body；The photodetector determines sky of the optical signal on the target object according to first incident angle
Between position.
For example, the incident light that the high-speed structures light generating apparatus generates irradiates the target object with the first luminous intensity；
The photodetector determines space bit of the optical signal on the target object according to first luminous intensity
It sets.
For example, the photodetector determines the luminous intensity and the code that each pixel receives in the image of detection result
The corresponding relationship for the coding that shape generator generates；According to the corresponding relationship, in the three-dimensional information for determining the target object
Elevation information.
For example, the pattern generator in the optical fiber optical signal modulation system generates the candy strip including predetermined codes shape,
Incident light with the candy strip is irradiated the object with first angle of departure by the high-speed structures light generating apparatus
Body.
For example, the optical acquisition device further include: imaging lens system, for reflecting target object surface and/or dissipating
The optical signal of injection is converged, so that the photodetector is detected.
For example, the spatial light intensity exposure mask is gradual filter.
For example, described image reconstruct device includes: processor, at the signal for acquiring to the optical acquisition device
Reason, by the signal reconstruction at image；Display, for being shown to the image after reconstruct.
For example, further including rack, for fixing and carrying the target object.
The high-speed structures light three-dimensional image forming apparatus of the embodiment of the present invention, the superimposed code shape signal in optical signal time domain utilize
Optical modulator applies the time domain measurement of high speed, and carries out dispersion using Dispersive Devices and operate to form space structure light pattern, whole
Photoelectric effect or physical effect is utilized in a treatment process, does not need machinery adjustment structure, avoids traditional single pixel imaging system
The mechanical structures such as the digital micromirror array in system, substantially increase image taking speed.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, making below by required in the description to embodiment
Attached drawing is briefly described.The accompanying drawings in the following description is only exemplary embodiment of the present invention.
Fig. 1 shows the first exemplary framework figure of high-speed structures light 3-D imaging system according to an embodiment of the present invention；
Fig. 2 shows the structure light generating apparatus in high-speed structures light 3-D imaging system according to an embodiment of the present invention
Structural schematic diagram；
Fig. 3 shows optical acquisition device structural schematic diagram according to an embodiment of the present invention；
Fig. 4 shows code shape modulation schematic diagram according to an embodiment of the present invention；
Fig. 5 shows the schematic diagram that target object is imaged in structure light according to an embodiment of the present invention.
Specific embodiment
Hereinafter, by preferred embodiments of the present invention will be described in detail with reference to the annexed drawings.Note that in the specification and drawings
In, there is substantially the same step and element to be denoted by the same reference numerals, and to the repetition solution of these steps and element
Releasing will be omitted.
Fig. 1 shows the first exemplary framework figure of high-speed structures light 3-D imaging system according to an embodiment of the present invention.
The high-speed structures light 3-D imaging system of one embodiment of the present of invention is described below with reference to Fig. 1.Referring to Fig. 1, high speed is tied
Structure light 3-D imaging system 100 includes: high-speed structures light generating apparatus 110, optical acquisition device 120, image reconstruction device 130.
High-speed structures light generating apparatus 110 throws target three-dimension object as lighting source for generating structured light patterns
Shadow imaging.Imageable target is, for example, three-dimension object S.Optical acquisition device 120, for what is reflected imageable target object S or scatter
Or the pulsed optical signals of the carrying three-dimensional information of specular scattering combination are acquired.Image reconstruction device 130, for the light
The collected reflection of acquisition device 120 and/or scattered light signal carry out image reconstruction.In addition, high-speed structures light three-dimensional imaging system
System 100 can also include and the rack for fixing, carrying, adjust, controlling target object.
Fig. 2 shows the structure light generating apparatus in high-speed structures light 3-D imaging system according to an embodiment of the present invention
Structural schematic diagram.Referring to fig. 2, high-speed structures light generating apparatus 110 may include that optical fiber optical signal modulation system and spatial light are thrown
Shadow system.Wherein, optical fiber optical signal modulation system may include pulse optical signal generating device 111, for generating pulsed light letter
Number.Time domain Dispersive Devices 112, for the frequency spectrum of the pulsed optical signals to be unfolded in the time domain.Pattern generator 113, is used for
The combination of generated code shape.Optical modulator 114, the code shape for generating pattern generator 113 are modulated to by the time domain dispersion
On the light pulse optical signal of 112 dispersion of device.
