CN107340546A - A kind of undersea detection divides the double CCD real-time polarizations imaging devices in aperture and method - Google Patents
A kind of undersea detection divides the double CCD real-time polarizations imaging devices in aperture and method Download PDFInfo
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Abstract
The invention discloses a kind of undersea detection to divide the double CCD real-time polarizations imaging devices in aperture and method, including detected target, preposition aperture imaging lens group, no polarization Amici prism, polarizer group, rearmounted point of aperture imaging lens group, ccd detector, LED light source and transparent resin sealed compartment altogether.The present invention divides aperture design device using CCD, completes point aperture with the polarized imaging system for dividing amplitude to be combined, realizes to being gathered while circular polarization, linear polarization original image and light intensity image.The present invention is using more optical information fusion polarization imaging method based on machine learning, for different water depth, the underwater environment of water quality, the optical parametric such as the color based on image, light intensity, degree of polarization and water body environment and detection range are modeled under the conditions of artificial light source, establish study mechanism, obtain the adaptability for higher contrast, the Underwater Target Detection image of definition, improving underwater polarization imaging.
Description
Technical field
Involved in the present invention is a kind of underwater optics imaging device and method, the device of especially underwater polarization imaging and
Method.
Background technology
Polarization imaging technology is the new target acquisition technology to grow up in recent ten years, using polarization imaging technology not
The information such as the roughness, humidity, material physicochemical property of some natural target objects, and target acquisition under water can only be characterized
When can be in various degree reduction into the rear orientation light and target reflecting light of detector, most of rear orientation light is cut
And most of target reflecting light can reach detector, i.e. the incident ratio of target reflecting light is improved, on the detector shape
Into picture contrast be improved, so can largely improve the definition of image using polarization imaging technology,
And then increase detection range and investigation depth.Therefore, imaging field has good development and should polarization imaging technology under water
Use prospect.
The research of underwater polarization imaging can be summarized as two major classes both at home and abroad at present, first, in the method base of Laser active illuminated imaging
Polarizer is introduced on plinth, to suppress water body rear orientation light；Second, remote sensing polarization imaging method is used for reference, with the side of rotatory polarization piece
Formula obtains multi-angle polarization image, and then solves the polarization characteristics such as degree of polarization, the angle of polarization, to improve underwater target detection ability.
Yet with spectrum, light intensity attenuation and light scattering of the aqueous medium in itself and caused by suspended particulate, cause underwater
Image chroma distortion, details obscure, and it is this influence and it is non-stable, with water quality, imaging the depth of water and sighting distance and move
State changes, therefore simple transplanting or improvement remote sensing polarization imaging method carry out Underwater Target Detection and be imaged matter in actual applications
Raising degree is measured than relatively limited, while underwater floating field is not suitable for using the timesharing polarization imaging method of rotatory polarization chip
Close.Therefore, the present invention proposes that one kind divides polarization imaging device and method under the double CCD Real-time Waters in aperture, solves spectrum, light intensity attenuation
And target acquisition caused by light scattering etc. is fuzzy, contrast is low, and caused by timesharing polarization imaging the problems such as flating.
The content of the invention
The present invention proposes that one kind divides polarization imaging device and method under the double CCD Real-time Waters in aperture, solves spectrum, light intensity attenuation
And target acquisition caused by light scattering etc. is fuzzy, contrast is low, and caused by timesharing polarization imaging the problems such as flating.
The technical solution adopted by the present invention is：A kind of undersea detection divides aperture double CCD real-time polarization imaging devices, including quilt
Detect target, preposition aperture imaging lens group altogether, no polarization Amici prism, polarizer group, rearmounted point of aperture imaging lens group,
Ccd detector, LED light source and transparent resin sealed compartment；
The detected target is after LED light source lighting, and its reflected light is successively by preposition aperture imaging lens group, nothing altogether
Polarization splitting prism, two groups of polarizer groups, two groups of rearmounted point of aperture imaging lens groups, are ultimately imaged in two ccd detectors
On；
Preposition aperture imaging lens group, no polarization Amici prism, polarizer group, the rearmounted point of aperture imaging lens altogether
Group and ccd detector are fixed in transparent resin sealed compartment；
In two groups of polarizer groups, one group is four-way polarizer group, and another group is then binary channels polarizer
Group；Four-way polarizer group places a linear polarizer respectively, its angle of polarization be respectively set to 0 °, 45 °, 90 °, 45 ° and
135°；Binary channels polarizer group places a circular polarizing disk all the way, another way place it is a piece of with polarizer thickness identical without
Parallel flat is polarized, to reduce each path optics imaging difference；Two groups of rearmounted point of aperture imaging lens groups respectively with two groups of polarizations
Element group is corresponding, and each passage lens group optical axis and preposition aperture lens group optical axis deviation distance e=4.2mm altogether, ccd detector
Pixel dimension is 8 μm of 8 μ m, ensures that inconocenter offset is equal to the half of image height.
