CN109883391A - Monocular distance measuring method based on microlens array digital imagery - Google Patents
Monocular distance measuring method based on microlens array digital imagery Download PDFInfo
- Publication number
- CN109883391A CN109883391A CN201910210286.9A CN201910210286A CN109883391A CN 109883391 A CN109883391 A CN 109883391A CN 201910210286 A CN201910210286 A CN 201910210286A CN 109883391 A CN109883391 A CN 109883391A
- Authority
- CN
- China
- Prior art keywords
- refocusing
- image
- digital
- sample
- microlens array
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Studio Devices (AREA)
Abstract
The present invention relates to a kind of monocular distance measuring methods based on microlens array digital imagery, it include: the sample four-dimension light field image that baseline sample is obtained using microlens array camera, digital refocusing is carried out to sample four-dimension light field image by different digital refocusing parameter, obtains multiple sample refocusing images；The ranging distance of the corresponding clearest subregion of digital imagery focusing surface is obtained by sample refocusing image；Different digital refocusing parameter is fitted with corresponding ranging distance, obtains ranging matched curve；Target four-dimension light field image is obtained using microlens array camera again, selects digital refocusing parameters on target four-dimension light field image to carry out digital refocusing, obtains target refocusing image；Target refocusing image is handled, obtains target range in conjunction with ranging matched curve.The present invention only needs the image sequence that can obtain different depth after single exposure by imaging algorithm, can be used for presenting dynamic change and the object ranging high to requirement of real-time.
Description
Technical field
The present invention relates to digital imagery ranging technology field more particularly to a kind of lists based on microlens array digital imagery
Mesh distance measuring method.
Background technique
Microlens array imaging is a kind of novel imaging technique, micro- by installing one between main lens and sensor
Lens array makes different directions light through lenticule is penetrated again after the pupil of main lens, is imaged on image detector；It is different
The light in direction is beaten in different pixels, so that pixel is able to record directional information and strength information comprising light on detector
Four-dimensional light field data.Post-digital focusing is carried out to four-dimensional light field data, can effectively capture larger range of scene depth,
And then show true three-dimensional scenic.
Currently, surveying the fields such as concentration and industrial flame detection in unmanned vehicles navigation, satellites coupling, particle image velocimetry
Requirement to electro-optical distance measurement technology is higher and higher.Existing electro-optical distance measurement method be broadly divided into more range estimations away from monocular ranging；Its
In more range estimations away from the projection for mainly obtaining target from different directions using multiple cameras, recycle the calculation of Stereo matching combination vision
The coordinate distance of method calculating target.That there are equipment is more for more mesh distance measuring methods, optical path is complicated, time-consuming and camera signal is difficult to synchronize
The problems such as.And monocular ranging is poly- in difference to obtain target by changing the mechanical parameter of camera itself or changing the position of camera
Focused image on focal plane, then the coordinate position of target is sought by the variation of picture clarity.Monocular distance measuring method is changing
When becoming the aggregation face of imaging system, needs one to move burnt or mechanical zoom process, delay time error can be generated, to can not apply
In the higher fields of measurement of requirement of real-time.
Therefore, against the above deficiency, it is desirable to provide a kind of monocular distance measuring method, making it only needs to target single exposure
The image sequence for obtaining different depth is calculated, to meet the requirement of real-time of ranging.
Summary of the invention
The technical problem to be solved in the present invention is that for existing monocular distance measuring method in the focusing surface for changing imaging system
When, need to move burnt or mechanical zoom and ranging made to generate the defect of delay time error, provide it is a kind of based on microlens array number at
The monocular distance measuring method of picture.
In order to solve the above-mentioned technical problems, the present invention provides a kind of monocular rangings based on microlens array digital imagery
Method, comprising:
The sample four-dimension light field image that baseline sample is obtained using microlens array camera, is joined by different digital refocusing
Several pairs of sample four-dimension light field images carry out digital refocusing, obtain multiple sample refocusing images；
Sharpness computation is carried out to the different subregions of each sample refocusing image and determines clearest subregion, by clearest point
The corresponding position in area is calculated by digital imagery focusing surface and is obtained as the digital imagery focusing surface under Contemporary Digital refocusing parameter
The ranging distance of the clearest subregion；
Different digital refocusing parameter corresponding different digital imaging and focusing face is calculated, and determines different sample refocusing figures
The ranging distance of clearest subregion as in；Different digital refocusing parameter is fitted with corresponding ranging distance, is surveyed
Away from matched curve；
Target four-dimension light field image is obtained using microlens array camera again, selects digital refocusing parameters on target four-dimensional
Light field image carries out digital refocusing, obtains target refocusing image；
Target refocusing image is handled, obtains target range in conjunction with ranging matched curve.
