CN111442757A - Visual ranging system and method based on dispersive lens and optical filter - Google Patents
Visual ranging system and method based on dispersive lens and optical filter Download PDFInfo
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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Abstract
The invention provides a visual ranging system based on a dispersion lens and an optical filter, which comprises an imaging lens (1), an imaging light path unit (2), a filtering unit (3), an imaging unit (4) and an image calculation processing unit (5) which are sequentially arranged along the light path direction; the imaging lens (1) is a dispersive lens; the imaging light path unit (2) comprises a plurality of light splitting sheets and a reflector, and is used for splitting incident light from a target scene into a plurality of light beams and respectively entering a plurality of parallel light paths; the filtering unit (3) is positioned at the tail end of each parallel optical path and is used for reserving the corresponding narrow-band optical signal of each optical path; the imaging unit (4) comprises a plurality of image sensors for acquiring optical signals of each narrow band; the image calculation processing unit (5) is connected with the imaging unit (4) and is used for calculating the acquired multiple image data and realizing the depth recovery of the target scenery by adopting a depth recovery algorithm. The invention also provides a ranging method based on the system.
Description
Technical Field
The invention relates to the technical field of 3D imaging, in particular to a visual ranging system and a visual ranging method based on a dispersive lens and an optical filter.
Background
At present, the distance measurement method based on vision is increasingly widely applied in the fields of industry, robot positioning and the like, the existing vision distance measurement system is mostly realized by methods such as a monocular movement parallax method, a binocular stereo vision method, a structured light method, a flight time method, a defocusing depth method and the like, and the following defects exist: (1) when a motion parallax method is adopted, the motion form of a camera is limited, and scale uncertainty exists; (2) when a binocular stereo vision method is adopted, the problems of high calculation amount, long operation time and the like exist, and the real-time performance is difficult to meet; (3) when the structured light method is adopted, the problems of complex matching process and poor synchronism and instantaneity exist; (4) when the flight time method is adopted, the problems of low density, system energy consumption and the like of the obtained depth data exist; (5) when the defocusing depth method is adopted, the problems of double solution and signal crosstalk of different channels exist, and the accuracy and the real-time performance are difficult to be improved simultaneously. In conclusion, the existing method has the defects of difficult requirements on real-time performance, accuracy and the like.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a visual ranging system and a visual ranging method based on a dispersive lens and an optical filter, which can simultaneously acquire a plurality of narrow-band spectral images with different defocusing degrees, reduce the distance of a measured object through a depth recovery algorithm and improve the real-time property and the accuracy.
The invention adopts the following technical scheme for realizing the aim of the invention:
the visual ranging system based on the dispersive lens and the optical filter comprises an imaging lens, an imaging light path unit, a filtering unit, an imaging unit and an image calculation processing unit which are sequentially arranged along the light path direction;
the imaging lens is a dispersive lens; the imaging light path unit comprises a plurality of light splitting sheets and a reflector and is used for splitting incident light from a target scene into a plurality of light beams and respectively entering a plurality of parallel light paths;
the filtering unit is positioned at the tail end of each parallel optical path and is used for reserving the corresponding narrow-band optical signal of each optical path; the imaging unit comprises a plurality of image sensors for collecting optical signals of each narrow band; the image calculation processing unit is connected with the imaging unit and used for calculating the multiple acquired image data and realizing the depth recovery of the target scenery by adopting a depth recovery algorithm.
In a preferred embodiment: the imaging lens is a dispersive lens which can enhance longitudinal chromatic aberration and restrain other aberration, particularly transverse chromatic aberration; the filtering unit is a narrow-band filter with the optical density value larger than 4.
The invention also provides a distance measuring method of the visual distance measuring system based on the dispersive lens and the optical filter, which comprises the following steps:
the method comprises the following steps: incident light from a target scene passes through an imaging lens to form light beams with different imaging focal lengths and different wavelengths, and the light beams enter an imaging light path unit;
step two: the light beam entering the imaging light path unit is divided into two paths by a first light splitter, and the split first light beam passes through a first optical filter of a filter unit and is filtered to reserve corresponding waveband light signals to reach a first image sensor of the imaging unit;
step three: the second light beam split by the first light splitter of the imaging light path unit reaches the second light splitter of the imaging light path unit along the light path, and the first light beam split for the second time passes through the second light splitter of the filter unit, and after filtering, the corresponding waveband light signal is reserved to reach the second image sensor of the imaging unit;
step four: the second light beam split by the second light splitting sheet of the imaging light path unit reaches a reflector of the imaging light path unit along the light path, the reflected light beam passes through a third optical filter of the filter unit, and after filtering, the corresponding waveband light signal is reserved to reach a third image sensor of the imaging unit;
step five: the image calculation processing unit recovers the depth information of the scene by using a defocus depth reduction algorithm based on the obtained images of each waveband, namely, the depth information corresponding to any object point in the scene is obtained.
In a preferred embodiment: in the fifth step, the depth recovery algorithm can adopt a plurality of depth recovery methods such as a defocus depth method and a focus depth method.
Compared with the prior art, the invention has the following remarkable advantages:
the invention provides a visual ranging system based on a dispersive lens and an optical filter, which is an easily realized 3D imaging system design scheme based on a plurality of narrow-band spectral images, can acquire a plurality of narrow-band spectral images of the same scene at the same time, and improves the image acquisition efficiency; the chromatic dispersion lens for enhancing longitudinal chromatic aberration is used for expanding the difference of imaging focal lengths of all wave bands, and a plurality of images with different defocusing degrees can be obtained simultaneously; the system of the invention has simple structure, can avoid complex image registration, realizes real-time dynamic calculation and has high calculation efficiency.
Drawings
FIG. 1 is a schematic diagram of a visual ranging system based on a dispersing lens and a filter according to a preferred embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1, the visual ranging system based on a dispersive lens and an optical filter includes an imaging lens, an imaging optical path unit, a filtering unit, an imaging unit and an image calculation processing unit, which are sequentially arranged along an optical path direction;
the imaging lens is a dispersive lens; the imaging light path unit comprises a plurality of light splitting sheets and a reflector and is used for splitting incident light from a target scene into a plurality of light beams and respectively entering a plurality of parallel light paths;
the filtering unit is positioned at the tail end of each parallel optical path and is used for reserving the corresponding narrow-band optical signal of each optical path; the imaging unit comprises a plurality of image sensors for collecting optical signals of each narrow band; the image calculation processing unit is connected with the imaging unit and used for calculating the multiple acquired image data and realizing the depth recovery of the target scenery by adopting a depth recovery algorithm.
The imaging lens is a dispersive lens which can enhance longitudinal chromatic aberration and restrain other aberration, particularly transverse chromatic aberration; the filtering unit is a narrow-band filter with an optical density value larger than that of the narrow-band filter.
The invention also provides a distance measuring method of the visual distance measuring system based on the dispersive lens and the optical filter, which comprises the following steps:
the method comprises the following steps: incident light from a target scene passes through an imaging lens to form light beams with different imaging focal lengths and different wavelengths, and the light beams enter an imaging light path unit;
step two: the light beam entering the imaging light path unit is divided into two paths by a first light splitter, and the split first light beam passes through a first optical filter of a filter unit and is filtered to reserve corresponding waveband light signals to reach a first image sensor of the imaging unit;
step three: the second light beam split by the first light splitter of the imaging light path unit reaches the second light splitter of the imaging light path unit along the light path, and the first light beam split for the second time passes through the second light splitter of the filter unit, and after filtering, the corresponding waveband light signal is reserved to reach the second image sensor of the imaging unit;
step four: the second light beam split by the second light splitting sheet of the imaging light path unit reaches a reflector of the imaging light path unit along the light path, the reflected light beam passes through a third optical filter of the filter unit, and after filtering, the corresponding waveband light signal is reserved to reach a third image sensor of the imaging unit;
step five: the image calculation processing unit recovers the depth information of the scene by using a defocus depth reduction algorithm based on the obtained images of each waveband, namely, the depth information corresponding to any object point in the scene is obtained.
In the fifth step, the depth recovery algorithm can adopt a plurality of depth recovery methods such as a defocus depth method and a focus depth method.
In this embodiment, the defocus depth recovery algorithm is adopted in the fifth step, and the method includes the following steps:
the method comprises the following steps: and preprocessing a first image, a second image and a third image formed by the first image sensor, the second image sensor and the third image sensor through algorithms such as image filtering and the like to respectively obtain a first preprocessing image, a second preprocessing image and a third preprocessing image.
Step two: respectively processing the preprocessing image I, the preprocessing image II and the preprocessing image III by using an edge detection algorithm and a gradient algorithm to respectively obtain a corresponding edge gradient image I, an edge gradient image II and an edge gradient image III, and respectively using symbols I1，I2And I3And (4) showing.
Step three: according to the blurred image edge model, the edge gradients at the points (x, y) of the first image, the second image and the third image in different bands obtained as above can be expressed as:
wherein i is 1, 2, 3.σ is the ambiguity at point (x, y).
For eliminating image gradient I of each wave band1,I2,I3The difference between the amplitudes needs to be normalized by the sum of I1,I2,I3The division results in:
where i ≠ j, i, j ∈ (1, 2, 3).
For a position at the edge center (0, 0):
the imaging ambiguity σ of the image and the real object distance d have a functional relationship as shown in the following formula:
wherein k is constant, b is the image imaging light spot fuzzy diameter, D is the optical system light-passing aperture, s is the imaging system image distance, DfD is the real distance of the object for clear imaging.
According to the (formula four), the (formula three) can be converted into the following form:
wherein i ≠ j, i, j ∈ (1, 2, 3), diDistance of alignment surface for sharp imaging of corresponding band in ith picture, djThe distance of the alignment surface is imaged clearly for the jth picture.
The following can be derived from the above (equation five):
and (5) calculating the real distance d of the object according to the formula (VI).
The above examples are provided only for illustrating the present invention and are not intended to limit the present invention. Changes, modifications, etc. to the above-described embodiments are intended to fall within the scope of the claims of the present invention as long as they are in accordance with the technical spirit of the present invention.
Claims (4)
1. The visual ranging system based on the dispersive lens and the optical filter is characterized by comprising an imaging lens (1), an imaging light path unit (2), a filtering unit (3), an imaging unit (4) and an image calculation processing unit (5) which are sequentially arranged along the light path direction;
the imaging lens (1) is a dispersive lens; the imaging light path unit (2) comprises a plurality of light splitting sheets and a reflector, and is used for splitting incident light from a target scene into a plurality of light beams and respectively entering a plurality of parallel light paths;
the filtering unit (3) is positioned at the tail end of each parallel optical path and is used for reserving the corresponding narrow-band optical signal of each optical path; the imaging unit (4) comprises a plurality of image sensors for acquiring optical signals of each narrow band; the image calculation processing unit (5) is connected with the imaging unit (4) and is used for calculating the acquired multiple image data and realizing the depth recovery of the target scenery by adopting a depth recovery algorithm.
2. A dispersive lens and filter based vision distance measurement system according to claim 1 wherein the imaging lens (1) is a dispersive lens which enhances longitudinal chromatic aberration and suppresses other aberrations, especially lateral chromatic aberration; the filtering unit (3) is a narrow-band filter with an optical density value larger than 4.
3. A distance measuring method of a visual distance measuring system based on a dispersive lens and an optical filter according to claim 1 or 2, characterized in that it comprises the following steps:
the method comprises the following steps: incident light from a target scene passes through an imaging lens (1) to form light beams with different imaging focal lengths and different wavelengths, and the light beams enter an imaging light path unit (2);
step two: the light beam entering the imaging light path unit (2) is divided into two paths by a first light splitter, the split first light beam passes through a first optical filter of a filter unit (3), and after filtering, a corresponding waveband light signal is reserved and reaches a first image sensor of an imaging unit (4);
step three: the second light beam split by the first light splitter of the imaging light path unit (2) reaches the second light splitter of the imaging light path unit (2) along the light path, the first light beam split for the second time passes through the second light filter of the filter unit (3), and the optical signals of corresponding wave bands are reserved after filtering and reach the second image sensor of the imaging unit (4);
step four: the second light beam split by the second light splitting sheet of the imaging light path unit (2) reaches a reflector of the imaging light path unit (2) along a light path, the reflected light beam passes through a third light filtering sheet of the filter unit (3), and after filtering, the corresponding waveband light signal is reserved and reaches a third image sensor of the imaging unit (4);
step five: the image calculation processing unit (5) recovers the depth information of the scene by using a defocus depth reduction algorithm on the basis of the obtained each waveband image, namely, the depth information corresponding to any object point in the scene is obtained.
4. A distance measuring method of visual distance measuring system based on dispersive lens and optical filter according to claim 3, wherein in the fifth step, the depth recovery algorithm can adopt a plurality of depth recovery methods such as defocusing depth method, focusing depth method, etc.
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| CN114754706A (en) * | 2022-04-11 | 2022-07-15 | 广东机电职业技术学院 | Mechanical part machining surface roughness online detection method and system |
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