CN107063117A - Underwater laser synchronous scanning range of triangle imaging system and method based on optical field imaging - Google Patents
Underwater laser synchronous scanning range of triangle imaging system and method based on optical field imaging Download PDFInfo
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- CN107063117A CN107063117A CN201710152249.8A CN201710152249A CN107063117A CN 107063117 A CN107063117 A CN 107063117A CN 201710152249 A CN201710152249 A CN 201710152249A CN 107063117 A CN107063117 A CN 107063117A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The invention belongs to machine vision three-dimensional field of measuring technique, it is related to a kind of underwater laser synchronous scanning range of triangle imaging system and method based on optical field imaging.System includes laser, double-sided reflecting galvanometer, the first speculum, the second speculum, pendulum mirror, testee, light-field camera, and light-field camera is made up of main lens, microlens array and imaging sensor.The system combination optical field imaging technology, using in light field sensor record Analyses of Laser Triangulation Range Imaging System Based on Synchronized Scanners include all field informations of the object space scene of target reflecting light and various scattered lights, utilize refocusing tomoscan algorithm, obtain the refocusing sectioning image of object space scene different depth, distal pole point refocusing image is recycled to determine the exact position of target reflected laser light spot image, so as to improve the tri-dimensional facial type measurement accuracy and image quality of underwater laser synchronous scanning range of triangle imaging system.
Description
Technical field
The invention belongs to machine vision three-dimensional field of measuring technique, and in particular to a kind of underwater laser based on optical field imaging
Synchronous scanning range of triangle imaging system and method.
Background technology
The fields such as seabed resources exploration, ocean development, undersea detection, anti-terrorism under water are, it is necessary to which a kind of measurement range greatly, is differentiated
The high dimensional visual measurement system of rate.Existing dimensional visual measurement technology mainly has spot scan triangle telemetry, position mutually to take turns
Wide mensuration, Moire technique and Fourier transform etc..Wherein spot scan triangulation resolution ratio is higher, and laser is thrown into point-like
Power requirement needed for being mapped to testee surface is low, can be calculated using simple triangle relation and obtain distance value, and pass through two dimension
Scanning can obtain the tri-dimensional facial type of testee, but be the transversal scanning measurement range and longitudinal ranging model of system the problem of exist
Enclose mutual restriction.In this regard, M.Rioux et al. proposes the thought of laser synchronization scanning range of triangle imaging, transversal scanning is solved
Measurement range and the mutual restriction problem of longitudinal finding range.So-called synchronous scanning is to make receiving light path and scanning in light path design
Light path shares scanner so that receiving light path is synchronous with transmitting light path.
By Analyses of Laser Triangulation Range Imaging System Based on Synchronized Scanners application under water, because aqueous medium has serious absorption to light
And scattering process, energy when causing the light to be transmitted in water is exponentially decayed rapidly, and image definition is reduced.Although can
To extend Underwater Imaging distance by increasing the method for illumination luminous power, but this also can bring background gray scale to underwater picture not
The problem of equal and poor quality images.Conventional method is started with raising image-forming range in terms of the optical window of the blue green light of water body,
It is main using means such as range gating and polarization technologies in terms of back scattering is suppressed.Although all certain journey of these conventional methods
The effect of degree, but water environment is complicated and changeable, conventional method imaging matter caused by aqueous medium absorption and scattering is solved
Effect in terms of quantitative change difference is limited, laser synchronization is scanned the underwater application of range of triangle imaging technique and receives the very day of one's doom
System.
For imaging system, just carrier, carries all information of object space scene, includes the reflection of target object
Light, transmitting light and reflected light rear orientation light and forward scattering light on propagation path, other various veiling glares etc., all light
Summation constitute object space scene light.Every light in light field propagate in media as well with position (x, y, z), direction (θ,
φ), many attribute such as frequency (), polarization state (p), radiation intensity (r) and time (t), can be described with plenoptic function.Typically
In the case of, light field is described using two parallel planes, then can be expressed with 4 parameters, referred to as four-dimensional light field.For laser
For synchronous scanning range of triangle imaging system, effective information is the representation of laser facula reflected by target object in image sensing
Position coordinates on device, traditional image record sensor is difficult from the image for including various field informations by representation of laser facula
In extract.The optical field imaging technology using light field sensor as core is used, is to insert microlens array in the optical path, by thing
The field information of square scene is recorded by the spatial multiplexing mode of microlens array.According to field information, it is possible to achieve thing
The tomoscan refocusing of square scene, that is, focusing is made to object space scene any position, obtain clear at the position
Clear image.Based on this characteristic, the light field data of target object surface laser facula is included by optical field imaging technical limit spacing, is led to
Light field refocusing technology is crossed, the laser facula picture rich in detail projected after body surface reflection can be effectively extracted, suppress object space
The scattered light of scape other positions and various veiling glares.Therefore, with reference to optical field imaging technology, undersea detection image quality can be improved, after
And range of triangle precision under water is improved, it is the new direction of Analyses of Laser Triangulation Range Imaging System Based on Synchronized Scanners application study under water.