In the monocular distance measuring method according to the present invention based on microlens array digital imagery, it is fitted in conjunction with ranging
Curve obtain target range method include:
The multiple target refocusing images of multiple digital refocusing gain of parameter are selected, multiple target refocusing images are carried out
Sharpness computation is obtained based on the clearest corresponding digital refocusing parameter of target refocusing image in conjunction with ranging matched curve
Obtain target range；
Or selection one digital refocusing gain of parameter target refocusing image, to the difference point of target refocusing image
Area carries out sharpness computation, determines clearest subregion；The digital refocusing parameter combination ranging matched curve is then based on to obtain
Obtain the corresponding target range of clearest subregion.
In the monocular distance measuring method according to the present invention based on microlens array digital imagery, the baseline sample
Including graduated scale, graduated scale inclination is put on the slide rail；The inclined inclined-plane of graduated scale corresponds to microlens array camera
Camera lens.
It is described to each sample in the monocular distance measuring method according to the present invention based on microlens array digital imagery
The different subregions of this refocusing image carry out sharpness computation
Using digital focus algorithm, calculates the corresponding digital imagery of clearest subregion in each sample refocusing image and focus
Face.
It is described to each sample in the monocular distance measuring method according to the present invention based on microlens array digital imagery
The different subregions of this refocusing image carry out sharpness computation further include:
Sharpness computation is carried out to sub-area utilization sharpness evaluation functions all in each sample refocusing image, is obtained every
The articulation curve figure of all subregions in a sample refocusing image.
In the monocular distance measuring method according to the present invention based on microlens array digital imagery, obtain described most clear
The method of the ranging distance of clear subregion includes:
According to the articulation curve figure of each sample refocusing image, clearest subregion is determined, according to clearest subregion pair
The digital imagery focusing surface answered, which calculates, obtains the corresponding ranging distance of Contemporary Digital refocusing parameter.
In the monocular distance measuring method according to the present invention based on microlens array digital imagery, the sample is met again
The partition method of the different subregions of burnt image includes:
Multiple subregions are divided into along the corresponding inclined direction of sample refocusing image.
In the monocular distance measuring method according to the present invention based on microlens array digital imagery, the digital imagery
The preparation method of focusing surface includes:
According to the formula of digital focus algorithm, the sample refocusing image for obtaining and corresponding to digital refocusing parameter a is calculated
In the corresponding digital imagery focusing surface image E of clearest subregionaF(x, y):
L in formulaaF(u, v, x, y) is that image distance is that light at l=F, in F image planes is projected by u-v Plane-point (u, v)
Spectral energy entrained by point (x, y) in x-y plane；The u-v plane indicates plane where microlens array, x-y plane table
Plane where showing detector；LFIt indicates entry into after microlens array camera and projects x-y plane by u-v Plane-point (u, v)
Spectral energy entrained by upper point (x, y).
In the monocular distance measuring method according to the present invention based on microlens array digital imagery, to each sample weight
The method of all sub-area utilization sharpness evaluation functions progress sharpness computations includes: in focusedimage
It is calculated using the following equation the clarity evaluation result f (I) of each subregion:
C is gradient matrix in formula.
In the monocular distance measuring method according to the present invention based on microlens array digital imagery, the gradient matrix
C are as follows:
C=I*L,
I is the corresponding gray value of pixel of different subregions in sample refocusing image in formula, by the corresponding number of different subregions
Word imaging and focusing face image EaF(x, y) is obtained；The L is Laplacian operator；
When the sample refocusing image of graduated scale is divided into 60 subregions along scale direction:
Implement the monocular distance measuring method of the invention based on microlens array digital imagery, has the advantages that this
Invention is first taken pictures the characteristics of focusing afterwards proposition based on microlens array digital imaging technology.It is using microlens array camera to base
Quasi- sample is taken pictures, and sample four-dimension light field image is obtained；Mathematics focusing algorithm is recycled to carry out sample four-dimension light field image
Again it focuses to obtain the refocusing image under the different depth of field；Sample weight under the different depth of field is finally judged by sharpness computation again
The focal position of focusedimage, so that it is determined that sample ranging distance；By repeatedly calculating the matched curve obtained for calibration, adopt
It can be obtained the ranging distance of target four-dimension light field image with the fitting figure line.
