CN109819235A - A kind of axial distributed awareness integrated imaging method having following function - Google Patents
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Abstract
The present invention relates to a kind of axial distributed awareness integrated imaging methods for having following function, comprising: 1, the optical axis of adjustment rotation double prism arrangement be directed toward, project target object in the imaging plane of camera and as far as possible positioned at the center of imaging plane；2, keep camera and rotate double prism arrangement relative position it is constant, mobile camera and rotation double prism arrangement simultaneously on camera optical axis direction successively acquire the image of target object on mobile multiple positions；3, it by the light back projection of the image of the target object of all acquisitions to reconstruction plane, reconstructs to obtain the reconstructed image of target object by three-dimensional computations.Compared with prior art, the present invention sufficiently combines the characteristics of function and rotation prism arrangement high-precision adjustment optical axis direction of the three-dimensional visualization of axial distributed sensor integration imaging technology, can be to block the research directions such as imaging, target classification, object identification, three-dimensional imaging to offer reference.
Description
Technical Field
The invention relates to the field of machine vision, in particular to an axial distribution perception integrated imaging method with a tracking function.
Background
Because of the characteristics of non-contact, high precision and the like, machine vision 3D imaging becomes a popular research direction at home and abroad, can be used for three-dimensional measurement and specific target identification, and has application in numerous fields such as biomedicine, geological exploration, aerospace, environmental science and the like. The existing 3D imaging technology includes a binocular vision method, a holographic display technology, a time-of-flight method, a laser radar, a structured light method and the like. Integrated imaging is a passive multi-view 3D imaging technique that can obtain different three-dimensional information of a target from multiple shooting angles. The wedge prism is a common optical component, has a function of beam deflection, and is widely applied to machine vision. The rotating double-prism device with two wedge prisms is a typical visual axis adjusting and tracking device and has the advantages of compact structure, high precision, large deflection angle and the like.
The following prior art describes a rotating biprism device and an integrated imaging method.
The prior art (patent number: 201410370054.7, 2014 30, a composite axis tracking system based on a rotating biprism device) provides a composite axis tracking system based on a rotating biprism device, which can realize high-precision tracking of a fast dynamic target. A reflector device is introduced, so that a dead zone of a tracking area can be eliminated. The device measures the target miss distance according to the target projected on the imaging detector, and feeds back the target miss distance to the controller to carry out closed-loop control on the reflector tracking device and the double-prism device so as to eliminate the blind zone, and the whole structure of the device is relatively complex.
In the prior art (Miao Zhang, etc. "Visualization of parallel computing 3Dobject using prism-based adaptive distributed sensing", optics communications,2014,313(4):204 and 209.) aiming at the problem that the traditional axial distribution sensing technology can not collect enough parallax information on the target object close to the optical axis, a single wedge prism is added in front of the camera, and an axial distribution sensing integrated imaging method based on the wedge prism is provided. The method places the wedge prism at the front end of the camera, and can change the imaging visual axis direction of the camera. The method can adjust the projection of the target object on the center of the imaging plane, thereby fully utilizing the whole area of the image sensor to obtain enough parallax information for integrated image display. The method only simply changes the visual axis direction and the imaging range of the camera, and is difficult to acquire the three-dimensional information of the object at the edge of the visual field.
The prior art (Mehdi daneshpanah, etc. "Three dimensional imaging with distributed sensors", Optics Express,2008,16(9):6368-77.) proposes a method for Three-dimensional imaging with arbitrary arrangement of image sensors for the generalized framework of 3D multi-view imaging techniques. A back projection method is applied in the three-dimensional calculation reconstruction process, and coordinate transformation is skillfully introduced, so that the memory and power consumption required by back projection calculation can be reduced, and the calculation efficiency is improved. In this method, a limited number of image sensors are randomly arranged in three dimensions, but it is necessary to assume that the three-dimensional coordinates of these sensors are known in the three-dimensional reconstruction phase.
Disclosure of Invention
The invention aims to provide an axial distribution perception integrated imaging method with a tracking function, which overcomes the defects of the prior art on the basis of fully utilizing the advantages of the prior art.
