CN110580686A - Polarization image restoration device and method based on binocular vision in scattering environment - Google Patents
Polarization image restoration device and method based on binocular vision in scattering environment Download PDFInfo
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Abstract
The invention discloses a polarization image restoration device and method based on binocular vision in a scattering environment, wherein the device comprises a light source (1), a first horizontal polarizer (2), a binocular imaging system with an orthogonal polarizer and a computer processing unit; step 1, acquiring two polarized images by using a binocular imaging system with orthogonal polarizers, wherein the two polarized images are respectively parallel to and perpendicular to illumination polarized light; step 2, obtaining a depth image of the target object, and mapping the gray value of each pixel point of the right image to the left image to obtain a matched right image; step 3, obtaining the transmittance t (x, y) of different positions (x, y); step 4, obtaining a restoration image L (x, y); and 5, obtaining the degree of polarization DOP of the image. Compared with the prior art, the method can recover a clear image and identify objects with different polarization degrees in a scattering medium environment with higher concentration, and particularly can distinguish the objects according to the difference of the polarization degrees when the light intensities of the objects are similar.
Description
Technical Field
the invention relates to the technical field of polarization imaging detection, in particular to a binocular vision depth and polarization imaging restoration method and an object polarization degree calculation method in a scattering environment.
Background
the polarization imaging technology has a very important position in the fields of national defense and military, biomedicine, industrial production and the like. Compared with the traditional optical imaging, the polarization imaging technology is a novel optical detection technology. The traditional optical technology can only obtain the light intensity and wavelength information of the image, and the polarization imaging technology can also obtain the polarization information, thereby obtaining more multidimensional information. In addition, even under the condition of scattering environment, a detection image with relatively high contrast can be obtained by utilizing the polarization imaging technology, and objects with similar light intensity are identified according to the difference of polarization information. The traditional polarization image restoration method can only take the polarization degree of an object as 0, thereby estimating the value of the transmittance t and restoring the image. The method is only suitable for the object with low polarization degree to obtain a better restored image, but has a poorer image restoration effect for the object with higher polarization degree. In addition, the existing polarization image restoration technology can only restore the light intensity image of the object, and cannot obtain the information of the polarization degree of the object, so that the object with different polarization degrees cannot be identified.
The binocular vision technology can obtain the depth information of an object, and the depth information and the polarization information are combined, so that the definition of the restored image is improved, and meanwhile, the polarization information of the object is obtained.
disclosure of Invention
in order to overcome the defects of the prior art, the invention provides a polarization image restoration and image identification method based on binocular vision in a scattering environment.
The invention relates to a polarization image restoration device based on binocular vision in a scattering environment, which comprises a light source 1, a first horizontal polarizer 2, a binocular imaging system with orthogonal polarizers and a computer processing unit, wherein the first horizontal polarizer is arranged on the front surface of the light source; the binocular imaging system comprises a first and a second binocular camera 6, 7; whereinThe light emitted by the light source 1 is changed into horizontally polarized light through the horizontal polarizing film 2 and then irradiated on a target object, and then passes through the orthogonal polarizing film, namely the second horizontal polarizing film 4 and the vertical polarizing film 5 and then respectively enters the first binocular camera 6 and the second binocular camera 7, and simultaneously two polarized images including a light intensity image I in the horizontal direction are obtained∥and intensity profile I in the vertical direction⊥and the computer processing unit processes the two polarized images to realize the restoration of the polarized images.
The invention relates to a polarization image restoration method based on binocular vision in a scattering environment, which comprises the following concrete implementation steps:
Step 1, acquiring two polarized images by using a binocular imaging system with orthogonal polarizing plates in an active linearly polarized light illumination mode, wherein the two polarized images are respectively parallel to and perpendicular to illumination polarized light;
step 2, using the left picture I∥Matching the right graph I by adopting a dense matching mode as a reference graph⊥obtaining a parallax map, further obtaining a depth image rho of the target object, and mapping the gray value of each pixel point of the right image to the left image to obtain a matched right image;
The depth information expression of each point in the depth map rho is as follows:
Wherein f is the focal length of the camera, b is the camera line distance of the binocular camera, d (x, y) is the number of pixels of the phase difference between corresponding points of the reference image and the matching image, and ps is the size of a single pixel;
And 3, obtaining the transmittance t (x, y) of different positions (x, y), wherein the calculation formula is as follows:
t(x,y)＝e-β(x,y)ρ(x,y)
Wherein β (x, y) is a scattering coefficient, and ρ (x, y) is the depth information of the target object obtained in step 2;
and 4, obtaining the restored image L, which comprises the following specific steps:
The light intensity I (x, y) received by the CCD can be divided into two parts, namely the object reflected light L (x, y)) (light intensity value of each point of the restored image) attenuated light intensity and background light intensity A∞Scattered backscattered light, the formula is as follows:
I(x,y)＝L(x,y)t(x,y)+A∞[1-t(x,y)]
Where t (x, y) is the transmittance obtained in step 3, and an expression of the light reflected by the object, i.e., a restored image, can be derived from the above formula, where the expression is as follows:
Wherein, L represents the restored image, and L (x, y) represents the light intensity value of the specific point in the restored image;
And step 5, obtaining the polarization degree of the object, namely a polarization degree diagram DOP, wherein the formula is as follows:
wherein L (x, y) is the light intensity value of each point in the restoration image obtained in step 4, Δ L (x, y) is the difference between the horizontal polarized light intensity and the vertical polarized light intensity of the object reflected light, and the calculation formula is as follows:
Wherein t (x, y) is the transmittance obtained in step 3, and Δ D (x, y) is the difference between the light intensity after the attenuation of the horizontally polarized light and the light intensity after the attenuation of the vertically polarized light of the reflected light of the object, and can be obtained by the following formula:
Wherein, Δ I (x, y) is the difference between the left and right images received by CCD, Pscatis the background light polarization at the background, A∞is the light intensity at the background.
compared with the prior art, the method can recover a clear image and identify objects with different polarization degrees in a scattering medium environment with higher concentration, and particularly can distinguish the objects according to the difference of the polarization degrees when the light intensities of the objects are similar.
Drawings
FIG. 1 is a schematic overall flow chart of a binocular vision-based polarization image restoration and image identification method in a scattering environment according to the present invention; the images 1 and 2 are directly shot images, and the rest images are obtained after the processing of each step.
FIG. 2 is a schematic structural diagram of an apparatus for image restoration and identification in a scattering environment using binocular vision and polarization imaging technology according to the present invention;
Reference numerals:
1. a light source; 2. the system comprises a first horizontal polarizer, 3, a target object, 4, a second horizontal polarizer, 5, a vertical polarizer, 6, 7, a first binocular camera and a second binocular camera.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings and examples.
Fig. 1 is a schematic structural diagram of an image restoration apparatus using binocular vision and polarization in a scattering environment according to the present invention. The entire apparatus includes a light source 1, a horizontal polarizer 2, first to second polarizers 2, 4, 5, and binocular imaging systems 6, 7. Light emitted by the light source 1 passes through the horizontal polarizing film 2 to become horizontal linear polarized light and irradiates on a target object, and then passes through the mutually orthogonal polarizing films 4 and 5 and is collected by the binocular cameras 6 and 7. Wherein, a horizontal polarizer 4 is arranged in front of the left camera 6, and a vertical polarizer 5 is arranged in front of the right camera 7, so as to obtain two polarized images. By processing the two polarized images, a restored clear image and an image displaying the polarization degree of the object can be obtained.
as shown in fig. 1, the following will describe the embodiment of the present invention in further detail according to the overall flow diagram of the method, and the detailed steps are as follows:
Step 1, acquiring two images by using a binocular camera with a polaroid in an active illumination mode;
Irradiating the target object with linearly polarized light in the horizontal direction, and taking a picture with a binocular camerashooting images, wherein a horizontal polarizing film and a vertical polarizing film are respectively arranged in front of a binocular camera; according to the conventional polarization imaging theory, the polarization images acquired by the imaging system are respectively: left picture I∥(image 1), right image I⊥(image 2). Wherein, I∥for the image acquired by the left camera plus the horizontal linear polarizer, I⊥the image collected by the right camera and the vertical linear polaroid.
Step 2, obtaining a left image and a right image through the double cameras to obtain a disparity map so as to obtain depth information of the object;
and matching the right graph by taking the left graph as a reference graph in a dense matching mode (namely, each point is matched). Firstly, image segmentation is carried out on a left image, a matching window is designed according to the segmented shape, a matching cost function can select a proper similarity judgment standard according to different scenes, and filtering processing is carried out on a matching result to obtain a disparity map (image 3). On the basis of the completion of matching, mapping the gray value of each pixel point of the right image to the corresponding left image to obtain a matched right image I'⊥(image 4). The number d of pixels of the phase difference between the matching points can be known through the disparity map, and the depth information of the object, namely the depth map (image 5) can be obtained according to the formula (1).
Wherein rho (x, y) is depth information of each point, f is a camera focal length, b is a machine line distance (distance between central points of two cameras), d (x, y) is the number of pixels with phase difference between corresponding points, and ps is the size of a single pixel;
And 3, obtaining the transmittance t (x, y) of different positions by using the depth information:
t(x,y)＝e-β(x,y)ρ(x,y) (2)
wherein, beta (x, y) is a scattering coefficient, and rho (x, y) is the depth information of each point of the image obtained in the step 2;
Step 4, restoring an image by using a polarization imaging model in a scattering environment;
I(x,y)＝D(x,y)+B(x,y) (3)
wherein, I (x, y) is the light intensity value received by the CCD, D (x, y) is the light intensity after the attenuation of the reflected light of the object, and B (x, y) is the background scattered light;
D(x,y)＝L(x,y)t(x,y) (4)
Wherein, L (x, y) is the target object reflected light;
B(x,y)＝A∞[1-t(x,y)] (5)
Wherein A is∞The light intensity at infinity (i.e., at background).
derived from formula (6):
and a restored image (image 6) is obtained.