The method of the present invention carries out the difference obtained after digital focus is processed to the sample four-dimension light field image of original acquisition
Refocusing image under the depth of focus is identical with the effect of the image of different depth is shot after traditional camera mechanical zoom.
But the process of not mechanical zoom is imaged in digital focus, it is only necessary to can obtain difference by imaging algorithm after single exposure
The image sequence of depth.Therefore the system light path of the method for the present invention foundation is simple, can be used for presenting dynamic change and to real-time
Demanding object ranging.
Detailed description of the invention
Fig. 1 is that the exemplary parameter of the monocular distance measuring method according to the present invention based on microlens array digital imagery characterizes
Schematic diagram；A indicates plane where microlens array in figure, and B indicates plane where detector；
Fig. 2 is microlens array camera imaging schematic diagram according to the present invention；C indicates that object plane, F indicate main saturating in figure
Mirror；
Fig. 3 is that digital imagery according to the present invention focuses schematic diagram；E indicates digital imagery focusing surface in figure；
Fig. 4 is the illustrative diagram that distance calibration is carried out using graduated scale；1 indicates sliding rail in figure, and 2 indicate lenticule battle array
Column camera, 3 indicate graduated scale；
The graduated scale refocusing image schematic diagram that Fig. 5 is obtained when being α=5.97；
The graduated scale refocusing image schematic diagram that Fig. 6 is obtained when being α=6.73；
The graduated scale refocusing image schematic diagram that Fig. 7 is obtained when being α=7.81；
The articulation curve figure of graduated scale refocusing image when Fig. 8 is α=6.73；
Fig. 9 is the corresponding relationship curve graph of the actual range D of number refocusing parameter a and baseline sample.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Specific embodiment one, the present invention provides a kind of monocular distance measuring method based on microlens array digital imagery,
In conjunction with shown in Fig. 1 to Fig. 4, comprising:
The sample four-dimension light field image that baseline sample is obtained using microlens array camera, is joined by different digital refocusing
Several pairs of sample four-dimension light field images carry out digital refocusing, obtain multiple sample refocusing images；
Sharpness computation is carried out to the different subregions of each sample refocusing image and determines clearest subregion, by clearest point
The corresponding position in area is calculated by digital imagery focusing surface and is obtained as the digital imagery focusing surface under Contemporary Digital refocusing parameter
The ranging distance of the clearest subregion；
Different digital refocusing parameter corresponding different digital imaging and focusing face is calculated, and determines different sample refocusing figures
The ranging distance of clearest subregion as in；Different digital refocusing parameter is fitted with corresponding ranging distance, is surveyed
Away from matched curve；
Target four-dimension light field image is obtained using microlens array camera again, selects digital refocusing parameters on target four-dimensional
Light field image carries out digital refocusing, obtains target refocusing image；
Target refocusing image is handled, obtains target range in conjunction with ranging matched curve.
Present embodiment realizes digital refocusing parameter and ranging distance by the data obtained by baseline sample first
Calibration.Then target range is determined using matched curve in practical ranging use.The microlens array camera passes through single
Exposure can be obtained the four-dimensional light field image data of baseline sample.
After obtaining sample four-dimension light field image, it can be focused again using digital focus algorithm to obtain different scapes
Image under deeply.Sharpness evaluation function is recycled to judge the focal position under the different depth of field on image, then this position is corresponding
Distance value to baseline sample apart from camera, to complete the measurement of distance.
The baseline sample can be the graduated gage of tool for being convenient for distance conversion.
Further, following methods can be used to the ranging of simple target:
Include: in conjunction with the method that ranging matched curve obtains target range
The multiple target refocusing images of multiple digital refocusing gain of parameter are selected, multiple target refocusing images are carried out
Sharpness computation is obtained based on the clearest corresponding digital refocusing parameter of target refocusing image in conjunction with ranging matched curve
Obtain target range.Such situation ignores the size dimension of target, carries out the measurement of target range.
Perhaps further to there are the rangings of multiple targets or multiple subregions to use following methods in image:
Include: in conjunction with the method that ranging matched curve obtains target range
Select a digital refocusing gain of parameter target refocusing image, to the different subregions of target refocusing image into
Line definition calculates, and determines clearest subregion；The digital refocusing parameter combination ranging matched curve is then based on to obtain most
The corresponding target range of clear subregion.In such cases, there may be multiple targets for monitoring scene, or think the size of target
It is larger, corresponding target range is measured by dividing different subregions.
Further, as shown in connection with fig. 4, the baseline sample includes graduated scale.Select graduated scale as baseline sample, be for
The ranging distance of target can be directly acquired.