The purpose of the invention can be realized by the following technical scheme:
an axial distribution perception integrated imaging method with a tracking function is realized by an integrated imaging system, the integrated imaging system comprises a camera and a rotating double prism device which are coaxially arranged, and parallax information of a target object from a plurality of different visual angles can be acquired in the direction of a refracted visual axis by simultaneously moving the camera and the rotating double prism device in the direction of an optical axis of the camera; by adopting a calculation reconstruction method, the three-dimensional reconstruction can be carried out on the target object, and the de-occlusion imaging can be realized on the partially occluded object;
the method comprises the following steps:
s1, adjusting the visual axis direction of the rotating double-prism device to enable the target object to be projected into the imaging plane of the camera and to be located at the center of the imaging plane as much as possible;
s2, keeping the relative positions of the camera and the rotating double-prism device unchanged, moving the camera and the rotating double-prism device simultaneously in the optical axis direction of the camera, and sequentially collecting images of the target object at a plurality of moving positions;
and S3, back projecting all the acquired light rays of the image of the target object to a reconstruction plane, and obtaining a reconstructed image of the target object through three-dimensional calculation reconstruction.
Preferably, the rotating double prism device comprises a first rotating prism and a second rotating prism, the first rotating prism is arranged between the camera and the second rotating prism, the camera is connected with an upper computer, the camera and the rotating double prism device are both arranged on the translation device, and each rotating prism is respectively provided with a rotation driving device and a control device.
Preferably, the first rotating prism and the second rotating prism are both wedge prisms.
Preferably, the process of adjusting the boresight direction of the rotating biprism device in step S1 specifically includes:
rotating and recording the rotation angle theta of two prisms of a rotating double prism devicer1And thetar2Calculating a vector A of an image plane incident from the rotating biprism device to the camera according to a ray tracing calculation formularfAccording to the vector ArfThe expression (c) and the spatial plane equation of the imaging plane of the camera are used to obtain the intersection point P between the two, and the distance L between the point P and the center O of the imaging plane of the camera is determinedOPWhether the distance is less than a distance threshold epsilon which can obtain sufficient three-dimensional information of the target object, if not, the rotating angles of two prisms of the rotating double-prism device are adjusted to LOP＜ε。
Preferably, the vector ArfComprises the following steps:
wherein,
N11、N12normal vectors, N, of the incident and exit faces of the second rotating prism, respectively21、N22Respectively, the normal vector of the incident surface and the normal vector of the emergent surface of the first rotating prism, and the refractive indexes of the two rotating prisms are both n and A0＝(xr0,yr0,zr0)TIs the incident light vector of the second rotating prism.
Preferably, the step S1 further includes performing intrinsic parameter calibration on the camera, where the intrinsic parameter calibration method is one of a zhangnyou camera calibration method, a direct linear transformation method, a Tsai two-step calibration method, and a neural network calibration method.
Preferably, before the light rays of all the acquired images of the target object are back projected onto the reconstruction plane in step S3, the acquired images of the target object are subjected to a distortion removal process.
Preferably, the translation device realizes the movement of the camera and the rotating biprism device by adopting one of a screw transmission, a belt pulley transmission and a gear and rack transmission.
Compared with the prior art, the invention has the following advantages:
1. the method fully combines the three-dimensional visualization function of the axial distribution sensing integrated imaging technology and the characteristic of high-precision adjustment of the visual axis direction of the rotating biprism system, has high application value in the field of machine vision, and can provide reference for research directions such as shielding-free imaging, target classification, object identification, three-dimensional imaging and the like.
2. The method of the invention fully utilizes the visual axis guiding function of the rotating double-prism device, can actively adjust the rotating angles of the two prisms according to the space position of the target object, and selects the proper imaging visual axis direction, so that the target object can be projected to the vicinity of the center of an imaging plane in the integrated imaging process, and further the photosensitive area of the image sensor is fully utilized to obtain enough image information of the target object, thereby being beneficial to the shielding-free imaging of the target object.
3. By adopting the two wedge-shaped prisms, the imaging range can be greatly improved by refraction of the two wedge-shaped prisms in the imaging process, so that integrated imaging can be implemented on objects in a large view field range.
4. The adopted rotating double-prism device has high visual axis guiding precision, good controllability and high efficiency, and can track and guide the target object in a short time.
5. The wedge-shaped prism has high flexibility, parameters such as the wedge angle, the refractive index and the size of the wedge-shaped prisms, relative positions and arrangement forms of the two wedge-shaped prisms can be adjusted adaptively according to different use requirements and use scenes, and the practicability is high.
