CN108989682B - Active light field depth imaging method and system - Google Patents
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Abstract
The invention discloses an active light field depth imaging method and system, which are used for imaging an object to be detected and solving the problem that external factors cause interference to the radiation intensity of a light field reflected by the surface of the object to reduce the robustness and precision of light field depth calculation in the prior art, and comprise the following steps: recording the light field with the phase coding information reflected by the object to be measured through a light field imaging device; demodulating the phase encoded information from the recorded light field; and calculating an optimal depth map by recording light field depth clues by taking the phase coding information as a matching feature; because the phase coding information is not easily interfered by external factors, the robustness and the precision of the light field depth calculation are improved by adopting the phase coding information of the light field as the matching characteristic of the light field.
Description
Technical Field
The invention relates to the field of optical imaging, in particular to an active light field depth imaging method and system.
Background
Light field imaging is a novel computational imaging technique, can record the space and the angle information of light simultaneously, has broken through the performance that traditional imaging technique can only record light intensity information. For example, viewpoints can be converted through light angle information, and multi-viewpoint imaging is realized; and realizing refocusing imaging by resampling the light field on different image planes. Based on the imaging performances, the light field imaging also has a depth perception function, and light field depth cue such as multi-viewpoint parallax, refocusing blur/sharpness and the like is utilized for light field depth calculation.
In the existing light field depth calculation method, when a light field depth clue is constructed, radiation intensity information recorded by a light field is generally used as a basis, and the method can be classified into passive light field depth calculation; therefore, the existing light field depth calculation method is too dependent on the radiation intensity information of the object recorded by the light field, and factors such as the reflectivity of the surface of the object, ambient illumination, scene shading, detection noise and the like can cause interference on the radiation intensity of the object, so that the robustness and the precision of the light field depth calculation are reduced.
Disclosure of Invention
The invention mainly aims to provide an active light field depth imaging method and system, and aims to solve the technical problem that in the prior art, a passive light field depth imaging method is easily interfered by external factors to reduce the robustness and precision of light field depth calculation.
In order to achieve the above object, the present invention provides an active light field depth imaging method, comprising: recording a reflected light field of an object to be detected, wherein the reflected light field is accompanied with phase coding information; demodulating the phase encoded information from the recorded reflected light field; and calculating an optimal depth map by recording depth cues of the reflected light field by taking the phase coding information as a matching feature.
By adopting the technical scheme, after the reflected light field of the object to be detected and the phase coding information attached to the reflected light field are recorded, the phase coding information is not easily interfered by the factors such as the reflectivity of the surface of the object, the ambient light, the scene shading, the detection noise and the like, so that the phase coding information can be used as the high-quality matching characteristic of the reflected light field by demodulating the phase coding information of the reflected light field, and the robustness and the precision of the light field depth calculation are improved.
Further, after recording the reflected light field and the phase encoded information, the method further comprises: parameterizing the reflected light field; parameterizing the reflected light field according to a biplane, the parameterized reflected light field being denoted as L (s, u), where L denotes the radiation intensity of the light ray, and s and u denote the intersection points of the light ray with the two planes; processing the parameterized reflected light field to achieve object imaging.
Further, processing the parameterized reflected light field comprises: selecting light rays in different directions to realize multi-viewpoint imaging; resampling a reflected light field to achieve refocusing imaging according to ray direction information, said resampled reflected light field being denoted L(s)α，u)，sαRepresenting the amount of shear of the reflected light field, sαS + u (1-1/α), α denotes the focal length ratio of the image plane at which the reflected light field resamples.
Further, having a phaseThe reflected light field of the encoded information is represented as:
wherein A and B represent background intensity and modulation intensity, respectively,
indicating the modulation phase, i.e. the phase encoded information.
