CN107218903B - Recessive light three-D imaging method - Google Patents
Recessive light three-D imaging method Download PDFInfo
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- CN107218903B CN107218903B CN201710320242.2A CN201710320242A CN107218903B CN 107218903 B CN107218903 B CN 107218903B CN 201710320242 A CN201710320242 A CN 201710320242A CN 107218903 B CN107218903 B CN 107218903B
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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
- G01B11/2441—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using interferometry
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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
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Instruments For Measurement Of Length By Optical Means (AREA)
Abstract
A kind of Recessive light three-D imaging method, basic thought are to emit two cross-polarizations and have the light beam of spatial linear phase difference, and echo carries out autodyne detection by receiving telescope, polarization autodyne interference receiver, reception camera with certain parallax.The present invention is emitted using recessive interference fringe, after the modulation of objective, it carries out polarization autodyne interference and receives detection, with inhibition bias light interference, the automatic influence for eliminating atmosphere, motion platform, structure is simple, and fringe period is easy to adjust, and the high-precision three-dimensional especially suitable for far field dynamic object is imaged.
Description
Technical field
The present invention relates to the three-dimensional imaging of structure light, especially a kind of structured light three-dimensional imaging method of recessiveness passes through hair
The recessive interference fringe for penetrating polarized orthogonal light beam is received after the modulation of objective by receiving telescope, polarization autodyne interference
Machine and camera carry out autodyne detection, have and inhibit bias light interference, eliminate the influence of atmosphere, motion platform automatically, and structure is simple,
Fringe period is easy to adjust, and the high-precision three-dimensional especially suitable for far field dynamic object is imaged.
Background technique
Structured light three-dimensional imaging technology is a kind of technology of Structured Illumination acquisition object dimensional picture using auxiliary, it is adopted
Technical solution is one carrier coded fringes of projection to the body surface being imaged, using imaging device from another angle recordings
By the deforming stripe image of imaging object high modulation, then from the deforming stripe figure of acquisition, digital demodulation reconstructs testee
3-dimensional digital picture.Three dimension profile measurement technology based on structure light is with non-contact, measuring speed is fast, precision is high and is easy to
The advantages that carrying out automatic measurement under computer control, is furtherd investigate and is widely used in machine vision, automation control
The necks such as processing, the automatic detection of industry, control of product quality, profiling in kind, biomedicine, three-dimensional animation and ideo display stunt production
Domain.Earliest structural light three-dimensional measurement method is Morie profilometry (MT) [1], subsequent Fourier transform profilometry (FTP) [2-
3], the structural light three-dimensionals surface shape measurement method such as phase measuring profilometer (PMP) [4] is gradually suggested.
In the presence of scribing, grating is complicated, its grating frequency period carved is fixed, frequency change when being measured using grating project
The limited flexibility of change；Fourier transform profilometry only needs a width interference fringe picture, and processing accuracy is lower, while needing very big
Calculation amount, processing speed is slow, and is easy to produce spectrum leakage, frequency spectrum can be made mixed the complicated measurement object of larger gradient
Fall；Phase measuring profilometer precision with higher, but phase change generally is carried out in the interference fringe of transmitting terminal, using the time
The processing method of phase change is unfavorable for carrying out dynamic three-dimension object real-time measurement, affected by environment serious etc..Meanwhile
The above method generally uses imaging system to project at target interference fringe, operating distance is limited, fringe period with
Distance increases and increases, the limited flexibility of control, is unfavorable for applying at a distance.
Here is prior art references
[1]Meadows D.M.,Johnson W.O.,Allen J.B..Generation of surface
contours by moiré patterns[J].Appl Opt.,1970,9(4):942-949.
[2] Takea M., Mutoh K..Fourier transform profilometry for the automatic
measurement of 3-D object shapes[J].Appl Opt.,1983,22(24):3977-3982.
[3] Su X.Y., W Chen W.J.Fourier transform profilometry:a review [J] .Opt&
Lasers in Eng,2001,35(5):263-284.
[4] Srinivasan V, Liu H.C, Halioua M..Automated phase-measuring
profilometry of 3-D diffuse objects[J].Appl Opt.,1984,23(18):3105-3108.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the difficulty of the above-mentioned prior art, a kind of Recessive light is proposed
Three-D imaging method generates recessive interference fringe in far field using polarized orthogonal beam emissions, after the modulation of objective,
Detection is balanced by receiving telescope, polarization autodyne interference receiver and camera, has and inhibits bias light interference, it is automatic to eliminate
The advantages that influence of atmosphere, motion platform, structure is simple, and fringe period is easy to adjust, and measurement accuracy is high, especially suitable for far field
The high-precision three-dimensional of dynamic object is imaged.