Drawings
FIG. 1 is a schematic view of the adjustment of the viewing axis in the present invention;
FIG. 2 is a schematic perspective view of a wedge prism;
FIG. 3 is a front view of a wedge prism;
FIG. 4 is a right side view of the wedge prism;
FIG. 5 is a schematic view of a flat-wedge arrangement of the biprisms in a rotating biprism device;
FIG. 6 is a schematic view of a flat wedge-flat wedge arrangement of a biprism in a rotating biprism device;
FIG. 7 is a schematic view of a wedge flat-wedge flat arrangement of the biprisms in a rotating biprism device;
FIG. 8 is a schematic view of a flat wedge-wedge flat arrangement of the biprisms in a rotating biprism device;
FIG. 9 is a schematic view of the boresight orientation of a rotating biprism device in accordance with the method of the present invention;
FIG. 10 is a flowchart of an axial distribution sensing integrated imaging method with tracking function according to an embodiment;
FIG. 11 is a graph of axial distribution perceptual location distribution in the method of the present invention;
FIG. 12 is a schematic diagram of single element image acquisition in the method of the present invention;
FIG. 13 is a schematic diagram of the computational reconstruction of a single element image in the method of the present invention.
Reference numbers in the figures: 1. camera, 2, first rotating prism, 3, second rotating prism.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Examples
The application provides an axial distribution perception integrated imaging method with a tracking function, which comprises two stages: in the image acquisition stage, the two prisms are rotated to project the target object near the center of the imaging plane, then the rotation angles of the two prisms are kept unchanged, the relative positions of the two prisms and the camera 1 are kept unchanged, the camera 1 and the two prisms are moved axially and simultaneously, and images (called element images in the embodiment) of the target object at each position are acquired respectively; in the calculation reconstruction stage, the target object is removed and replaced by a reconstruction plane for back projection, and the three-dimensional information in all the element images can be back projected onto the reconstruction plane.
The method is implemented by an integrated imaging system comprising a coaxially arranged camera 1 and a rotating biprism device. The camera 1 is connected with an upper computer to form an image acquisition device. As shown in fig. 1, the rotating double prism device is composed of a first rotating prism 2 and a second rotating prism 3 and corresponding driving and controlling devices, the first rotating prism 2 and the second rotating prism 3 can rotate around an axis through the respective driving devices, and the three-dimensional target object is partially shielded by the shielding object. The camera 1 and the rotating double-prism device are both arranged on the translation device, the translation device comprises a sliding rail and a sliding block, and the camera 1 and the rotating double-prism device are arranged on the same sliding block and axially translate along a common axis through the sliding rail.
The method comprises the following steps:
s1, adjusting the visual axis direction of the rotating double-prism device to enable the target object to be projected to the imaging plane of the camera 1 and to be located at the center of the imaging plane as much as possible;
s2, keeping the relative positions of the camera 1 and the rotating double-prism device unchanged, moving the camera 1 and the rotating double-prism device simultaneously in the optical axis direction of the camera 1, and sequentially acquiring images of a target object at a plurality of moving positions;
and S3, back projecting all the acquired light rays of the image of the target object to a reconstruction plane, and obtaining a reconstructed image of the target object through three-dimensional calculation reconstruction.
In the present embodiment, the first rotary prism 2 is disposed between the camera 1 and the second rotary prism 3. The first rotating prism 2 and the second rotating prism 3 are both wedge prisms, and as shown in fig. 2 to 4, the respective parameters such as size, material, wedge angle, and relative position between the prisms may be configured according to specific use requirements. Each prism has a wedge surface and two sides of the wedge surface, so that the rotary double prisms have four arrangement modes, as shown in fig. 5-8, namely a wedge flat-flat wedge, a flat wedge-flat wedge, a wedge flat-wedge flat and a flat wedge-wedge flat arrangement mode. Different arrangement modes have different deflection ranges and deflection rules for light beams, and can be properly selected according to different application scenes.
The camera 1 calibration method which can be adopted in the step S1 includes a Zhangyingyou camera 1 calibration method, a direct linear transformation method, a Tsai two-step calibration method, a neural network calibration method and the like, and the obtained internal parameters of the camera 1 are stored in the upper computer. The rotating biprism device can adopt one driving mode of a torque motor, a stepping motor and the like, and can select one transmission mechanism of a gear mechanism, a worm and gear mechanism, a synchronous belt mechanism and the like. The translation device can drive the sliding block to move along the guide rail by using one transmission mode of screw transmission, belt pulley transmission and gear and rack transmission.