Step 5, calculating the polarization degree by using the transmittance t and the restoration image L;
in the polarization imaging model, the background scattered light of the whole scene is approximately considered to be equal according to the formula
wherein, Δ I (x, y) is the light intensity difference between the left and right images received by the CCD, as long as the background light polarization P at the background is obtainedscatand the intensity of light A at the background∞the difference Δ D (x, y) between the horizontally polarized light and the vertically polarized light of the object can be obtained, where Δ B (x, y) is the difference between the horizontally polarized light and the vertically polarized light of the background scattered light. Since D (x, y) is L (x, y) t (x, y), that is, Δ D (x, y) is Δ L (x, y) t (x, y), the formula of the degree of polarization is further derived:
By combining the transmittance t obtained in step 3 and the restoration image L obtained in step 4, a polarization degree map (image 7) can be obtained, and the image can be recognized.
the method is suitable for fog-containing image restoration and object polarization degree calculation in a scattering medium environment, utilizes a binocular camera with an orthogonal polaroid to perform imaging, calculates the depth by a binocular vision related method, and combines a polarization imaging model to further realize image restoration and image identification. According to the invention, the image is restored directly through the depth information, so that a more accurate transmittance t value can be obtained, and more accurate restoration is further realized; the depth information is combined with the polarization defogging model, the polarization degree of an object in a scene can be obtained, the information can not be obtained in the traditional polarization recovery model, the polarization recovery model can be used for identifying the objects with different polarization degrees, and particularly, the objects can be distinguished according to the difference of the polarization degrees when the light intensity of the objects is similar.
Claims (2)
1. A binocular vision based polarization image restoration device in a scattering environment, characterized in that the device comprises a light source (1), a first horizontal polarizer (2), a binocular imaging system with orthogonal polarizers, and a computer processing unit; the binocular imaging system comprises a first and a second binocular camera (6) (7); wherein, the light emitted by the light source (1) is changed into horizontal polarized light through the horizontal polarizing film (2) and then is irradiated on a target object, then passes through the orthogonal polarizing film, namely a second horizontal polarizing film (4) and a vertical polarizing film (5) and then respectively enters a first binocular camera (6) and a second binocular camera (7), and simultaneously two polarized images including a light intensity chart I in the horizontal direction are obtained∥and intensity profile I in the vertical direction⊥And the computer processing unit processes the two polarized images to realize the restoration of the polarized images.
2. a polarization image restoration method based on binocular vision in a scattering environment is characterized by comprising the following specific implementation steps:
Step 1, acquiring two polarized images by using a binocular imaging system with orthogonal polarizing plates in an active linearly polarized light illumination mode, wherein the two polarized images are respectively parallel to and perpendicular to illumination polarized light;
step 2, using the left picture I∥matching the right graph I by adopting a dense matching mode as a reference graph⊥Obtaining a parallax map, further obtaining a depth image rho of the target object, and taking each pixel of the right imageMapping the gray value of the point to the left image to obtain a matched right image;
the depth information expression of each point in the depth map rho is as follows:
Wherein f is the focal length of the camera, b is the camera line distance of the binocular camera, d (x, y) is the number of pixels of the phase difference between corresponding points of the reference image and the matching image, and ps is the size of a single pixel;
And 3, obtaining the transmittance t (x, y) of different positions (x, y), wherein the calculation formula is as follows:
t(x,y)＝e-β(x,y)ρ(x,y)
Wherein β (x, y) is a scattering coefficient, and ρ (x, y) is the depth information of the target object obtained in step 2;
and 4, obtaining the restored image L, which comprises the following specific steps:
The light intensity I (x, y) received by the CCD can be divided into two parts, namely the light intensity after the object reflected light L (x, y) (the light intensity value of each point of the restored image) is attenuated and the light intensity A at the background∞Scattered backscattered light, the formula is as follows:
I(x,y)＝L(x,y)t(x,y)+A∞[1-t(x,y)]
Where t (x, y) is the transmittance obtained in step 3, and an expression of the light reflected by the object, i.e., a restored image, can be derived from the above formula, where the expression is as follows:
Wherein, L represents the restored image, and L (x, y) represents the light intensity value of the specific point in the restored image;
and step 5, obtaining the polarization degree of the object, namely a polarization degree diagram DOP, wherein the formula is as follows:
wherein L (x, y) is the light intensity value of each point in the restoration image obtained in step 4, Δ L (x, y) is the difference between the horizontal polarized light intensity and the vertical polarized light intensity of the object reflected light, and the calculation formula is as follows:
wherein t (x, y) is the transmittance obtained in step 3, and Δ D (x, y) is the difference between the light intensity after the attenuation of the horizontally polarized light and the light intensity after the attenuation of the vertically polarized light of the reflected light of the object, and can be obtained by the following formula:
Wherein, Δ I (x, y) is the difference between the left and right images received by CCD, PscatIs the background light polarization at the background, A∞Is the light intensity at the background.
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| CN113554575A (en) * | 2020-04-23 | 2021-10-26 | 华东交通大学 | High-reflection object surface highlight removing method based on polarization principle |
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