The content of the invention
Present invention aims to overcome that there is provided a kind of underwater laser based on optical field imaging is same for the drawbacks described above of prior art
Step scanning range of triangle imaging system and method, for improving Underwater Imaging quality, improve underwater laser synchronous scanning triangle and survey
Away from precision.
To reach above-mentioned purpose, the present invention is adopted the following technical scheme that：
A kind of underwater laser synchronous scanning range of triangle imaging system based on optical field imaging, including laser, double-sided reflecting shake
Mirror, the first speculum, the second speculum, pendulum mirror, testee, light-field camera；First speculum and the second speculum are closed
In the symmetrical distribution of double-sided reflecting galvanometer, the laser is placed in the front of double-sided reflecting galvanometer, and the light-field camera is placed in
The rear of double-sided reflecting galvanometer, the pendulum mirror is placed in the front of laser, the rear of testee.
The light-field camera includes main lens and spatial reuse light field sensor, and the spatial reuse light field sensor includes
Microlens array and imaging sensor；The main lens be located at light-field camera front, be sequentially arranged thereafter microlens array and
Imaging sensor.
A kind of underwater laser synchronous scanning range of triangle imaging method based on optical field imaging, using above-mentioned based on light field
The underwater laser synchronous scanning range of triangle imaging system of imaging, is comprised the following steps that：
1）Synchronous scanning imaging optical path, be specially：The laser that laser is sent, passes through double-sided reflecting galvanometer, the first speculum, pendulum
The reflection of mirror, projects certain point on testee surface, and occurs diffusing reflection, and part reflected light is through overswing mirror, the second reflection
Mirror, double-sided reflecting galvanometer, are received by the main lens of light-field camera and converged, then through microlens array, eventually arrive at imaging sensor
Photosurface on, as a light spot image；
2）Light field is recorded as picture, is specially：Microlens array and imaging sensor Special composition multiplexed optical field sensor, record four
Tie up the position and direction information of each light in light field（u,v,s,t）, the coordinate wherein on microlens array（u,v）Represent position
Put, the coordinate on imaging sensor（s,t）Represent direction；
3）Tomoscan image refocusing, be specially：The image of image recording sensor includes four-dimensional field information, passes through spatial domain
Light field converter technique realizes the tomoscan refocusing to different depth scene, obtains the refocusing of object space scene different depth
Sectioning image；
4）The determination of representation of laser facula, be specially：Spatial domain light field transformation parameter has correspondence with object tomography depth information,
Therefore scene different depth refocusing sequence of pictures is handled by focusing on shape recovery method, obtains scene in spatial domain light
Tomography depth information under field transformation parameter field, body surface representation of laser facula is exactly distal pole point depth in tomography depth information
Layer corresponding to refocusing image, i.e. this distal pole point representation of laser facula position coordinates；
5）Body surface three-dimensional is imaged, and is specially：The flare of laser projection point on testee is extracted from light field record
After the value of picture position, according to triangle relation, the D coordinates value for obtaining laser projection point on testee is calculated；Double-sided reflecting shakes
The continuous shaking of mirror and the continuous swing of pendulum mirror, form raster scan trajectory, by obtaining what is each put on testee surface
D coordinates value, realizes the three-dimensional imaging to whole testee surface.
Compared with prior art, the present invention has following technical advantage：
The present invention combines optical field imaging technology, is wrapped using in light field sensor record Analyses of Laser Triangulation Range Imaging System Based on Synchronized Scanners
Containing all field informations of the object space scene of target reflecting light and various scattered lights, using refocusing tomoscan algorithm, thing is obtained
The refocusing sectioning image of square scene different depth, recycles distal pole point refocusing image to determine target reflected laser light spot image
Exact position, so as to improve tri-dimensional facial type measurement accuracy and the imaging of underwater laser synchronous scanning range of triangle imaging system
Quality.
Brief description of the drawings
Fig. 1 is the underwater laser synchronous scanning range of triangle imaging system schematic diagram based on optical field imaging.
Fig. 2 is the flow chart for determining target reflecting light spot position.
Embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described further.