Further, phase encoding information accompanying the reflected light field is generated by a fringe projection map; the light rays in the reflected light field not only carry the phase coding information of the reflected light field, but also comprise the light ray direction information in the reflected light field, so that the phase coding information of the reflected light field is resampled according to the light ray direction information in the reflected light field; demodulating the phase encoded information comprises: phase coding information in the reflected light field is demodulated by a fringe analysis technique.
Further, the method further comprises: constructing an energy function of the resampled reflected light field from the reflected light field depth cues, the energy function being E (L(s)αU)) and optimizing the focal length ratio α of the sampling mirror by minimizing the energy function to image the depth of the reflected light field, wherein the depth cue of the reflected light field is derived from the coupling of the ray direction information and the scene depth information to calculate the depth information of the scene by utilizing the imaging characteristics of the multi-viewpoint imaging and the refocusing imaging of the reflected light field.
Further, the method further comprises: and replacing the parameterized reflected light field L (s, u) with the phase coding information to construct and minimize an energy function, and calculating the depth information of the scene through the depth clues of the reflected light field.
Further, before recording the reflected light field with the phase encoded information, the method further comprises: generating a sine projection pattern and projecting the projection pattern to the surface of the object to be measured.
The invention also provides an active light field depth imaging system, which comprises a structured light illumination module, a light source module and a light source module, wherein the structured light illumination module is used for generating the stripe projection image and projecting the stripe projection image to the surface of an object; the light field imaging module is used for recording the direction information of the light field reflected by the object to be measured and the phase coding information of depth modulation under the structured light illumination module; and the depth imaging module is used for demodulating phase coding information from the recorded reflected light field by a fringe analysis technology, recording a depth cue of the reflected light field according to the phase coding information as a matching characteristic, and calculating an optimal depth map.
The invention provides an active light field depth imaging method and system, which have the beneficial effects that: the reflected light field of the object to be detected and the phase coding information attached to the reflected light field are recorded, the phase coding information is demodulated, and the phase coding information is used as the matching characteristic of the reflected light field, so that the matching characteristic of the reflected light field is not easily interfered by external factors, and the robustness and the precision of the light field depth calculation are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic block diagram of a process for active light field depth imaging in accordance with the present invention;
FIG. 2 is another schematic flow chart of an active light field depth imaging method according to the present invention;
FIG. 3 is a schematic block diagram of a process for calculating depth information of a scene according to an active light field depth imaging method of the present invention;
fig. 4 is a block diagram illustrating the structure of an active light field depth imaging system according to the present invention.
In the drawings, each reference numeral denotes:
1. recording a reflected light field of the object to be detected with the phase coding information; 11. parameterizing the reflected light field; 12. processing the parameterized reflected light field; 121. multi-viewpoint imaging; 122. refocusing imaging; 2. demodulating phase coding information of a reflected light field; 3. calculating an optimal depth map; 4. constructing an energy function of the resampled reflected light field; 5. calculating depth information of a scene; 6. depth cues for the reflected light field; 13. a structured light illumination module; 14. a light field imaging module; 15. a depth imaging module.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a method for active light field depth imaging includes: recording a reflected light field 1 of an object to be detected with phase coding information; demodulating phase coding information 2 of the reflected light field from the recorded reflected light field; calculating an optimal depth map 3 by recording depth clues of the reflected light field by taking the phase coding information as a matching feature; because the phase coding information is not easily interfered by factors such as reflectivity of the surface of an object, ambient illumination, scene shading, detection noise and the like, the phase coding information can be used as a high-quality matching characteristic of a reflected light field by demodulating the phase coding information of the reflected light field, so that the robustness and the precision of light field depth calculation are improved.
In the embodiment, a reflected light field with attached phase coding information of an object to be measured is recorded by a light field imaging device; when the light field imaging device records the reflected light field of the object to be detected, the light ray direction information and the intensity information in the reflected light field are recorded at the same time, so that the phase coding information of the reflected light field is resampled according to the light ray direction information in the reflected light field.
Wherein the reflected light field is recorded fromThe method for demodulating the phase coding information 2 of the reflected light field comprises the following steps: demodulating the phase encoded information in the reflected light field by fringe analysis technique, expressed as
Therefore, the demodulated phase coding information has the light ray direction information of the reflected light field, and the phase coding information of the reflected light field can be resampled according to the direction information.
Referring to fig. 2, after recording the phase encoding information of the reflected light field, the active light field depth imaging method further includes: parameterizing the reflected light field 11 and processing the parameterized reflected light field 12 to achieve object imaging; in the present embodiment, the above-mentioned reflected light field is parameterized according to two planes, and the parameterized reflected light field 11 is denoted as L (s, u), where L denotes the radiation intensity of the light ray, and (s, u) denotes the intersection of the light ray with the two planes, and s ═ r, t, (w, v), (r, t) and (w, v) are the coordinates in the two planes, respectively.
Processing the parameterized reflected light field 12 includes: selecting light rays in different directions, thereby realizing multi-viewpoint imaging 121; the reflected light field is then resampled based on the ray direction information to achieve refocused imaging 122, the resampled reflected light field being denoted L(s)α，u)，sαRepresenting the amount of shear of the reflected light field, sαS + u (1-1/α), α denotes the focal length ratio of the image plane at which the reflected light field resamples, thereby enabling refocusing imaging.
In this embodiment, the reflected light field with phase encoded information is represented as:
wherein A and B represent background intensity and modulation intensity, respectively,
indicating the modulation phase, i.e. the phase encoded information.
Please refer to the drawings2 and 3, to calculate the depth information 5 of the scene, the active light field depth imaging method further includes: constructing an energy function 4 of the resampled reflected light field according to the depth clue of the reflected light field, and calculating the depth information 5 of the scene; in the present embodiment, the energy function 4 is represented as E (L(s)αU)), and optimizes the focal length ratio α of the sampling mirror by minimizing the energy function 4, expressed as,
thereby depth imaging the reflected light field; depth clues 6 of the reflected light field are obtained through coupling according to the direction information of the light rays and the depth information of the scene, so that the depth information 5 of the scene is calculated through the multi-viewpoint imaging 121 and the refocusing imaging 122 of the reflected light field, and in the embodiment, the scene depth information is an optimal depth map.
The active light field depth imaging method further comprises: encoding information from phase
Instead of parameterizing the reflected light field L (s, u), an energy function construction and minimization 4, denoted as
Thereby calculating depth information of the scene by reflecting the optical depth cues.
Referring to fig. 1, before recording the reflected light field with phase-encoded information, the active light field depth imaging method further includes: generating a sine projection pattern 7 and projecting the sine projection pattern to the surface of an object; to facilitate the generation of the sinusoidal projection pattern 7, in the present embodiment, the reflected light field is recorded by a light field imaging device and the sinusoidal projection pattern 7 is generated on a computer.
Here, the sinusoidal fringe projection pattern 7 generated on the computer is represented by I (x, y) ═ a + bcos (2 pi fx), I represents the normalized intensity of the fringe projection map, a and b represent the fringe background intensity and modulation intensity designed by the user, respectively, f represents the fringe spatial frequency of the fringe projection map, x and y represent the abscissa and ordinate of the sinusoidal projection pattern, respectively, and pi represents the circumferential ratio.
The present embodiment further provides an active light field depth imaging system, please refer to fig. 4, which includes: a structured light illumination module 13, a light field imaging module 14 and a depth imaging module 15; the structure illumination module 13 is configured to generate a stripe projection image and project the stripe projection image to the surface of the object to be measured, so that the object to be measured is accompanied by phase encoding information; the light field imaging module 14 is configured to record direction information of a reflected light field of the object to be measured and phase encoding information of depth modulation; the depth imaging module 15 is configured to demodulate the phase encoding information through a fringe analysis technique, and record a depth cue of the reflected light field by using the phase encoding information as a feature, so as to calculate an optimal depth map.