Further, as shown in connection with fig. 4, graduated scale inclination is put on the slide rail；The inclined inclined-plane of graduated scale is corresponding
In the camera lens of microlens array camera.
The tilt angle that the graduated scale is put, which can according to need, to be selected.
Further, as shown in connection with fig. 3, the different subregions to each sample refocusing image carry out sharpness computation
Include:
Using digital focus algorithm, calculates the corresponding digital imagery of clearest subregion in each sample refocusing image and focus
Face.After obtaining digital imagery focusing surface image, in conjunction with the grey scale pixel value that it is presented, it can be used for the evaluation of subsequent clarity.
Further, in conjunction with shown in Fig. 5 to Fig. 8, it is clear that the different subregions to each sample refocusing image carry out
Degree calculates further include:
Sharpness computation is carried out to sub-area utilization sharpness evaluation functions all in each sample refocusing image, is obtained every
The articulation curve figure of all subregions in a sample refocusing image.
Further, as shown in connection with fig. 4, the method for the ranging distance of the acquisition clearest subregion includes:
According to the articulation curve figure of each sample refocusing image, clearest subregion is determined, according to clearest subregion pair
The digital imagery focusing surface answered, which calculates, obtains the corresponding ranging distance of Contemporary Digital refocusing parameter.
Further, in conjunction with shown in Fig. 5 to Fig. 7, the partition method of the different subregions of the sample refocusing image includes:
Multiple subregions are divided into along the corresponding inclined direction of sample refocusing image.
According to graduated scale refocusing image equal part from top to bottom, N number of subregion can be divided into, the size of N as needed into
Row selection.For example, the image of 200*200, is segmented into the subregion of ten 20*200, then all subregions are calculated separately clearly
Degree compares which clarity determines that result value is big, and big numerical value is exactly the subregion where current focal position.
Further, as shown in connection with fig. 3, the preparation method of the digital imagery focusing surface includes:
According to the formula of digital focus algorithm, the sample refocusing image for obtaining and corresponding to digital refocusing parameter a is calculated
In the corresponding digital imagery focusing surface image E of clearest subregionaF(x, y):
L in formulaaF(u, v, x, y) is that image distance is that light at l=F, in F image planes is projected by u-v Plane-point (u, v)
Spectral energy entrained by point (x, y) in x-y plane；The u-v plane indicates plane where microlens array, x-y plane table
Plane where showing detector；LFIt indicates entry into after microlens array camera and projects x-y plane by u-v Plane-point (u, v)
Spectral energy entrained by upper point (x, y).
Below to digital imaging and focusing face image EaFThe acquisition process of (x, y) is specifically described:
Field information characterization:
Do not considering wavelength shift and energy transmission decaying etc. under reasonable assumptions, can with two planes being parallel to each other (u,
V) and (s, t) characterizes light field, as shown in Figure 1, wherein plane (u, v) indicates flat where microlens array in microlens array camera
Face, plane (x, y) indicate plane where detector in microlens array camera.Field information refers in space each point and every
The light radiation function summation in one direction.Field information can pass through the company of (x, y) and (u, v) two o'clock in two parallel planes
Line is characterized, as shown in Figure 1.2 coordinate planes: u-v plane and x-y plane are defined in Fig. 1.With LF(u,v,x,y)
It indicates to project in x-y plane entrained by point (x, y) after Ray Of Light enters optical system by u-v Plane-point (u, v)
Spectral energy, then on the x-y plane, point (x, y) receive LFThe light incident flux of (u, v, x, y) indicates are as follows:
E in formulaF(x, y) is the light incident flux in the image planes of image distance F at coordinate (x, y)；F is image distance；A (u, v) is to visit
Survey device pixel area；θ is light LFThe angle of (u, v, x, y) and system primary optical axis direction.
Assuming that microlens array plane and detector plane are infinitely great, and only consider flat in optical system u-v plane and x-y
When propagating light within the scope of face, for convenience of analyzing, ignore light varies with cosine and scale factor 1/F2.Above formula is reduced to,
EF(x, y)=∫ ∫ LF(u, v, x, y) dudv,
So far, fairly perfect field information parameter characterization mode is obtained.
Microlens array digital imagery:
After microlens array camera is taken pictures, the light of all directions is beaten after penetrating microlens array in difference in four-dimensional light field
Pixel on, as shown in Fig. 2, the position of light, direction and strength information are stored in same original light field image.
The pixel in the original light field image of two dimension that will acquire carries out ray tracing according to certain rules and can be mapped to the four-dimension
In light field, four-dimensional light field is projected to again and carries out integral superposition on the focussing plane of a certain depth, so that it may obtained different poly-
Image on focal plane, it is thus achieved that single shot obtains the image of focussing plane under multiple depth, here it is digital focus
The process of imaging.