The image acquisition process has the following notes: 1. the problem of tracking blind areas exists in two arrangement modes of flat wedge-flat wedge and flat wedge-flat wedge of the rotating double-prism device, and if the two arrangement modes are selected, a target object is ensured to be positioned outside the blind area during imaging; 2. ensuring that the target object in the acquired element image is displayed in the image area each time; 3. the incident light beam from the rotating double prism to the lens of the camera 1 should be avoided as much as possible from being parallel to the optical axis, and when the incident light beam is parallel to the optical axis, the centers of the target object images in the multiple element images are converged near the same pixel point, so that parallax information cannot be generated. In this embodiment, the arrangement form shown in fig. 8 is selected in consideration of the imaging field range, the scanning blind area, and the like.
As shown in FIG. 9, two identical wedge prisms are used in this embodiment, the wedge angle is α, when in the initial state, the thin ends of the two prisms face the positive direction of the X-axis, and the rotation angles of the two prisms are set to be thetar1And thetar2The normal vector of the incident surface of the second rotating prism 3 is N11The normal vector of the emergent face is N12(ii) a The normal vector of the incident surface of the first rotating prism 2 is N21The normal vector of the emergent face is N22Then, according to the angle of rotation of the two prisms and the wedge angle of the wedge prism, there are:
N11＝(0,0,1)T
N12＝(cosθr1sinα,sinθr1sinα,cosα)T
N21＝(-cosθr2sinα,-sinθr2sinα,cosα)T
N22＝(0,0,1)T。
let the incident light vector of the second rotating prism 3 be A0＝(xr0,yr0,zr0)TLet the refracted light vector passing through the incident surface of the second rotating prism 3 be Ar1The outgoing light vector of the second rotary prism 3 is Ar2，Ar2And is also the incident light vector of the incident surface of the first rotating prism 2, and the refracted light vector passing through the incident surface of the first rotating prism 2 is Ar3The emergent light vector of the first rotating prism 2 is Arf. The emergent light vector A after refraction of the rotating double prisms can be obtained according to a light ray tracing methodrf：
Wherein,
in this embodiment, the two rotating prisms are made of the same material, and n is the refractive index of the two rotating prisms.
Because image distortion inevitably occurs when a picture is taken due to the influence of internal structural parameters of the camera 1, and it is necessary to perform distortion removal processing on the acquired elemental image, the acquired image of the target object is subjected to distortion removal processing before all the acquired light rays of the image of the target object are back-projected onto the reconstruction plane in step S3.
In this embodiment, as shown in fig. 10, the specific operation steps of the method are as follows:
1): calibrating the camera 1 independently, and calibrating by adopting Zhangyingyou chessboard pattern calibration method to obtain the internal parameters of the camera 1, including the internal parameter matrix M of the camera 1 and the distortion parameter k of the camera 11、k2And the like.
2): as shown in fig. 11, at the initial position of the image acquisition stage, i.e., position 1, the single chip microcomputer is used to control the torque motor to drive the rotating double-prism device, the optimal visual axis is selected to point to the shooting target object according to the difference of the spatial positions of the target object and the density degree of the shielded area, and the rotation angle of the two prisms is recorded as θr1And thetar2(ii) a Adjustment ofRotating the visual axis of the biprism device to point, and calculating the vector A incident to the image sensing plane according to the ray tracing calculation formularfWill vector ArfThe expression of (a) and the spatial plane equation of the imaging plane of the camera 1 are integrated and solved to calculate the intersection point P between the two, as shown in fig. 9; calculating the distance L between the point P and the center O of the imaging plane by using a space point distance formulaOPJudgment of LOPIf the value is more than epsilon (the threshold value epsilon is selected according to the actual size of the target object on the imaging plane, the target image can not exceed the imaging plane when the target object is at the extreme position of axial distribution, so that sufficient three-dimensional information can be acquired), if the value is true, the following steps are carried out, and if the value is true, the rotating angle of the double-prism device is continuously adjusted until the value is LOPIf < ε is true;
3): as shown in fig. 11, the Camera 1 and the rotating biprism device are arranged together along the z-axis in the axial direction at N image collecting positions, the relative position between the Camera 1 and the rotating biprism device remains unchanged during the movement of the slider, the interval between two adjacent image collecting positions is Δ z, image collection is performed on a target object at each image collecting position, N groups of element pictures are collected in total, and all the element pictures are stored in an upper computer, the Camera 1 is connected with the upper computer through a corresponding data interface (common industrial Camera 1 interface: GIGE gigabit network interface, USB interface, Camera Link interface, 1394 interface, etc.);
4): calibrating M, k the relevant parameters of the camera 1 obtained according to the step 1)1、k2Carrying out distortion removal processing on the element image in the upper computer;
5): the three-dimensional calculation reconstruction of the target object is the inverse process of image acquisition, and the acquired N groups of element images are calculated to reconstruct ray back projection, because the distance z between the rotating double-prism device and the target object in the process of acquiring each element imagenIn contrast, it is necessary to use the corresponding magnification factor M in the calculation of the reconstructionNThe elemental image is normalized by Zn/g (see fig. 12 and 13, g being the focal length of the camera 1);
6): rotary double prism device for adjusting reconstruction plane distanceDistance z of arrangementnThere is an optimum distance zbestSo that a clear, de-occluded target object is displayed in the reconstruction plane, acquired in zbestAnd storing the reconstructed image at the distance into an upper computer.
Claims (8)
1. An axial distribution perception integrated imaging method with a tracking function is characterized in that the method is realized by an integrated imaging system, the integrated imaging system comprises a camera and a rotating biprism device which are coaxially arranged, and the method comprises the following steps:
s1, adjusting the visual axis direction of the rotating double-prism device to enable the target object to be projected into the imaging plane of the camera and to be located at the center of the imaging plane as much as possible;
s2, keeping the relative positions of the camera and the rotating double-prism device unchanged, moving the camera and the rotating double-prism device simultaneously in the optical axis direction of the camera, and sequentially collecting images of the target object at a plurality of moving positions;
and S3, back projecting all the acquired light rays of the image of the target object to a reconstruction plane, and obtaining a reconstructed image of the target object through three-dimensional calculation reconstruction.
2. The axial distribution perception integrated imaging method with the tracking function as claimed in claim 1, wherein the rotating double prism device comprises a first rotating prism and a second rotating prism, the first rotating prism is disposed between a camera and the second rotating prism, the camera is connected with an upper computer, the camera and the rotating double prism device are both disposed on a translation device, and each rotating prism is respectively provided with a rotation driving device and a control device.
3. The axial distribution perception integrated imaging method with the tracking function as claimed in claim 2, wherein the first rotating prism and the second rotating prism are wedge prisms.
4. The axial distribution perception integrated imaging method with tracking function as claimed in claim 2, wherein the process of adjusting the boresight orientation of the rotating biprism device in step S1 specifically includes:
rotating and recording the rotation angle theta of two prisms of a rotating double prism devicer1And thetar2Calculating a vector A of an image plane incident from the rotating biprism device to the camera according to a ray tracing calculation formularfAccording to the vector ArfThe expression (c) and the spatial plane equation of the imaging plane of the camera are used to obtain the intersection point P between the two, and the distance L between the point P and the center O of the imaging plane of the camera is determinedOPWhether the distance is less than a distance threshold epsilon which can obtain sufficient three-dimensional information of the target object, if not, the rotating angles of two prisms of the rotating double-prism device are adjusted to LOP＜ε。
5. The method according to claim 4, wherein the vector A is a vector of a motion vectorrfComprises the following steps:
wherein,
N11、N12normal vectors, N, of the incident and exit faces of the second rotating prism, respectively21、N22Respectively, the normal vector of the incident surface and the normal vector of the emergent surface of the first rotating prism, and the refractive indexes of the two rotating prisms are both n and A0＝(xr0,yr0,zr0)TIs the incident light vector of the second rotating prism.
6. The axial distribution perception integrated imaging method with the tracking function as claimed in claim 1, wherein the step S1 further includes performing an intrinsic parameter calibration on the camera, where the intrinsic parameter calibration is one of a tensor camera calibration method, a direct linear transformation method, a Tsai two-step calibration method, and a neural network calibration method.
7. The axial distribution perception integrated imaging method with the tracking function as claimed in claim 1, wherein before back projecting all the acquired light rays of the image of the target object to the reconstruction plane in step S3, the acquired image of the target object is subjected to a distortion removal process.
8. The axial distribution perception integrated imaging method with the tracking function as claimed in claim 1, wherein the translation device is used for realizing the movement of the camera and the rotating biprism device by one of a screw transmission, a belt pulley transmission and a gear and rack transmission.
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| CN113835217A (en) * | 2021-09-23 | 2021-12-24 | 象新科技(无锡)有限公司 | Electric wedge mirror and light beam direction deflection adjusting method |
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