The working principle or process of the active light field depth imaging method and system provided by the embodiment is as follows: after the reflected light field of the object to be detected and the phase coding information attached to the reflected light field are recorded, the phase coding information is not easily interfered by factors such as reflectivity of the surface of the object, ambient illumination, scene shading and detection noise, and the like, so that the phase coding information can be used as a high-quality matching characteristic of the reflected light field by demodulating the phase coding information of the reflected light field, and the robustness and the precision of light field depth calculation are improved.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and in actual implementation, there may be other divisions, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present invention is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no acts or modules are necessarily required of the invention.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In view of the above description of the active light field depth imaging method and system provided by the present invention, those skilled in the art will recognize that there are variations in the embodiments and applications of the method and system according to the teachings of the present invention.
Claims (3)
1. An active light field depth imaging method, comprising:
recording a reflected light field of an object to be detected, wherein the reflected light field is accompanied with phase coding information;
parameterizing the reflected light field;
processing the parameterized reflected light field to achieve object imaging;
parameterizing the reflected light field comprises: parameterizing the reflected light field according to a biplane, the parameterized reflected light field being denoted as L (s, u), where L denotes the radiation intensity of the light ray, and s and u denote the intersection points of the light ray with the two planes;
said parameterizing said reflected light field comprises:
selecting light rays in different directions to realize multi-viewpoint imaging;
resampling a reflected light field to achieve refocusing imaging according to ray direction information, said resampled reflected light field being denoted L(s)α，u)，sαRepresenting the amount of shear of the reflected light field, sαS + u (1-1/α), α denotes the focal length ratio of the image plane at which the reflected light field resamples;
demodulating the phase encoded information from the recorded reflected light field; and the number of the first and second groups,
calculating an optimal depth map by recording depth clues of the reflected light field by taking the phase coding information as a matching feature;
wherein the phase encoded information accompanying the reflected light field is generated by a fringe projection map;
the light rays in the reflected light field not only carry the phase coding information of the reflected light field, but also comprise the light ray direction information in the reflected light field, so that the phase coding information of the reflected light field is resampled according to the light ray direction information in the reflected light field;
the demodulating the phase encoded information from the recorded reflected light field comprises: demodulating phase coding information in the reflected light field by a fringe analysis technology;
the reflected light field with phase encoded information is represented as:
wherein A and B represent background intensity and modulation intensity, respectively,
represents the modulation phase, i.e., the phase encoding information;
constructing an energy function of the resampled reflected light field from the reflected light field depth cues, the energy function being E (L(s)αU)) and imaging the depth of reflected light field by minimizing the energy function to optimize the focal length ratio α of the sampling mirror;
the reflected light field depth cue is obtained according to the coupling of the light direction information and the scene depth information, so that the depth information of the scene is calculated by utilizing the imaging characteristics of multi-viewpoint imaging and refocusing imaging of the reflected light field;
and replacing the parameterized reflected light field L (s, u) with the phase coding information to construct and minimize an energy function, and calculating the depth information of the scene through the depth clues of the reflected light field.
2. The active light field depth imaging method of claim 1,
prior to recording the reflected light field of phase encoded information, the method further comprises:
generating a sine projection pattern and projecting the sine projection pattern to the surface of the object to be measured.
3. An active light field depth imaging system for use in the method of claim 1 or 2, comprising:
the structured light illumination module is used for generating a fringe projection image and projecting the fringe projection image to the surface of an object;
the light field imaging module is used for recording the direction information of the light field reflected by the object to be measured and the phase coding information of depth modulation under the structured light illumination module; and
and the depth imaging module is used for demodulating phase coding information from the recorded reflected light field by a fringe analysis technology, and recording a depth clue of the reflected light field according to the phase coding information as a matching feature so as to calculate an optimal depth map.
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| CN108989682B (en) * | 2018-08-06 | 2020-06-05 | 深圳大学 | Active light field depth imaging method and system |
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