Assuming that imaging system is the picture E obtained at l=F in image distanceF(x, y) is unintelligible, in image distance l '=α F image planes
It seem clearly as EαF(x, y), α are the coefficients of an adjusting image distance l ' size.As shown in figure 3, by (x, y) point in F image planes
Light be denoted as LαF(u, v, x, y), projection coordinate will become L when light reaches α F image planesαF.Light LFWith LαFIt is lens and biography
Same light between sensor.Assuming that light LαFThe intersecting point coordinate (x, y) of reunion focal plane, then this light is flat in detector
The intersecting point coordinate in face is (u+ (x-u)/α, v+ (y-v)/α), LFWith LαFBetween coordinate there are following conversions:
Conversion formula is substituted into simplified formula EF(x, y)=∫ ∫ LFIn (u, v, x, y) dudv, obtain refocusing image planes at
As formula:
Change digital refocusing parameter alpha, the image in different focussing plane image planes can be calculated, but a is one
A relative value can not represent true distance in scene, it is therefore desirable to demarcate to the relationship of a and actual distance.
Focal position is differentiated according to clarity:
According to geometric optical theory, optical system to the image objects for being in a certain distance and position, when this imaging position with
When object space meets conjugate relation, clearest, the also referred to as ideal image planes in this position are imaged in this position.That is camera
To object at it is clearest as when object position be exactly where physical location, to realize the measurement and calibration of distance.Benefit
Image is differentiated by sharpness function after the image sequence for obtaining digital focus with this characteristic, it is most clear on image
Clear position is the corresponding focal position of digital refocusing parameter alpha.
As shown in connection with fig. 4, a graduated scale 3 is placed in 1 top of sliding rail with certain angle, the reading d on graduated scale is corresponding
In refocusing depth D, i.e. the actual range D of ranging.Constantly change digital refocusing parameter alpha, to sample four-dimension light field image into
The multiple digital focus of row, obtain it is a series of comprising depth information and clarity distinguishes clearly demarcated refocusing image, such as Fig. 5 to Fig. 7
It is shown.As can be seen that as focusing parameter α=5.97, the top of refocusing image distinguish it is clear, when refocusing parameter alpha=6.73
When, the middle part of refocusing image image is clear, and when refocusing parameter alpha=7.81, the lower part of refocusing image image is clear.It will
The refocusing image of every graduated scale carries out N equal part along its scale direction, obtains N number of subregion, then carries out to each subregion clear
Clear degree calculates.
One width clearly image, edge contour is clear, and contrast is big between background, that is to say, that comments carrying out gradient
When valence, this clear position has bigger gradient function value.Therefore the method for the present invention chooses the Laplacian based on shade of gray
Sharpness evaluation function calculates clarity.
Further, in conjunction with shown in Fig. 8 and Fig. 9, all sub-area utilization clarity in each sample refocusing image are commented
Valence function carry out sharpness computation method include:
It is calculated using the following equation the clarity evaluation result f (I) of each subregion:
C is gradient matrix in formula.
Laplacian gradient function calculates the second order gradient of image using Laplacian operator and image array convolution
Value:
Further, the gradient matrix C are as follows:
C=I*L,
I is the corresponding gray value of pixel of different subregions in sample refocusing image in formula, by the corresponding number of different subregions
Word imaging and focusing face image EaF(x, y) is obtained；The L is Laplacian operator；
When the sample refocusing image of graduated scale is divided into 60 subregions along scale direction:
After calculating articulation curve figure using Laplacian sharpness evaluation function, definition values the best part is
For the focusing surface of numerical focusing, then corresponding scale label d herein is converted into horizontal distance D, digital focus can be completed
The calibration of distance and position.Distance and position proving operation is carried out to the digital focus image of different value α, can be obtained parameter alpha with
The fit correlation curve of actual range position.So far, as long as being according to the definition values of target image and digital refocusing parameter alpha
The distance and position of jobbie in target scene can be obtained.
As shown in connection with fig. 8, in N=20, the clarity of image reaches maximum value, and corresponding horizontal distance is 2.4cm.
The method of the present invention in actual use, can program the process for realizing ranging by matlab.
Specific embodiment:
1) it is taken pictures using the microlens array camera graduated scale clearly demarcated to inclined, scale, tilt angle can be according to feelings
Condition is voluntarily chosen, as shown in figure 4, obtaining its four-dimensional light field image.