In addition, an example according to the present invention, pulse optical signal generating device 111 for example can be ultrashort light pulse
Source.High-speed structures light 3-D imaging system 100 can also include amplifier, for after the conversion of time domain Dispersive Devices 112
Pulsed optical signals amplify.
Space light projection system may include spatial dispersion device 115, such as grating, for by optical signal in space into
Row dispersion.Such as by optical signal in space dispersion at linear array or face battle array.An example according to the present invention, grating 131 can be with
It is one group of grating pair, including the first grating and the second grating, the first grating and the second grating can have identical line number.Line number example
600 every millimeter of groove in this way.In addition, the first grating and the second grating can be put in parallel in order to ensure the depth of parallelism of emergent ray
It sets, and fixed angle having the same.Fixed angle is determined by grating diffration main pole wide-angle.For example, for central wavelength
The light-pulse generator of 1560nm, incidence angle can choose 60 °.Grating is, for example, scattered grating or diffraction grating.Grating can be to arteries and veins
The spectrum of pulsed light signal carries out spatial dispersion, and the spectrum of the pulsed optical signals after scattering is transformed into airspace from time domain, in this way,
Pulsed optical signals after spatial dispersion can form parallel radiation light beam and be irradiated to target object S, with to target object S carry out at
Picture.Optionally, grating can also change other periodical light dispersing devices into.
An example according to the present invention, space light projection system can also include projection arrangement 116, such as collimator,
For will pass through optical modulator 114 modulate light intensity signal from optical fiber optical signal modulation Systems Projection into free space；Then empty
Between dispersion means 115 by the optical signal projected in free space in space dispersion at linear array or face battle array.
An example according to the present invention, high-speed structures light generating apparatus can also include that light beam manipulation device for example expands
Device.Light beam manipulation device adjusts the pulsed optical signals after carrying out dispersion in space according to the size of the target object
It is whole, then it is irradiated to the target object.
An example according to the present invention, high-speed structures light generating apparatus can also include polarization adjusting device, and polarization is adjusted
For carrying out polarization adjustment to the pulsed optical signals, the spatial dispersion device 115 can will polarize adjusted whole device
The spectrum of pulsed optical signals carries out dispersion.Optionally, polarization adjusting device can be half-wave plate, quarter-wave plate etc..
Fig. 3 shows optical acquisition device structural schematic diagram according to an embodiment of the present invention.Due in many structural light three-dimensionals
In imaging system, in Image Acquisition, aforementioned code shape information cannot be accurately collected, therefore, in order to accurately acquire
To the code shape information of light modulator modulates, according to one embodiment of present invention, as shown in figure 3, optical acquisition device 120 can wrap
Include: light adjusts component 121, according to the propagation angle of light and position, adjusts to target object reflection and/or scattered light signal
It is whole, so that the information that the frequency domain in reflection and/or scattered light signal is mapped to time domain can be detected.For example, light adjustment section
Part is spatial light intensity mask, can reflect the objective object and/or the optical signal that scatters is according to the propagation angle of light
It is adjusted with position, the optical signal that different location is reflected and/or scattered on the target object surface being imaged will be by space
Light intensity exposure mask adds different strength retrogression.An example according to the present invention, spatial light intensity exposure mask can be gradual change filter
Mating plate is adjusted reflection and/or scattering light using gradual filter.
Referring to Fig. 3, optical acquisition device 120 can also include: photodetector 122, the arteries and veins that optical acquisition device 120 is acquired
Pulsed light signal is converted into electric signal.In addition, by photodetector 122 detect as a result, can also be according to the target being imaged
The intensity of certain point in object reflection or the signal scattered, thus it is speculated that its which spatial position on target object gone out.At
As lens system 123, for being converged to the optical signal that target object surface scatters, for the detection of photodetector 122.