As shown in figure 1, a kind of underwater laser synchronous scanning range of triangle imaging system based on optical field imaging, including laser
Device 1, double-sided reflecting galvanometer 2, the first speculum 3, the second speculum 4, pendulum mirror 5, testee 6, light-field camera 7；Described first
The speculum 4 of speculum 3 and second is placed in double-sided reflecting galvanometer on the symmetrical distribution of double-sided reflecting galvanometer 2, the laser 1
2 front, the light-field camera 7 is placed in the rear of double-sided reflecting galvanometer 2, and the pendulum mirror 5 is placed in the front of laser 1, is tested
The rear of object 6.
The light-field camera 7 includes main lens 8 and spatial reuse light field sensor, the spatial reuse light field sensor bag
Include microlens array 9 and imaging sensor 10；The main lens 8 is located at the front of light-field camera 7, and lenticule is sequentially arranged thereafter
Array 9 and imaging sensor 10.
As shown in Fig. 2 a kind of underwater laser synchronous scanning range of triangle imaging method based on optical field imaging, using above-mentioned
The underwater laser synchronous scanning range of triangle imaging system based on optical field imaging, comprise the following steps that：
1）Synchronous scanning imaging optical path, be specially：Laser 1 sends the blue laser that wavelength is 450nm, is shaken by double-sided reflecting
Mirror 2, the first speculum 3, the reflection for putting mirror 5, project certain point on the surface of testee 6, and occur diffusing reflection, and part is reflected
Light receives convergence through overswing mirror 5, the second speculum 4, double-sided reflecting galvanometer 2 by the main lens 8 of light-field camera 7, then through lenticule
On array 9, the photosurface for eventually arriving at imaging sensor 10, as a light spot image；
2）Light field is recorded as picture, is specially：Microlens array 9 and the Special composition multiplexed optical field sensor of imaging sensor 10, note
The position and direction information of each light in the four-dimensional light field of record（u,v,s,t）, the coordinate wherein on microlens array 9（u,v）
Represent the coordinate on position, imaging sensor 10（s,t）Represent direction；
3）Tomoscan image refocusing, be specially：The image that imaging sensor 10 is recorded includes four-dimensional field information, passes through sky
Domain light field converter technique realizes the tomoscan refocusing to different depth scene, obtains the reunion of object space scene different depth
Eager picture；
4）The determination of representation of laser facula, be specially：Spatial domain light field transformation parameter has correspondence with object tomography depth information,
Therefore scene different depth refocusing sequence of pictures is handled by focusing on shape recovery method, obtains scene in spatial domain light
Tomography depth information under field transformation parameter field, body surface representation of laser facula is exactly distal pole point depth in tomography depth information
Layer corresponding to refocusing image, i.e. this distal pole point representation of laser facula position coordinates；
5）Body surface three-dimensional is imaged, and is specially：The flare of laser projection point on testee 6 is extracted from light field record
After the value of picture position, according to triangle relation, the D coordinates value for obtaining laser projection point on testee 6 is calculated；Double-sided reflecting
The continuous shaking of galvanometer 2 and the continuous swing of pendulum mirror 5, raster scan trajectory is formed on the surface of testee 6, each by obtaining
The D coordinates value of point, realizes the three-dimensional imaging to the whole surface of testee 6.
In summary, underwater laser synchronous scanning range of triangle imaging system and method for the invention based on optical field imaging,
Tomoscan refocusing is taken to record light field, obtains the refocusing sectioning image of object space scene different depth, recycles distal pole
Point refocusing image determines the exact position of target reflected laser light spot image, improves underwater laser synchronous scanning range of triangle
The tri-dimensional facial type measurement accuracy and image quality of imaging system.
Claims (3)
1. a kind of underwater laser synchronous scanning range of triangle imaging system based on optical field imaging, it is characterised in that including laser
Device（1）, double-sided reflecting galvanometer（2）, the first speculum（3）, the second speculum（4）, pendulum mirror（5）, testee（6）, light field phase
Machine（7）；First speculum（3）With the second speculum（4）On double-sided reflecting galvanometer（2）Symmetrical distribution, it is described to swash
Light device（1）It is placed in double-sided reflecting galvanometer（2）Front, the light-field camera（7）It is placed in double-sided reflecting galvanometer（2）Rear, institute
State pendulum mirror（5）It is placed in laser（1）Front, testee（6）Rear.
2. the underwater laser synchronous scanning range of triangle imaging system according to claim 1 based on optical field imaging, it is special
Levy and be, the light-field camera（7）Including main lens（8）With spatial reuse light field sensor, the spatial reuse light field sensing
Device includes microlens array（9）And imaging sensor（10）；The main lens（8）Positioned at light-field camera（7）Front, thereafter according to
Secondary arrangement microlens array（9）And imaging sensor（10）.
3. a kind of underwater laser synchronous scanning range of triangle imaging method based on optical field imaging, uses such as institute of claim 1 or 2
The underwater laser synchronous scanning range of triangle imaging system based on optical field imaging stated, it is characterised in that comprise the following steps that：
1）Synchronous scanning imaging optical path, be specially：Laser（1）The laser sent, passes through double-sided reflecting galvanometer（2）, it is first anti-
Penetrate mirror（3）, pendulum mirror（5）Reflection, project testee（6）Certain point on surface, and occur diffusing reflection, part reflected light warp
Overswing mirror（5）, the second speculum（4）, double-sided reflecting galvanometer（2）, by light-field camera（7）Main lens（8）Convergence is received, then is passed through
Microlens array（9）, eventually arrive at imaging sensor（10）Photosurface on, as a light spot image；
2）Light field is recorded as picture, is specially：Microlens array（9）And imaging sensor（10）Special composition multiplexing light field sensing
The position and direction information of each light in device, the four-dimensional light field of record（u,v,s,t）, wherein microlens array（9）On seat
Mark（u,v）Represent position, imaging sensor（10）On coordinate（s,t）Represent direction；
3）Tomoscan image refocusing, be specially：Imaging sensor（10）The image of record includes four-dimensional field information, passes through
Spatial domain light field converter technique realizes the tomoscan refocusing to different depth scene, obtains the weight of object space scene different depth
Focus on sectioning image；
4）The determination of representation of laser facula, be specially：Spatial domain light field transformation parameter has correspondence with object tomography depth information,
Therefore scene different depth refocusing sequence of pictures is handled by focusing on shape recovery method, obtains scene in spatial domain light
Tomography depth information under field transformation parameter field, body surface representation of laser facula is exactly distal pole point depth in tomography depth information
Layer corresponding to refocusing image, i.e. this distal pole point representation of laser facula position coordinates；
5）Body surface three-dimensional is imaged, and is specially：Testee is extracted from light field record（6）The reflected light of upper laser projection point
After the value of spot picture position, according to triangle relation, calculating obtains testee（6）The D coordinates value of upper laser projection point；It is two-sided
Reflect galvanometer（2）Continuous shaking and pendulum mirror（5）Continuous swing, in testee（6）Surface forms raster scan trajectory, leads to
The D coordinates value for obtaining and each putting is crossed, is realized to whole testee（6）The three-dimensional imaging on surface.
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| CN109379579A (en) * | 2018-11-20 | 2019-02-22 | 四川长虹电器股份有限公司 | A kind of processing method of the real-time acquisition true three-dimensional data of light field |
| CN109581787A (en) * | 2018-12-14 | 2019-04-05 | 大连海事大学 | A kind of underwater imaging device and method using laser dot scans |
| CN109855565A (en) * | 2019-03-25 | 2019-06-07 | 清华大学 | A kind of detection device and detection components |
| CN110231021A (en) * | 2018-03-05 | 2019-09-13 | 深圳先进技术研究院 | Ripple sensor, ripple method for reconstructing and its application |
| CN110729670A (en) * | 2019-08-27 | 2020-01-24 | 东莞理工学院 | Cable axial cutting system and method based on single-point laser triangulation distance measurement |
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| CN110729670A (en) * | 2019-08-27 | 2020-01-24 | 东莞理工学院 | Cable axial cutting system and method based on single-point laser triangulation distance measurement |
| CN111679337B (en) * | 2019-10-15 | 2022-06-10 | 上海大学 | Scattering background suppression method in underwater active laser scanning imaging system |
| CN111679337A (en) * | 2019-10-15 | 2020-09-18 | 上海大学 | Scattering background suppression method in underwater active laser scanning imaging system |
| CN111147760A (en) * | 2019-12-23 | 2020-05-12 | 兴科迪智能科技(北京)有限公司 | Light field camera, luminosity adjusting method and device thereof and electronic equipment |
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| CN111027231A (en) * | 2019-12-29 | 2020-04-17 | 杭州科洛码光电科技有限公司 | Underwater array camera imaging method |
| CN113654476A (en) * | 2021-08-12 | 2021-11-16 | 上海交通大学 | Irradiation-resistant underwater deformation vision measurement unit and measurement method |
| CN114353689A (en) * | 2021-12-06 | 2022-04-15 | 中国科学院深圳先进技术研究院 | Underwater three-dimensional imaging system based on binocular single detector |
| CN115174789A (en) * | 2022-07-04 | 2022-10-11 | 上海乂义实业有限公司 | Micro-lens array focusing type light field camera based on micro-motion platform |
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Application publication date: 20170818 |