2) digital focus algorithm is utilized, the graduated scale refocusing image at a certain digital refocusing parameter a, number are calculated
The formula of word focusing algorithm is as follows:
Different parameter alphas is chosen, the refocusing image in different focussing plane image planes is calculated, α is one opposite
Value, can not represent true distance and position in scene, can be realized by following step between parameter alpha and actual distance position
The calibration of relationship.
3) this graduated scale refocusing image is subjected to N equal part along scale direction, N=60 utilizes clarity to each section
Evaluation function obtains articulation curve figure to sharpness computation.
C=I*L,
4) on articulation curve figure the maximum position of numerical value be numerical focusing depth location, then will corresponding quarter herein
Degree ruler scale d is converted into horizontal distance D, and the calibration of digital focus distance and position can be completed.
5) digital refocusing parameter alpha is altered in steps, so that focusing surface digital imagery of the four-dimensional light field data in different depth,
Step 3 and step 4 are then repeated, obtains the data of multiple groups parameter alpha and distance D, and then determine parameter alpha and actual range position
The corresponding relationship matched curve of D.In conjunction with matched curve, after obtaining target four-dimension light field image, as long as according to image definition
Value and digital refocusing parameter alpha can obtain the distance and position of a certain target in scene.
In conclusion the method for the present invention only needs single exposure, using the calculating of imaging algorithm, different depth can be obtained
Image sequence, so that it is determined that ranging distance, the real-time ranging demand suitable for dynamic change target.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of monocular distance measuring method based on microlens array digital imagery, characterized by comprising:
The sample four-dimension light field image that baseline sample is obtained using microlens array camera, passes through different digital refocusing parameter pair
Sample four-dimension light field image carries out digital refocusing, obtains multiple sample refocusing images；
Sharpness computation is carried out to the different subregions of each sample refocusing image and determines clearest subregion, by clearest subregion pair
The position answered is calculated described in obtaining as the digital imagery focusing surface under Contemporary Digital refocusing parameter as digital imagery focusing surface
The ranging distance of clearest subregion；
Different digital refocusing parameter corresponding different digital imaging and focusing face is calculated, and is determined in different sample refocusing images
The ranging distance of clearest subregion；Different digital refocusing parameter is fitted with corresponding ranging distance, it is quasi- to obtain ranging
Close curve；
Target four-dimension light field image is obtained using microlens array camera again, selects digital refocusing parameters on target four-dimension light field
Image carries out digital refocusing, obtains target refocusing image；
Target refocusing image is handled, obtains target range in conjunction with ranging matched curve.
2. the monocular distance measuring method according to claim 1 based on microlens array digital imagery, it is characterised in that: in conjunction with
Ranging matched curve obtain target range method include:
The multiple target refocusing images of multiple digital refocusing gain of parameter are selected, it is clear to carry out to multiple target refocusing images
Degree calculates, and based on the clearest corresponding digital refocusing parameter of target refocusing image, obtains mesh in conjunction with ranging matched curve
Subject distance；
Or the digital refocusing gain of parameter target refocusing image of selection one, to the different subregions of target refocusing image into
Line definition calculates, and determines clearest subregion；The digital refocusing parameter combination ranging matched curve is then based on to obtain most
The corresponding target range of clear subregion.
3. the monocular distance measuring method according to claim 1 or 2 based on microlens array digital imagery, it is characterised in that:
The baseline sample includes graduated scale, and graduated scale inclination is put on the slide rail；The inclined inclined-plane of graduated scale corresponds to
The camera lens of microlens array camera.
4. the monocular distance measuring method according to any one of claim 1 to 3 based on microlens array digital imagery, special
Sign is: the different subregions to each sample refocusing image carry out sharpness computation and include:
Using digital focus algorithm, the corresponding digital imagery focusing surface of clearest subregion in each sample refocusing image is calculated.
5. the monocular distance measuring method according to claim 4 based on microlens array digital imagery, it is characterised in that: described
Sharpness computation is carried out to the different subregions of each sample refocusing image further include:
Sharpness computation is carried out to sub-area utilization sharpness evaluation functions all in each sample refocusing image, obtains each sample
The articulation curve figure of all subregions in this refocusing image.
6. the monocular distance measuring method according to claim 5 based on microlens array digital imagery, it is characterised in that: obtain
The method of the ranging distance of the clearest subregion includes:
According to the articulation curve figure of each sample refocusing image, clearest subregion is determined, it is corresponding according to clearest subregion
Digital imagery focusing surface, which calculates, obtains the corresponding ranging distance of Contemporary Digital refocusing parameter.