Technical solution of the invention is as follows:
A kind of Recessive light three-D imaging method, it is characterized in that: cross-polarization light emitting is utilized, in far field three-dimensional mesh
Generating at mark has linear phase wave poor, by receiving telescope, polarization autodyne interference receiver and receives camera to target echo
It carries out autodyne interference to receive, then carries out phase demodulating with fourier transform method or four step phase-shifting methods, to obtain objective
Imaging, steps are as follows for specific method:
1. the linear phase wave difference of orthogonal polarized light beam emits, two orthogonal polarized light beams do not generate interference, i.e., recessive dry
Relate to the generation of striped: first passed around using the light beam that laser light source exports be decomposed into after polarization beam apparatus two it is equicohesive
The horizontal polarization light beam and vertical polarization light beam of polarized orthogonal, horizontal polarization light beam and vertical polarization light beam pass through cross-polarization line
Property phase difference transmitter is emitted at far field objects, and the orthogonal polarized light field of final goal position can be described as
(x, y) is objective plane coordinate in formula, and S (x, y) contains the related factor such as system structure arrangement and diffraction, λ
For optical maser wavelength, Z is target range, and d is the controlling elements of two polarized orthogonal Beam Wave-Front linear phase differences.
2. polarization autodyne interference detection: after the echo of far field objective modulation is received by receiving telescope, passing through
It polarizes autodyne interference receiver and camera carries out autodyne detection, obtain image；
3. image real time transfer: image fourier transform method or four step phase-shifting methods to acquisition carry out phase demodulating, obtain
To phase information；
4. carrying out phase unwrapping to the phase information, the 3 d shape information of object is obtained: the phase is believed
Breath carries out phase unwrapping, and subtracts each other with fixed phase, after obtaining the phase (x, y) finally modulated by objective, recyclesReconstruct the 3-D image of surveyed target.Wherein Z is target range, and f is received striped
Spatial frequency, D are the parallax range of transmitting terminal and receiving end.
Realize the device of the Recessive light three-D imaging method, it is characterised in that including transmitting terminal, receiving end and
System control computer, the transmitting terminal include laser light source, polarization beam apparatus, cross-polarization linear phase difference transmitter；
The receiving end includes receiving telescope, polarization autodyne interference receiver, receives camera and image processor.Above-mentioned component
Positional relationship is as follows:
Under the control of System control computer, first passed around by the light beam that the laser light source exports described
The horizontal polarization light beam and vertical polarization of two equicohesive polarized orthogonals are spatially decomposed into after polarization beam apparatus by polarization
Light beam, horizontal polarization light beam and vertical polarization light beam are emitted to far field objects by cross-polarization linear phase difference transmitter.
After the echo modulated through far field objective is received by receiving telescope, received by polarization autodyne interference
Machine and reception camera carry out autodyne detection, carry out image procossing, the direction of observation and illumination side subsequently into image processor
To at α angle.
The cross-polarization linear phase difference transmitter can be sent out by horizontal polarization light-beam transmitter and vertical polarization light beam
Emitter is directly diffracted at the objective of far field, or is spatially generating two polarizations just by wavefront transform device, polarization beam apparatus
It hands over the linear phase wave of light beam poor, far field objective is transmitted to by the amplification of transmitting primary mirror.
Realize the device of the Recessive light three-D imaging method, it is characterised in that the polarization autodyne interference connects
Receipts machine be 2 × 2 180 ° of space optics bridges receive structures perhaps 2 × 4 90 ° of space optics bridges receive structures or
Single analyzer receives structure.
The reception camera is all received simultaneously by single camera, or receives 2 × 2 180 ° by two cameras are synchronous
2 × 4 90 ° of space optics bridges outgoing of two interference fields of space optics bridge outgoing or the synchronous reception of four cameras
Four interference fields.
Compared with prior art, the present invention has following technical effect that
1, the present invention is directly emitted using the light beam of two polarized orthogonals to far field objects, passes through horizontal polarization light-beam transmitter
Change different recessive fringe periods with the spacing of vertical polarization light beam transmitter, overall structure is simpler compact, resists
Vibrate, reduce the complexity of emission system, convenient for control, strong flexibility, especially suitable for distant-range high-precision it is three-dimensional at
Picture.
2, polarization autodyne of the invention interference receiver uses 2 × 2 180 ° of optical bridging device balance receptions, and utilizes Fu
In leaf transformation obtain target three-dimensional image, can effectively eliminate bias light interference, expand three-dimensional elevation altitude range measurement.
3, polarization autodyne of the invention interference receiver is received simultaneously using 2 × 4 90 ° of optical bridging devices, and passes through four steps
Phase shift method obtains target three-dimensional image, four width images needed for 4 step phase-shifting method of spatially synchronization gain, have fast imaging,
The advantages that precision is high, ambient noise inhibits, the dynamic object three-dimensional imaging especially suitable for high-speed, high precision.
4, linear translation diffraction of the present invention using transmitting light beam or the orthogonal polarized light beam using linear phase difference amplify
It transmiting to obtain the recessive interference phase shift in target far field, phase solution elevation is synchronized by reception system, three-dimensional imaging precision is high,
Simultaneously because emitting using polarized orthogonal, it can further reflect the polarization characteristic of target.
Detailed description of the invention
Fig. 1 is Recessive light three-D imaging method step schematic diagram of the present invention.
Fig. 2 is Recessive light three-D imaging method structural schematic diagram of the present invention.
Fig. 3 is the direct diffraction transmitting example structure schematic diagram of Recessive light three-D imaging method of the present invention.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples, but protection model of the invention should not be limited with this
It encloses.
Referring initially to Fig. 1, Fig. 1 is Recessive light three-D imaging method step schematic diagram of the present invention.As seen from the figure, of the invention
Recessive light three-D imaging method, step include:
1. crossed polarized light linear phase difference transmitting (generation of i.e. recessive interference fringe):
Again referring to Fig. 2, Fig. 2 is the structural schematic diagram of Recessive light three-D imaging method of the present invention.As seen from the figure, originally
Invention Recessive light three-dimensional imaging structure is made of transmitting terminal, receiving end and System control computer 8, the transmitting terminal packet
Include laser light source 1, polarization beam apparatus 2, by horizontal polarization light-beam transmitter and vertical polarization light beam transmitter form it is orthogonal partially
Shake linear phase difference transmitter 3；The receiving end includes receiving telescope 4, polarization autodyne interference receiver 5, receives camera
6, image processor 7；
Again referring to Fig. 3, Fig. 3 is that the direct diffraction transmitting example structure of Recessive light three-D imaging method of the present invention is shown
It is intended to.The light beam that the laser light source 1 exports spatially is divided by polarization after first passing around the polarization beam apparatus 2
Solution is the horizontal polarization light beam and vertical polarization light beam of two equicohesive polarized orthogonals, horizontal polarization light beam and orthogonal polarized light
Beam passes through horizontal polarization light-beam transmitter respectively and vertical polarization light beam transmitter is directly diffracted into far field objects.The transmitting
Aperture can be circular aperture or square aperture.
Horizontal polarization light-beam transmitter and vertical polarization light beam transmitter are set as circular aperture, the diameter of circular aperture
For a, and the center of two polarized orthogonals transmitting light beam is the central axis of coordinate system, then circular hole is mathematically represented asWithWherein, d is the centre distance of two circular apertures, then spreads out
It is mapped to the Fourier transformation that the far field light path that distance is Z is distributed as two apertures, can be written as
Wherein, E contains diffraction factor, J1For single order Bessel function of the first kind.Two light of the polarized orthogonal then emitted
Beam is in the phase difference of the far-field position of target range Z
Therefore, the recessive fringe period of target range Z location is
2. polarizing autodyne interference to receive:
From Figure 2 it can be seen that the recessive interference fringe is received after the modulation of far field objective by receiving telescope 4,
It is balanced detection by polarization autodyne interference receiver 5 and reception camera 6, the image finally detected is through far field objects three-dimensional
The dominant interference fringe field of modulation.The polarization autodyne interference receiver 5 is that 2 × 2 180 ° of space optics bridges receive knot
Perhaps 2 × 4 90 ° of space optics bridges receive structure to structure or single analyzer receives structure；The reception camera 6
It is all received simultaneously by single camera, or receives the two of the outgoing of 2 × 2 180 ° of space optics bridges by two cameras are synchronous
A interference field, synchronous four interference fields for receiving the outgoing of 2 × 4 90 ° of space optics bridges of four cameras.