Imaging lens system 123 can be microcobjective, focusing objective len etc..Photodetector is, for example, single point detector.
Since photodetector 122 is when detecting the light intensity timing information of single-point, the space of optical signal can not be directly obtained
Information can not determine the optical signal on sometime putting in detection result from which point diffusing reflection of target object surface
And/or the light scattered.By before the detection device of similar photodetector 122, spatially transmissivity presses one to installation one
The spatial light intensity mask of set pattern rule distribution, can be according to the spatial position of optical signal, different light intensity in modulation.For example, can be with
Incident angle or intensity is carried out to incident intensity in advance to limit, then can from the time-domain signal that photodetector 122 detects root
Go out which point on target object object plane of its optical signal according to signal strength analysis, is then calculated according to geometric triangulation method
Obtain the three-dimensional structure information of object plane.
Image reconstruction device 130 includes: processor, for carrying out calculation processing to the electric signal, according to certain algorithm
By signal reconstruction at image.Display, for being shown to the image after reconstruct.
The working method of the high-speed structures light 3-D imaging system 100 is described further below.
In embodiments of the present invention, the light source using pulse optical signal generating device 111 as imaging system, different arteries and veins
It rushes signal generator and generates the optical signal with different spectrum width B.Pulse optical signal generating device 111 in the operating condition, produces
Raw pulsed optical signals, the pulsed optical signals can be expressed as f (ω) in frequency domain, wherein ω is the angular frequency of light.Pulsed light is believed
The pulsed optical signals f (ω) that number generating device 111 exports first passes around a time domain Dispersive Devices 112, makes optical signal f's (ω)
Frequency spectrum is unfolded in the time domain, which has dispersion values.Then, frequency spectrum is unfolded space light projection system
Pulsed optical signals f (ω) afterwards forms light beam and irradiates a target object, the target object to be imaged.Implement in the present invention
In example, target object can be two-dimensional scene, be also possible to three-dimensional scenic.The embodiment of the present invention by taking objective object as an example into
Row explanation.
Another example according to the present invention, can first using 114 pairs of optical modulator by time domain Dispersive Devices 112 when
The pulsed optical signals being unfolded on domain are modulated, then reprojection to target object.For example, being generated using pattern generator 113
Then the code shape that pattern generator 113 generates is modulated to the arteries and veins being unfolded in the time domain using optical modulator 114 by code shape appropriate
On pulsed light signal, to be modulated to it.
Pattern generator 113 generates a yard shape according to the imaging resolution of final desired image.This yard of shape is by one
The signal composition of group different coding, converts different code shape sequences, available multiple and different measured value, desired image
The resolution ratio of picture is higher, that is, the pixel number of image is more, and the code shape signal minimum feature for needing to modulate is finer,
And the code shape sum in one group including is more, and it is also more to convert the number that different code shapes measure.For example, if image
The pixel number of picture is 2M, then need to generate the structure light irradiation code shape of at least N number of two-value modulation, and gradually irradiation is surveyed
Amount.Under normal circumstances, N is not less than M.Coding staff French can have many selections, each imaging pixel position institute can be set
Corresponding code shape is unique, common binary coding scheme, such as " Hamming code ", " Gray code " can be used
To encode.Optionally, when choosing N greater than M, it can use the code bit of redundancy to provide additional information, to realize anti-
It the functions such as makes an uproar, verify.
Fig. 4 shows code shape modulation schematic diagram according to an embodiment of the present invention.Referring to fig. 4, with the generation of pattern generator 113
Coding and decoding is described for binary-coding.
Pattern generator 113 generates two-value intensity code shape, in this way, high-speed structures light generating apparatus 110 can be using modulation
There are the pulsed optical signals of two-value intensity code shape to generate one group of pattern, this group of pattern includes the bar graph that several are composed of specific coding
Case shows three patterns A, B and C in Fig. 4.Using the provision pattern as incident pattern, projected to certain angle of departure to be measured
Objective body surface obtain three images, i.e., image one arrives image three.Since the surface of objective object is in height
Distribution, the incident striations of different angle can be reflected and/or be scattered on different height.If with a photodetector
122 light for going the diffusing reflection of detecting object surface from a direction to form an angle with incident light direction and/or scattering, will
Obtain a former incident new light distribution of the pattern through distortion variation.
Pass through from the light that in the difference of 122 detection image of photodetector and original image, can analyze out a certain striped
What kind of communication process can extrapolate object in conjunction with light source, camera, the relative space position information that plane of reference three is imaged
The relative altitude of body surface face each point, to obtain a width three-dimensional imaging result.
An example according to the present invention, in order to be analyzed in image in the image that photodetector 122 detects
Certain puts which point in corresponding original pattern.Namely determine point-to-point mapping relations, binary-coding can be used with lower section
Formula generates.Referring to fig. 4, every group of coding has m=3 different pattern, and whole figure is at most divided into 2 in every width figurem=8 regions,
The upper bright or dark intensity of modulation on each zone.If indicating that area pellucida domain, " 0 " indicate dark areas with code " 1 ", then comprehensive m
Width encodes, and each fringe area has three bit word sequences and is corresponding to it in image, this 2mThe corresponding code word of a fringe area is each
It is not identical.Such as Far Left one arranges corresponding code word " 111 " in Fig. 4.It is m times comprehensive in this way when photodetector 122 is detected
It is detecting as a result, can uniquely determine that a certain striped in detection result image corresponds to originally pattern by this m bit word
In which position.The n times measurement of photodetector 122 will generate n times detection result, can be according to the coding in detection result
Value determines each pixel receives in photodetector 122 the light intensity from which position of projection coding.Then pass through
Trigonometry principle calculates the three-dimensional information of institute's detecting objects body.
An example according to the present invention, after the corresponding relationship on having known incident pattern and detection pattern between each point,
May further determine that how from the corresponding relationship of point calculate object plane height.For example, solve calculate object plane height can use light source,
The spatial positional information of the plane of reference, camera is imaged.
Fig. 5 shows the schematic diagram that target object is imaged in structure light according to an embodiment of the present invention.Referring to Fig. 5,
Launch the structured light patterns after encoding to the surface target object S, the surface target object S from high-speed structures light generating apparatus 110
Upper point P point correspond to rear end photodetector 122 horizontal view angle be α, vertical angle of view β, P point are for high-speed structures light
The projected angle of generating device 110 is φ, wherein φ0It is the optical axis and photodetector 122 of high-speed structures light generating apparatus 110
The angle of optical axis, using the center of photodetector 122 as origin O, the coordinate at the center of high-speed structures light generating apparatus 110 is Q
(X0,0,Z0)。
It is elongated in the triangle QOP that high-speed structures light generating apparatus 110, spot detector 122, target object S are constituted
OQ is known quantity after system building, and the value of angle O can be obtained by detection；In addition, high-speed structures light can be made to send out by setting
Generating apparatus 110 projects to different code shape patterns on target object according to determining angle, and the value of angle Q can be visited by photoelectricity
It surveys device 122 and detects obtained sequence code value several times to extrapolate.After known to three above parameter information, then it can calculate
Whole geological informations of this triangle.
The three-dimensional coordinate (X, Y, Z) of P point can be provided according to geometrical relationship by formula (4.1) (4.2) (4.3)
X=Z*tan α (4.2)
Y=Z*tan β (4.3)
The depth information three-dimensional coordinate information (X, Y, Z) of P point can be calculated.
Since photodetector 122 is when detecting the light intensity timing information of single-point, the space of optical signal can not be directly obtained
Information can not determine the optical signal on sometime putting in detection result from which point diffusing reflection of target object surface
And/or the light scattered.Therefore by installing a sky that spatially transmissivity is distributed according to certain rules additional before detection device
Between light intensity mask, can be according to the spatial position of optical signal, different light intensity in modulation.For example, can be in advance to incident intensity
It carries out incident angle or intensity limits, then it can be from the time-domain signal that photodetector 122 detects according to signal strength analysis
Then which point on target object object plane of its optical signal out calculates the three-dimensional for obtaining object plane according to geometric triangulation method
Structural information.
In addition, after collecting reflection and/or scattering light figure can be carried out to the collected information of optical acquisition device 120
As reconstruct.In embodiments of the present invention, it reflects and/or dissipates using image reconstruction device 130 is collected to optical acquisition device 120
It penetrates light and carries out image reconstruction.Image reconstruction device 130 may include processor and display.Light in optical acquisition device 120
After collected pulsed optical signals are converted into electric signal by electric explorer 122, processor carries out calculation processing to electric signal.It is aobvious
Show device, for showing to the image after reconstruct.
To sum up, the high-speed structures light three-dimensional image forming apparatus of the embodiment of the present invention, the superimposed code shape signal in optical signal time domain,
Apply the time domain measurement of high speed using optical modulator, and carries out dispersion using Dispersive Devices and operate to form space structure light figure
Photoelectric effect or physical effect is utilized in case, entire treatment process, does not need machinery adjustment structure, avoid traditional single pixel at
As mechanical structures such as digital micromirror arrays in system, image taking speed is substantially increased.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two.And software module can be set
In any form of computer storage medium.In order to clearly illustrate the interchangeability of hardware and software, in the above description
Each exemplary composition and step are generally described according to function.These functions are come actually with hardware or software mode
It executes, specific application and design constraint depending on technical solution.Those skilled in the art can specifically answer each
For using different methods to achieve the described function, but such implementation should not be considered as beyond the scope of the present invention.
Various repair is carried out to the present invention it should be appreciated by those skilled in the art that can be dependent on design requirement and other factors
Change, combine, partially combining and replacing, as long as they are in the range of the appended claims and its equivalent.
Claims (22)
1. a kind of high-speed structures light 3-D imaging system, comprising:
High-speed structures light generating apparatus, for generating structured light patterns, and as light sources project to target object；The high speed knot
Structure light generating apparatus includes: optical fiber optical signal modulation system, for being modulated to optical signal；
Optical acquisition device, for being adopted to the reflection and/or scattering pulse optical signal that carry the target object three-dimensional information
Collection；
Image reconstruction device, for carrying out image reconstruction to the collected information of the optical acquisition device；
Wherein, the optical acquisition device includes: light adjustment component, according to the propagation angle of light and position, to the target object
Reflection and/or scattered light signal are adjusted, so that the frequency domain in reflection and/or scattered light signal is mapped to the information energy of time domain
Enough it is detected.
2. system according to claim 1, wherein the optical fiber optical signal modulation system includes:
Pulse optical signal generating device, for generating pulsed optical signals；
Time domain Dispersive Devices, for the frequency spectrum of the pulsed optical signals to be unfolded in the time domain.
3. system according to claim 2, the optical fiber optical signal modulation system further include: pattern generator, light modulation
Device,
The pattern generator is used for generated code shape；
The optical modulator is used to for the code shape being modulated to by the time domain Dispersive Devices treated pulsed optical signals.
4. system according to claim 3, wherein the code shape includes at least one of two-value code or gray level code or more
Kind.
5. system according to claim 2, wherein the high-speed structures light generating apparatus includes: space light projection system,
The space light projection system includes:
Spatial dispersion device, for by the optical fiber optical signal modulation system, treated that optical signal carries out dispersion in space,
And irradiate the target object.
6. system according to claim 5, wherein the optical fiber optical signal modulation system further include:
Adjusting device is polarized, the polarization adjusting device is for carrying out polarization adjustment to the pulsed optical signals；
The spectrum that the spatial dispersion device is used to polarize pulsed optical signals adjusted carries out dispersion.
7. system according to claim 6, wherein the spatial dispersion device is further by the optical fiber optical signal modulation
Dispersion and irradiates the target object at linear array or face battle array to system treated optical signal in space.
8. system according to claim 6, wherein the space light projection system includes: projection arrangement, for that will pass through
The optical signal of the optical fiber optical signal modulation system modulation is projected；
Optical signal after the projection is carried out dispersion by the spatial dispersion device in space, and irradiates the target object.
9. system according to claim 8, wherein the spatial dispersion device is grating,
The grating includes the first grating and the second grating, and first grating and the second grating have identical line number.
10. system according to claim 9, wherein
First grating and second parallel gratings are placed, and fixed angle having the same.
11. system according to claim 10, wherein the fixed angle is determined by the diffraction main pole wide-angle of scattered grating
It is fixed.
12. system according to claim 6, wherein the high-speed structures light generating apparatus further include:
Light beam manipulation device, the light beam manipulation device is by the pulsed optical signals after carrying out dispersion in space according to the target
The size of object is adjusted, and is irradiated to the target object.
13. system according to claim 1, wherein the light adjustment component is spatial light intensity mask, the spatial light intensity
The transmissivity of exposure mask spatially is distributed according to certain rules, and the spatial light intensity exposure mask reflects the target object and/or dissipates
It penetrates optical signal to be adjusted, so that the different location reflection of the target object and/or the optical signal scattered are attached respectively not
Identical luminous intensity.
14. system according to claim 13, wherein the optical acquisition device further include: photodetector,
The photodetector is detected to through the spatial light intensity mask optical signal adjusted, according in result of that probe
The intensity of optical signal, determine the optical signal from the target object spatial position.
15. system according to claim 14, wherein the incident light that the high-speed structures light generating apparatus generates is with first
Incident angle irradiates the target object；
The photodetector determines sky of the optical signal on the target object according to first incident angle
Between position.
16. system according to claim 14 or 15, wherein the incident light that the high-speed structures light generating apparatus generates with
First luminous intensity irradiates the target object；
The photodetector determines space of the optical signal on the target object according to first luminous intensity
Position.
17. system according to claim 14, wherein
The optical fiber optical signal modulation system further include: pattern generator,
The photodetector determines the luminous intensity and the pattern generator that each pixel receives in the image of detection result
The corresponding relationship of the coding of generation；
According to the corresponding relationship, the elevation information in the three-dimensional information of the target object is determined.
18. system according to claim 15, wherein
Pattern generator in the optical fiber optical signal modulation system generates the candy strip including predetermined codes shape, the high speed knot
Incident light with the candy strip is irradiated the target object with first incident angle by structure light generating apparatus.
19. system according to claim 14, wherein the optical acquisition device further include:
Imaging lens system, the optical signal for target object surface to be reflected and/or scattered converges, for the light
Electric explorer is detected.
20. system according to claim 13, wherein the spatial light intensity exposure mask is gradual filter.
21. system according to claim 1, wherein
Described image reconstructs device
Processor, the signal for acquiring to the optical acquisition device is handled, by the signal reconstruction at image；
Display, for being shown to the image after reconstruct.
22. system according to claim 1 further includes rack, for fixing and carrying the target object.
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| CN107690565A (en) * | 2017-08-14 | 2018-02-13 | 深圳市汇顶科技股份有限公司 | Three-dimensional filming system and electronic installation |
| WO2019170036A1 (en) * | 2018-03-06 | 2019-09-12 | The Chinese University Of Hong Kong | Ultrafast Laser Fabrication Method and System |
| CN108895982B (en) * | 2018-07-03 | 2019-10-18 | 清华大学 | High-speed structures light generating device and three-dimensional single pixel imaging system |
| CN109194950B (en) * | 2018-11-13 | 2020-12-01 | 清华大学 | Three-dimensional display device |
| WO2021000359A1 (en) * | 2019-07-02 | 2021-01-07 | 中国科学技术大学 | Dispersion gating-based atmospheric composition measurement laser radar |
| CN111047681B (en) * | 2019-11-07 | 2022-03-22 | 北京理工大学 | Single-pixel three-dimensional end-to-end reconstruction method and device based on deep learning |
| CN114076576B (en) * | 2020-08-21 | 2023-11-21 | 深圳市万普拉斯科技有限公司 | Light emitter, camera module, electronic equipment and image three-dimensional information acquisition method |
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