7. the monocular distance measuring method according to any one of claim 3 to 6 based on microlens array digital imagery, special
Sign is: the partition method of the different subregions of the sample refocusing image includes:
Multiple subregions are divided into along the corresponding inclined direction of sample refocusing image.
8. the monocular distance measuring method according to any one of claims 4 to 7 based on microlens array digital imagery, special
Sign is:
The preparation method of the digital imagery focusing surface includes:
According to the formula of digital focus algorithm, calculates and obtain in the sample refocusing image for corresponding to digital refocusing parameter a most
The corresponding digital imagery focusing surface image E of clear subregionaF(x, y):
L in formulaaF(u, v, x, y) is that image distance is that light at l=F, in F image planes by u-v Plane-point (u, v) projects x-y
Spectral energy entrained by Plane-point (x, y)；The u-v plane indicates that plane where microlens array, x-y plane indicate to visit
Plane where surveying device；LFIt indicates entry into after microlens array camera and projects point in x-y plane by u-v Plane-point (u, v)
Spectral energy entrained by (x, y).
9. the monocular distance measuring method according to claim 8 based on microlens array digital imagery, it is characterised in that: to every
The method of all sub-area utilization sharpness evaluation functions progress sharpness computations includes: in a sample refocusing image
It is calculated using the following equation the clarity evaluation result f (I) of each subregion:
C is gradient matrix in formula.
10. the monocular distance measuring method according to claim 9 based on microlens array digital imagery, it is characterised in that: institute
State gradient matrix C are as follows:
C=I*L,
In formula I be sample refocusing image in different subregions the corresponding gray value of pixel, by different subregions it is corresponding number at
Image focu face image EaF(x, y) is obtained；The L is Laplacian operator；
When the sample refocusing image of graduated scale is divided into 60 subregions along scale direction:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910210286.9A CN109883391B (en) | 2019-03-20 | 2019-03-20 | Monocular distance measurement method based on digital imaging of microlens array |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910210286.9A CN109883391B (en) | 2019-03-20 | 2019-03-20 | Monocular distance measurement method based on digital imaging of microlens array |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109883391A true CN109883391A (en) | 2019-06-14 |
| CN109883391B CN109883391B (en) | 2021-09-24 |
Family
ID=66933094
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910210286.9A Active CN109883391B (en) | 2019-03-20 | 2019-03-20 | Monocular distance measurement method based on digital imaging of microlens array |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109883391B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110455253A (en) * | 2019-09-03 | 2019-11-15 | 北京格如灵科技有限公司 | Direct reading outline range-measurement system and method based on binocular parallax under a kind of virtual reality and augmented reality environment |
| CN111238403A (en) * | 2020-01-18 | 2020-06-05 | 武汉盛信鸿通科技有限公司 | Three-dimensional reconstruction method and device based on light field sub-aperture stripe image |
| CN111696116A (en) * | 2020-04-30 | 2020-09-22 | 杨墨轩 | Method for removing image obstruction by using camera array |
| CN113124819A (en) * | 2021-06-17 | 2021-07-16 | 中国空气动力研究与发展中心低速空气动力研究所 | Monocular distance measuring method based on plane mirror |
| CN113838075A (en) * | 2020-06-23 | 2021-12-24 | 南宁富桂精密工业有限公司 | Monocular distance measuring method, device and computer readable storage medium |
| CN114674276A (en) * | 2022-03-25 | 2022-06-28 | 南京汇川图像视觉技术有限公司 | Distance measuring method, machine vision system and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1419147A (en) * | 2001-11-13 | 2003-05-21 | 中国科学院力学研究所 | Automatic focusing regulation method and device for multiple variable ptial imaging system of 3D object |
| CN102761700A (en) * | 2011-04-29 | 2012-10-31 | 国际商业机器公司 | Shooting device and method for obtaining distance between different points on shot object |
| US20150369695A1 (en) * | 2014-06-20 | 2015-12-24 | National Central University | Detecting system |
| CN106373152A (en) * | 2016-09-18 | 2017-02-01 | 清华大学深圳研究生院 | Distance estimation method based on hand-held light field camera |
-
2019