Preferably, the transparent resin sealed compartment Ethernet watertight connector interface, makes microprocessor and host computer profit
Communicated with netting twine, realize the transmission of image/video and receive the control of host computer.
Use the double CCD real-time polarizations imaging methods in undersea detection point aperture of said apparatus for：Detected target is through unbiased
Shake after Amici prism, cause transmission image and reflected image mirror image each other, therefore, reflected image is entered by mirror image processing first
Row pretreatment, makes it have identical direction.Image is then subjected to binary conversion treatment, carried based on morphological images handling principle
Each image edge information detected on same ccd detector is taken, carries out image segmentation.Image registration is intended using feature based
Method for registering, need coloured image being converted into gray level image first, using SURF algorithm, the whole original images split are entered
Row integral image is converted, and characteristic point is detected using approximate Hessian matrixes, then with Haar small echos response construction feature vector
Distributed intelligence, characteristic point is described.With preferential kD tree methods matching characteristic point pair, reject and miss then in conjunction with RANSAC algorithms
Matching double points, least square method obtain the transformation matrix between image, finally enter row interpolation using bilinear interpolation method and adopt again
Sample, obtain registering image result.
It is 0 ° to the angle of polarization after registration according to Stokes vector Ss={ I, Q, U, V } T, 45 °, 90 °, on 135 ° of directions
Target polarization gray level image solves degree of polarization figure A；Targeted color image zooming-out light intensity characteristic figure B；Using in rgb color space three
The extraction of gray scale linear relationship the color characteristic figure C, the circular polarization image D of gray processing of individual passage.Using weighted strategy to above-mentioned figure
As being merged, each weight is learnt to obtain by underwater optics priori.Optics priori learning process is to be directed to different materials
Matter, the target of color extract light intensity, spectrum and degree of polarization figure under different quality and detection range, form training sample, with poly-
Class method is classified to it, then for different classes of, solution optimal weights；Instructed with priori by by the inspection of altimetric image
Survey result, it may be determined that object detection task is to degree of polarization, light intensity, spectrum and circular polarization information in specific underwater optics environment
Dependency degree, i.e. weight, represented respectively with m, n, p, q.The special scenes can be then obtained according to formula X=mA+nB+pC+qD
Fused images.
Beneficial effect：The present invention divides aperture design device using CCD, and completion point aperture is the same as dividing what amplitude was combined to polarize
As system, realize to being gathered while circular polarization, linear polarization original image and light intensity image.
The present invention is using more optical information fusion polarization imaging method based on machine learning, for different water depth, water quality
Underwater environment, under the conditions of artificial light source the optical parametric such as the color based on image, light intensity, degree of polarization and water body environment and
Detection range is modeled, and establishes study mechanism, is obtained with higher contrast, the Underwater Target Detection image of definition, is carried
The adaptability of high underwater polarization imaging.
Brief description of the drawings
Fig. 1 is that the present invention divides the underwater polarization imaging device structural representations of the double CCD in aperture.1st, detected target；2nd, it is preposition
Aperture imaging lens group altogether；3rd, no polarization Amici prism；4th, four-way polarizer group；5th, rearmounted point of aperture imaging of four-way is saturating
Microscope group；6th, ccd detector one；7th, binary channels polarizer group；8th, rearmounted point of aperture imaging lens group of binary channels；9th, CCD detection
Device two；10th, LED light source one；11st, LED light source two；12nd, transparent resin sealed compartment.
Fig. 2 a are rearmounted point of aperture lens group forward direction schematic diagram (four-way group)；
Fig. 2 b are rearmounted point of aperture lens group forward direction schematic diagram (binary channels group)；
Fig. 3 is the Underwater Target Detection theory diagram based on priori.
Embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described：
The present invention proposes that one kind divides polarization imaging device under the double CCD Real-time Waters in aperture, and detected target 1 is through two 10W
After LED light source 1 and LED light source 2 11, its reflected light is successively by preposition aperture imaging lens group 2 altogether, no polarization light splitting rib
3, two groups of polarizer groups of mirror, two groups of rearmounted point of aperture imaging lens groups, are ultimately imaged on two groups of ccd detectors.
Preposition aperture imaging lens group 2, no polarization Amici prism 3, polarizer group, rearmounted point of aperture imaging lens group altogether
And ccd detector is fixed in transparent resin sealed compartment 12.
Transparent resin sealed compartment 12 designs Ethernet watertight connector interface, is used with Atmega8 microprocessors and host computer
Netting twine is communicated, and host computer procedure is write using VC, is realized the transmission of image/video and is received the control of host computer.
The preposition focal length of aperture imaging lens group 2 altogether is 100mm, and rearmounted point of aperture imaging lens group focal length is 35mm, preceding
Two lens group spacing are 47mm afterwards, and in two groups of polarizer groups, one group is four-way polarizer group 4, and another group is then bilateral
Road polarizer group 7.Four-way polarizer group 4 places a linear polarizer respectively, and its angle of polarization is respectively set to 0 °, 45 °,
90 °, 45 ° and 135 °.A circular polarizing disk is placed on the tunnel of binary channels polarizer group 7 one, and another way is placed a piece of thick with polarizer
Identical no polarization parallel flat is spent, to reduce each path optics imaging difference.Rearmounted point of aperture imaging lens group 5 of four-way with
The correspondence of four-way polarizer group 4, it is ccd detector 1 after rearmounted point of aperture imaging lens group 5 of four-way, binary channels is rearmounted
Divide aperture imaging lens group 8 corresponding with binary channels polarizer group 7, visited after rearmounted point of aperture imaging lens group 8 of binary channels for CCD
Survey device 29, and each passage lens group optical axis and the preposition optical axis deviation distance e=4.2mm of aperture lens group 2 altogether, ccd detector picture
Elemental size is 8 μm of 8 μ m.
Target causes transmission image and reflected image mirror image each other, therefore, passes through mirror image processing first after Amici prism
Reflected image is pre-processed, makes it have identical direction.Image is then subjected to binary conversion treatment, based on morphology figure
As handling principle extracts each image edge information detected on same ccd detector, progress image segmentation.Image registration is intended adopting
With the method for registering of feature based, need coloured image being converted into gray level image first, it is complete to what is split using SURF algorithm
Portion's original image carries out integral image conversion, detects characteristic point using approximate Hessian matrixes, is then responded with Haar small echos
Construction feature vector distribution information, characteristic point is described.With preferential kD tree methods matching characteristic point pair, then in conjunction with
RANSAC algorithms reject Mismatching point pair, and least square method obtains the transformation matrix between image, finally utilizes bilinear interpolation
Method enters row interpolation resampling, obtains registering image result.
It is 0 ° to the angle of polarization after registration according to Stokes vector Ss={ I, Q, U, V } T, 45 °, 90 °, on 135 ° of directions
Target polarization gray level image solves degree of polarization figure A；Targeted color image zooming-out light intensity characteristic figure B；Using in rgb color space three
The extraction of gray scale linear relationship the color characteristic figure C, the circular polarization image D of gray processing of individual passage.Using weighted strategy to above-mentioned figure
As being merged, each weight is learnt to obtain by underwater optics priori.Optics priori learning process is to be directed to different materials
Matter, the target of color extract light intensity, spectrum and degree of polarization figure under different quality and detection range, form training sample, with poly-
Class method is classified to it, then for different classes of, solution optimal weights；Instructed with priori by by the inspection of altimetric image
Survey result, it may be determined that object detection task is to degree of polarization, light intensity, spectrum and circular polarization information in specific underwater optics environment
Dependency degree, i.e. weight, represented respectively with m, n, p, q.The special scenes can be then obtained according to formula X=mA+nB+pC+qD
Fused images.
Certainly, the above is the representative instance of the present invention, and in addition, the present invention can also have other a variety of specific implementations
Mode, all technical schemes formed using equivalent substitution or equivalent transformation, is all fallen within the scope of protection of present invention.
Claims (3)
1. a kind of undersea detection divides aperture double CCD real-time polarization imaging devices, it is characterised in that：Including detected target, preposition
Aperture imaging lens group, no polarization Amici prism, polarizer group, rearmounted point of aperture imaging lens group, ccd detector, LED altogether
Light source and transparent resin sealed compartment；
The detected target is after LED light source lighting, and its reflected light is successively by preposition aperture imaging lens group, no polarization altogether
Amici prism, two groups of polarizer groups, two groups of rearmounted point of aperture imaging lens groups, are ultimately imaged on two ccd detectors；
The preposition aperture imaging lens group altogether, no polarization Amici prism, polarizer group, rearmounted point of aperture imaging lens group and
Ccd detector is fixed in transparent resin sealed compartment；
In two groups of polarizer groups, one group is four-way polarizer group, and another group is then binary channels polarizer group；Four
Passage polarizer group places a linear polarizer respectively, and its angle of polarization is respectively set to 0 °, 45 °, 90 °, 45 ° and 135 °；It is double
Passage polarizer group places a circular polarizing disk all the way, and another way is placed a piece of parallel with polarizer thickness identical no polarization
Flat board；Two groups of rearmounted point of aperture imaging lens groups are corresponding with two groups of polarizer groups respectively, and each passage lens group optical axis is with before
Common aperture lens group optical axis deviation distance e=4.2mm is put, ccd detector pixel dimension is 8 μm of 8 μ m, ensures inconocenter skew
Half of the amount equal to image height.
2. a kind of undersea detection according to claim 1 divides aperture double CCD real-time polarization imaging devices, it is characterised in that：
The transparent resin sealed compartment Ethernet watertight connector interface, makes microprocessor be communicated with host computer using netting twine.
3. a kind of undersea detection using device according to claim 1 divides aperture double CCD real-time polarization imaging methods, it is special
Sign is：
Detected target causes transmission image and reflected image mirror image each other, therefore, passed through first after no polarization Amici prism
Mirror image processing pre-processes to reflected image, makes it have identical direction；Image is then subjected to binary conversion treatment, is based on
Morphological images handling principle extracts each image edge information detected on same ccd detector, carries out image segmentation；Image
Registration intends the method for registering using feature based, needs coloured image being converted into gray level image first, using SURF algorithm, to dividing
The whole original images cut carry out integral image conversion, characteristic point are detected using approximate Hessian matrixes, then with Haar
Small echo responds construction feature vector distribution information, and characteristic point is described；With preferential kD tree methods matching characteristic point pair, then
Mismatching point pair is rejected with reference to RANSAC algorithms, least square method obtains the transformation matrix between image, finally utilizes bilinearity
Interpolation method enters row interpolation resampling, obtains registering image result；
It is 0 ° to the angle of polarization after registration according to Stokes vector Ss={ I, Q, U, V } T, 45 °, 90 °, the target on 135 ° of directions
Polarize gray level image and solve degree of polarization figure A；Targeted color image zooming-out light intensity characteristic figure B；It is logical using three in rgb color space
The extraction of gray scale linear relationship the color characteristic figure C, the circular polarization image D of gray processing in road；Above-mentioned image is entered using weighted strategy
Row fusion, each weight are learnt to obtain by underwater optics priori；Optics priori learning process is for unlike material, face
The target of color extracts light intensity, spectrum and degree of polarization figure under different quality and detection range, training sample is formed, with clustering method
It is classified, then for different classes of, solution optimal weights；Instructed with priori by by the detection knot of altimetric image
Fruit, the dependency degree of object detection task in specific underwater optics environment to degree of polarization, light intensity, spectrum and circular polarization information is determined,
That is weight, represented respectively with m, n, p, q；The fused images of the special scenes are then obtained according to formula X=mA+nB+pC+qD.
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Cited By (15)
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| CN108548603A (en) * | 2018-04-12 | 2018-09-18 | 中国科学院光电技术研究所 | Non-coaxial four-channel polarization imaging method and system |
| CN109118460A (en) * | 2018-06-27 | 2019-01-01 | 河海大学 | A kind of light splitting polarization spectrum synchronizing information processing method and system |
| CN109188395A (en) * | 2018-07-19 | 2019-01-11 | 合肥工业大学 | A kind of full polarized fringe pipe laser imaging radar device |
| CN109343230A (en) * | 2018-09-17 | 2019-02-15 | 中国人民解放军海军工程大学 | A kind of full polarization imaging device and method simultaneously |
| CN109357764A (en) * | 2018-08-09 | 2019-02-19 | 北京理工大学 | A kind of double detector dynamic local polarized imaging system |
| CN109905585A (en) * | 2019-04-02 | 2019-06-18 | 浙江大学 | A kind of rotary-type underwater polarization camera |
| CN110057754A (en) * | 2019-05-23 | 2019-07-26 | 南京信息工程大学 | It is a kind of to divide aperture optical camera lens for underwater polarization imaging |
| CN111812039A (en) * | 2020-06-19 | 2020-10-23 | 天津大学 | Underwater touch sensing device and method based on polarization imaging principle |
| CN112164017A (en) * | 2020-09-27 | 2021-01-01 | 中国兵器工业集团第二一四研究所苏州研发中心 | Deep learning-based polarization colorization method |
| CN112379391A (en) * | 2020-09-30 | 2021-02-19 | 西安电子科技大学 | Underwater polarization imaging method and device |
| CN113504643A (en) * | 2021-06-23 | 2021-10-15 | 中国科学院长春光学精密机械与物理研究所 | Underwater low-light-level color imaging design method based on prism light splitting |
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| CN109118460A (en) * | 2018-06-27 | 2019-01-01 | 河海大学 | A kind of light splitting polarization spectrum synchronizing information processing method and system |
| CN109118460B (en) * | 2018-06-27 | 2020-08-11 | 河海大学 | Method and system for synchronously processing light-splitting polarization spectrum information |
| CN109188395A (en) * | 2018-07-19 | 2019-01-11 | 合肥工业大学 | A kind of full polarized fringe pipe laser imaging radar device |
| CN109357764A (en) * | 2018-08-09 | 2019-02-19 | 北京理工大学 | A kind of double detector dynamic local polarized imaging system |
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| CN109905585A (en) * | 2019-04-02 | 2019-06-18 | 浙江大学 | A kind of rotary-type underwater polarization camera |
| CN110057754A (en) * | 2019-05-23 | 2019-07-26 | 南京信息工程大学 | It is a kind of to divide aperture optical camera lens for underwater polarization imaging |
| CN110057754B (en) * | 2019-05-23 | 2024-04-19 | 南京信息工程大学 | Sub-aperture optical lens for underwater polarization imaging |
| CN111812039A (en) * | 2020-06-19 | 2020-10-23 | 天津大学 | Underwater touch sensing device and method based on polarization imaging principle |
| CN111812039B (en) * | 2020-06-19 | 2022-10-04 | 天津大学 | Underwater touch sensing device and method based on polarization imaging principle |
| CN112164017A (en) * | 2020-09-27 | 2021-01-01 | 中国兵器工业集团第二一四研究所苏州研发中心 | Deep learning-based polarization colorization method |
| CN112164017B (en) * | 2020-09-27 | 2023-11-17 | 中国兵器工业集团第二一四研究所苏州研发中心 | Polarization colorization method based on deep learning |
| CN112379391A (en) * | 2020-09-30 | 2021-02-19 | 西安电子科技大学 | Underwater polarization imaging method and device |
| CN112379391B (en) * | 2020-09-30 | 2022-11-08 | 西安电子科技大学 | Underwater polarization imaging method and device |
| CN113504643B (en) * | 2021-06-23 | 2022-07-19 | 中国科学院长春光学精密机械与物理研究所 | Underwater low-light-level color imaging design method based on prism light splitting |
| CN113504643A (en) * | 2021-06-23 | 2021-10-15 | 中国科学院长春光学精密机械与物理研究所 | Underwater low-light-level color imaging design method based on prism light splitting |
| WO2023045116A1 (en) * | 2021-09-26 | 2023-03-30 | 深圳先进技术研究院 | Image construction method |
| CN114137781A (en) * | 2021-12-06 | 2022-03-04 | 湖北久之洋红外系统股份有限公司 | Cross-medium imaging multifunctional optical system and control method |
| CN114324185A (en) * | 2022-01-04 | 2022-04-12 | 浙江大学 | Underwater polarization detection device based on Stokes vector |
| CN114782451A (en) * | 2022-06-23 | 2022-07-22 | 季华实验室 | Workpiece defect detection method and device, electronic equipment and readable storage medium |
| CN114782451B (en) * | 2022-06-23 | 2022-09-16 | 季华实验室 | Workpiece defect detection method and device, electronic equipment and readable storage medium |
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