It is connect when the polarization autodyne interference receiver 5 receives structure synchronization using 2 × 2 180 ° of space optics bridges
When receiving two width interference fields, the intensity of interference field is respectively
I1(x, y)=A (x, y)+B (x, y) cos (2 π fx+ φ (x, y))
I2(x, y)=A (x, y)-B (x, y) cos (2 π fx+ φ (x, y))
Wherein, A (x, y) indicates background intensity, and B (x, y)/A (x, y) is the comparison of striped, and f is the spatial frequency of striped,
Phase function φ (x, y) illustrates the deformation of striped, and related with the 3 d shape z=h (x, y) of object, meets
Wherein Z is target range, and D is to receive camera at a distance from launching centre, big in observed range and interference fringe
When more situations, it can be approximated to be
It is received when the polarization autodyne interference receiver 5 receives structure synchronization using 2 × 4 90 ° of space optics bridges
Behind four width interference fringe fields, the interference fringe picture of shooting has
I1(x, y)=A (x, y)+B (x, y) cos (2 π fx+ φ (x, y))
I2(x, y)=A (x, y)+B (x, y) cos (2 π fx+ φ (x, y)+pi/2)
I3(x, y)=A (x, y)+B (x, y) cos (2 π fx+ φ (x, y)+π)
I4(x, y)=A (x, y)+B (x, y) cos (2 π fx+ φ (x, y)+3 pi/2)
When the polarization autodyne interference receiver 5 is that single analyzer receives structure, the single interference field of acquisition
Intensity is respectively
I1(x, y)=A (x, y)+B (x, y) cos (2 π fx+ φ (x, y))
3. image real time transfer:
It is received by receiving telescope, after polarization autodyne interference receiver and camera interference reception, then uses fourier transform method
Or four step phase-shifting method carry out phase demodulating.
It is connect when the polarization autodyne interference receiver 5 receives structure synchronization using 2 × 2 180 ° of space optics bridges
When receiving two width interference fields, imaging is carried out by System control computer 8 and image processor 7, to two width interference fringe field phases
After subtracting, have
I (x, y)=I1(x,y)-I2(x, y)=2B (x, y) cos (2 π fx+ φ (x, y))
Then fourier transform method is used, Fourier analysis, filtering and processing, Phase Unwrapping Algorithm is carried out, obtains object
The phase information φ (x, y) of 3 d shape distributed acquisition target.
Since Fourier transform profilometry (FTP) has used Fourier transformation and filtering in a frequency domain to calculate, only frequency
Fundamental component in spectrum is effective for rebuilding 3 d shape, therefore prevents from the requirement of spectral aliasing from limiting FTP being imaged
Maximum magnitude.Its restrictive condition meets
It is received when the polarization autodyne interference receiver 5 receives structure synchronization using 2 × 4 90 ° of space optics bridges
Behind four width interference fringe fields, imaging is carried out by System control computer 8 and image processor 7, is obtained using four step phase-shifting methods
The phase information for taking target, the wrapped phase information finally obtained are
When the polarization autodyne interference receiver 5 is that single analyzer receives structure, by 8 He of System control computer
Image processor 7 carries out imaging, using fourier transform method, carries out Fourier analysis, filtering and processing, unpacking phase
Position, obtains the phase information φ (x, y) of the 3 d shape distributed acquisition target of object.
4. 3-D image reconstructs:
Phase unwrapping is carried out to the phase information, and is subtracted each other with fixed phase, obtains finally being modulated by objective
Phase (x, y) after, recycleReconstruct the 3-D image of surveyed target.
Fig. 2 and Fig. 3 is the structural schematic diagram of preferred embodiment, and specific structure and parameter are as follows:
Assuming that laser wavelength lambda=1 μm used, target range Z=0.5m, using the polarization maintaining optical fibre of single mode polarized orthogonal,
About 10 μm of its fibre diameter, transmitting field angle is about 244mrad, therefore the observable interference fringe area of 0.5m operating distance
For 250mm, the interference fringe modulated by elevation is recorded using CCD camera 6 is received, in order to completely record interference wave surface, is received
The fringe spacing of face position must satisfy 2 Δ x of T ' >, and Δ x is the size of CCD sensitivity pixel.5 μm of the face element size of normal CCD,
The pixel of CCD is 4000 × 3000, receives camera 6 and uses focal length 50mm, then field of view of receiver is 300mrad, and CCD receptor surface is
The reduced image of tested surface, minification are about 10 times, therefore the fringe period of imaging surface meets T > 10T '=0.1mm, if
Meter fringe period is 1mm, then the fibre core distance of two optical fiber isDesign direction of observation and illumination direction
The angle α be 10 °, then receive CCD camera 6 and emit fibre core lateral distance be D=88.2mm.
Claims (5)
1. a kind of Recessive light three-D imaging method, it is characterised in that: cross-polarization light emitting is utilized, in far field objective
Place generate have linear phase wave it is poor, by receiving telescope, polarization autodyne interference receiver and receive camera to target echo into
The interference of row autodyne receives, then carries out phase demodulating with fourier transform method or four step phase-shifting methods, thus obtain objective at
Picture, steps are as follows for specific method:
1. the linear phase wave difference of orthogonal polarized light beam emits, two orthogonal polarized light beams do not generate interference, i.e., recessive interference item
The generation of line: two equicohesive polarizations are decomposed into after first passing around polarization beam apparatus using the light beam that laser light source exports
Orthogonal horizontal polarization light beam and vertical polarization light beam, horizontal polarization light beam and vertical polarization light beam pass through the linear phase of cross-polarization
Potential difference transmitter is emitted at far field objects, and the orthogonal polarized light field of final goal position is described as
(x, y) is objective plane coordinate in formula, and S (x, y) contains the related factor such as system structure arrangement and diffraction, and λ is sharp
Optical wavelength, Z are target range, and d is the controlling elements of two polarized orthogonal Beam Wave-Front linear phase differences；
2. polarization autodyne interference detection: after the echo of far field objective modulation is received by receiving telescope, by polarization
Autodyne interferes receiver and camera to carry out autodyne detection, obtains image；
3. image real time transfer: image fourier transform method or four step phase-shifting methods to acquisition carry out phase demodulating, obtain phase
Position information；
4. carrying out phase unwrapping to the phase information, obtain the 3 d shape information of object: to the phase information into
Row phase unwrapping, and subtract each other with fixed phase, after obtaining the phase (x, y) finally modulated by objective, recycleThe 3-D image of surveyed target is reconstructed, wherein Z is target range, and f is received striped
Spatial frequency, D are the parallax range of transmitting terminal and receiving end.
2. realizing the device of Recessive light three-D imaging method described in claim 1, it is characterised in that including transmitting terminal, connect
Receiving end and System control computer (8), the transmitting terminal include laser light source (1), polarization beam apparatus (2), cross-polarization line
Property phase difference transmitter (3)；The receiving end includes receiving telescope (4), polarization autodyne interference receiver (5), receives phase
Machine (6) and image processor (7)；
Under the control of System control computer (8), first passed around by the light beam that the laser light source (1) exports described
Polarization beam apparatus (2) after the horizontal polarization light beam of two equicohesive polarized orthogonals and vertical is spatially decomposed by polarization
Light beam, horizontal polarization light beam and vertical polarization light beam are emitted to far field by cross-polarization linear phase difference transmitter (3)
Target；
The echo that objective is modulated through far field by receiving telescope (4) receive after, by polarization autodyne interference receiver (5) and
It receives camera (6) and carries out autodyne detection, carry out image procossing, direction of observation and illumination direction subsequently into image processor (7)
It is at α angle.
3. the device of Recessive light three-D imaging method according to claim 2, it is characterised in that described is orthogonal inclined
Vibration linear phase difference transmitter (3) can directly be diffracted into far field by horizontal polarization light-beam transmitter and vertical polarization light beam transmitter
At objective, or spatially generate by wavefront transform device, polarization beam apparatus the linear phase wave of two polarized orthogonal light beams
Difference is transmitted to far field objective by the amplification of transmitting primary mirror.
4. the device of Recessive light three-D imaging method according to claim 2, it is characterised in that the polarization is certainly
Difference interference receiver (5) is that 2 × 2 180 ° of space optics bridges receive structure or 2 × 4 90 ° of space optics bridges connect
It receives structure or single analyzer receives structure.
5. the device of Recessive light three-D imaging method according to claim 2, it is characterised in that the reception phase
Machine (6) is all received simultaneously by single camera, or receives 2 × 2 180 ° of space optics bridge outgoing by two cameras are synchronous
Two interference fields or synchronous four interference fields for receiving the outgoing of 2 × 4 90 ° of space optics bridges of four cameras.
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| CN111076729B (en) * | 2019-12-21 | 2021-07-23 | 北京跟踪与通信技术研究所 | Deep space spacecraft relative position measuring method based on intensity coherent detection array |
| CN113630591B (en) * | 2021-06-21 | 2024-01-30 | 上海师范大学 | Invisible vortex structured light three-dimensional imaging method based on asymmetric encryption |
| CN116242278B (en) * | 2023-05-11 | 2023-07-11 | 山东高速工程检测有限公司 | Orthogonal optical fiber interference fringe projector for three-dimensional measurement of asphalt pavement texture |
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