- 2019-03-20 CN CN201910210286.9A patent/CN109883391B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1419147A (en) * | 2001-11-13 | 2003-05-21 | 中国科学院力学研究所 | Automatic focusing regulation method and device for multiple variable ptial imaging system of 3D object |
| CN102761700A (en) * | 2011-04-29 | 2012-10-31 | 国际商业机器公司 | Shooting device and method for obtaining distance between different points on shot object |
| US20150369695A1 (en) * | 2014-06-20 | 2015-12-24 | National Central University | Detecting system |
| CN106373152A (en) * | 2016-09-18 | 2017-02-01 | 清华大学深圳研究生院 | Distance estimation method based on hand-held light field camera |
Non-Patent Citations (4)
| Title |
|---|
| WENCHAO ZHAO: "Optical Sectioning Tomographic Reconstruction of Three-Dimensional Flame Temperature Distribution Using Single Light Field Camera", 《IEEE SENSORS JOURNAL》 * |
| 肖相国等: "基于光场摄像技术的对焦测距方法的研究", 《光子学报》 * |
| 蒋金银: "数字图像清晰度评价函数的研究与改进", 《电子世界》 * |
| 赵文超等: "基于光场分层成像的火焰三维温度场测量", 《东南大学学报(自然科学版)》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110455253A (en) * | 2019-09-03 | 2019-11-15 | 北京格如灵科技有限公司 | Direct reading outline range-measurement system and method based on binocular parallax under a kind of virtual reality and augmented reality environment |
| CN111238403A (en) * | 2020-01-18 | 2020-06-05 | 武汉盛信鸿通科技有限公司 | Three-dimensional reconstruction method and device based on light field sub-aperture stripe image |
| CN111696116A (en) * | 2020-04-30 | 2020-09-22 | 杨墨轩 | Method for removing image obstruction by using camera array |
| CN113838075A (en) * | 2020-06-23 | 2021-12-24 | 南宁富桂精密工业有限公司 | Monocular distance measuring method, device and computer readable storage medium |
| CN113838075B (en) * | 2020-06-23 | 2024-01-09 | 南宁富联富桂精密工业有限公司 | Monocular ranging method, monocular ranging device and computer readable storage medium |
| CN113124819A (en) * | 2021-06-17 | 2021-07-16 | 中国空气动力研究与发展中心低速空气动力研究所 | Monocular distance measuring method based on plane mirror |
| CN114674276A (en) * | 2022-03-25 | 2022-06-28 | 南京汇川图像视觉技术有限公司 | Distance measuring method, machine vision system and storage medium |
| CN114674276B (en) * | 2022-03-25 | 2024-02-23 | 南京汇川图像视觉技术有限公司 | Distance measurement method, machine vision system, and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109883391B (en) | 2021-09-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109883391A (en) | Monocular distance measuring method based on microlens array digital imagery | |
| US10832429B2 (en) | Device and method for obtaining distance information from views | |
| EP0318188B1 (en) | Method and apparatus for determining the distances between surface-patches of a three-dimensional spatial scene and a camera system | |
| CN102801929B (en) | Imageing sensor and picture pick-up device | |
| Subbarao et al. | Accurate recovery of three-dimensional shape from image focus | |
| US7612870B2 (en) | Single-lens aperture-coded camera for three dimensional imaging in small volumes | |
| CN101539422B (en) | Monocular vision real time distance measuring method | |
| US20070189750A1 (en) | Method of and apparatus for simultaneously capturing and generating multiple blurred images | |
| CN105282443A (en) | Method for imaging full-field-depth panoramic image | |
| EP3480648A1 (en) | Adaptive three-dimensional imaging system | |
| JP7378219B2 (en) | Imaging device, image processing device, control method, and program | |
| CN107610182B (en) | A kind of scaling method at light-field camera microlens array center | |
| CN102997891A (en) | Device and method for measuring scene depth | |
| CN108020200A (en) | A kind of depth measurement method and system | |
| US6424422B1 (en) | Three-dimensional input device | |
| CN105184784A (en) | Motion information-based method for monocular camera to acquire depth information | |
| CN107991665A (en) | It is a kind of based on fixed-focus camera to target three-dimensional coordinate method for continuous measuring | |
| JPH03136580A (en) | Method for determining distance of object, obtaining total focussed image and electronic camera device | |
| CN107036579A (en) | A kind of target relative positioning method based on monocular liquid lens optical system | |
| JP2019066451A (en) | Image measurement apparatus, image measurement method, imaging apparatus and program | |
| WO2022126430A1 (en) | Auxiliary focusing method, apparatus and system | |
| CN103033166A (en) | Target ranging method based on synthetic aperture focused images | |
| CN105203102B (en) | Sky polarization mode detection method and system based on s- wave plates | |
| Shafer | Automation and calibration for robot vision systems | |
| Kainz et al. | Estimation of camera intrinsic matrix parameters and its utilization in the extraction of dimensional units |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |