CN111474556A - Laser three-dimensional visual imaging method - Google Patents
Laser three-dimensional visual imaging method Download PDFInfo
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- CN111474556A CN111474556A CN202010422890.0A CN202010422890A CN111474556A CN 111474556 A CN111474556 A CN 111474556A CN 202010422890 A CN202010422890 A CN 202010422890A CN 111474556 A CN111474556 A CN 111474556A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Abstract
The invention discloses a laser three-dimensional visual imaging method, which is used for fitting distance information of a target with a space two-dimensional coordinate of the target and reconstructing three-dimensional environment information. The method can reduce the laser emission requirement of the system, is convenient for realizing the miniaturization of the three-dimensional visual imaging system, can improve the use efficiency and reduce the development cost.
Description
Technical Field
The invention belongs to the field of optics, and particularly relates to a laser three-dimensional visual imaging method.
Background
The intelligent system is an important component part of current national science and technology development, and the field has urgent need for high-precision perception of surrounding environment three-dimensional image information. The laser three-dimensional vision system is one of the most effective technical means for realizing high-precision perception of the three-dimensional image information of the surrounding environment at present. The intelligent system has the advantages of strong information acquisition capability, long working distance, strong anti-interference capability and the like, so that the intelligent system can become important information acquisition assistance of the intelligent system. As a complicated laser measurement means, the system structure of the high-precision low-cost laser galvanometer scanning 3D vision system directly determines the performance and indexes of the system, so that the design of the three-dimensional vision system is extremely important, but in practical application, the laser 3D vision system faces the problems of high technical difficulty, high device price and the like.
The transmitting-receiving combined optical antenna is used as a common optical antenna system, and can be widely applied to various optical detection schemes due to the characteristics of small photosensitive surface, high response speed, low background light introduction and the like.
Disclosure of Invention
In order to provide a high-precision low-cost laser three-dimensional visual imaging method, the invention provides a laser three-dimensional visual imaging method, and the technical scheme of the invention is as follows:
a laser three-dimensional visual imaging method is characterized in that an imaging system used in the method comprises a computer control module, a laser carrier light source, a receiving and transmitting combining module, a signal processing module and a photoelectric detector; the receiving and transmitting combined module comprises an optical system scanning module and a photoelectric receiving module; the method comprises the following steps:
the computer control module respectively sends synchronous working instructions to the laser carrier light source, the transmitting-receiving combination module, the signal processing module and the photoelectric detector, wherein,
the laser carrier light source transmits carrier light waves to the transceiving combination module, the carrier light waves are received by the photoelectric receiving module, are incident to a target through the transceiving optical system scanning module, and are reflected by the target, and echo signals with target distance information are transmitted to the signal processing module through the photoelectric detector;
the optical system scanning module simultaneously scans the target and transmits an electric signal with target space position information obtained by scanning to the signal processing module;
and the signal processing module performs space coordinate fitting on the received echo signal with the target distance information and the received electric signal with the target space position information to realize image inversion of the target.
Preferably, the transceiver module further comprises a transceiver isolator module for isolating the transmitting light from the echo light.
Preferably, the photodetector is an APD avalanche photodiode.
Preferably, the optical system scanning module adopts a direct detection system, and the scanning mode is galvanometer two-dimensional optical machine scanning.
Preferably, the optical system scanning module uses a galvanometer mirror.
Compared with the prior art, the invention has the following beneficial effects:
the laser three-dimensional visual imaging method provided by the invention is used for fitting the distance information of the target with the space two-dimensional coordinate of the target and reconstructing three-dimensional environment information, and compared with the traditional scanning imaging method, the method provided by the invention is more accurate and real in imaging.
Compared with the existing method, the method can reduce the laser emission requirement of the imaging system, is convenient for realizing the miniaturization of the three-dimensional visual imaging system, can improve the use efficiency and reduce the development cost.
Drawings
FIG. 1 is a control flow chart of a laser three-dimensional visual imaging method according to an embodiment;
FIG. 2 is a schematic diagram of spatial coordinate fitting in an embodiment;
FIG. 3 is a schematic structural diagram of a transceiver module system in the embodiment;
FIG. 4 is a diagram illustrating experimental results of multi-target combined imaging for single distance information in an embodiment;
fig. 5 is a schematic diagram of the experimental results of imaging a complex human target in the example.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the first embodiment is as follows:
in this embodiment, the laser three-dimensional visual imaging method provided by the present invention is adopted, and as shown in fig. 1, an imaging system used in the method includes a computer control module, a laser carrier light source, a transceiving combining module, a signal processing module and a photodetector; the receiving and transmitting combined module comprises an optical system scanning module, a receiving and transmitting combined isolating switch module and a photoelectric receiving module; the transmitting and receiving combined isolating switch module is used for isolating the emitted light and the echo light. The photoelectric detector of the embodiment adopts an APD avalanche photodiode, the optical system scanning module adopts a galvanometer type galvanometer, the scanning angle of the galvanometer type galvanometer is uniform, the requirement on the surface type of the lens is low, and the position precision is high;
when in work, the computer control module respectively sends synchronous working instructions to the laser carrier light source, the optical system scanning module, the signal processing module and the photoelectric detector in the receiving and transmitting combined module to realize the clock synchronization among the working modules, wherein,
the laser carrier light source transmits carrier light waves to a photoelectric receiving module in the receiving and transmitting combined module, the carrier light waves enter a target through an optical system scanning module in the receiving and transmitting combined module, and after the carrier light waves are reflected by the target, echo signals with target distance information are transmitted to a signal processing module through a photoelectric detector;
the optical system scanning module scans the target at the same time, the system adopts a direct detection system, the scanning mode is galvanometer two-dimensional optical machine scanning, and the optical system scanning module transmits an electric signal with target space position information obtained by scanning to the signal processing module;
and the signal processing module performs space coordinate fitting on the received electric signal with target space position information and the received echo signal with target distance information to realize image inversion of the target.
The imaging principle of the space coordinate fitting is as follows:
through fitting of distance information on different 2-dimensional position coordinate points, the target distance item corresponds to the target plane space two-dimensional coordinate one to one, and a combined image of the distance item and the two-dimensional coordinate is obtained, as shown in fig. 2(a) and fig. 2(b), it can be seen that three kinds of distance item fitted space two-dimensional coordinates reconstruct a pair of 'HIT' letter images distinguished by different distances, and three letters of 'HIT' and a black frame white circle in fig. 2(b) are respectively used for distinguishing 4 kinds of different distance items. The imaging quality of the high-precision low-cost laser galvanometer scanning 3D vision system mainly depends on the planar graph scanning precision of two-dimensional scanning and the measurement precision of different distance items, the accuracy of plane coordinate construction is directly determined by the optical system scanning module taking the galvanometer type galvanometer as the core in the embodiment, and meanwhile, the system miniaturization and low cost can be considered for imaging.
Example two:
the selective design of this embodiment is: the transmit-receive combining module in this embodiment is shown in fig. 3, and based on the polarization isolation principle, the emitted light passes through 1/2 wave plates and then becomes linearly polarized light, the two Polarization Beam Splitters (PBSs) obtain linearly polarized light with a polarization direction matching with the Polarization Beam Splitters (PBSs), the linearly polarized emitted light passes through 1/4 wave plates and then becomes circularly polarized light, the linearly polarized emitted light irradiates a target, the echo light returns along the original optical path, the circularly polarized echo light again becomes linearly polarized light after passing through 1/4 wave plates, but the polarization direction is perpendicular to the original polarization direction, and after returning to the PBSs from the original path, because the polarization direction is perpendicular to the direction matching with the Polarization Beam Splitters (PBSs), the circularly polarized echo light cannot pass through the Polarization Beam Splitters (PBSs) but is reflected to the direction perpendicular to the polarization plane of the Polarization Beam Splitters (PBSs), thereby achieving perfect isolation of the emitted light and the echo light, and obtaining a corresponding distance, without being disturbed by the emitted light.
The first application embodiment:
the present application example performs imaging experiments on multiple target combinations of single distance information and relatively complex human targets, respectively, according to the method provided in the first embodiment, wherein,
the results of the multi-objective combined imaging experiment on single distance information are shown in fig. 4, and the targets are a group of high and multi-shape foam targets with the height of 80 mm. The scanning of the equal-height target can inspect the stability of the system for time interval measurement, whether large height fluctuation exists is the main starting point for observing the image, and as can be seen from the height distribution of the graph in the graph, the height difference representing the distance information of the target image is uniformly distributed, and the distance fluctuation is small, which shows that the system is very stable for time interval measurement and the measurement error fluctuation is small at the same distance. There is a portion of the missing point region, but the topography of the scanned object is still approximately restored. Meanwhile, the shape can be seen to have obvious deformation, which is the image distortion caused by the post-processing image as the scanning of the spherical target.
The results of the scanning imaging experiments on relatively complex human targets are shown in fig. 5, the human targets are wrapped by clothes to reduce signal absorption by hairs, and the positions of the targets are located at the nearest end and the rear part of the white board at a distance of 50cm, so that the characteristics of the human targets are approximately restored.
Through the imaging experiment results, when a single-distance and single-target are imaged, distance information is well acquired, close-distance imaging is accurate and real, but the imaging quality is obviously deteriorated along with the improvement of the distance, which is caused by the reduction of the signal-to-noise ratio and the insufficient system debugging precision; for variable distance and single-target imaging, the imaging is obviously restricted by the resolution of a time measurement system, and meanwhile, the image processing of a complex distance item is yet to be optimized; when multiple targets at a single distance are imaged, point loss and deformation are main problems, and the problems are mainly related to image processing at the later stage of imaging.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (5)
1. A laser three-dimensional visual imaging method is characterized in that an imaging system adopted by the method comprises a computer control module, a laser carrier light source, a receiving and transmitting combining module, a signal processing module and a photoelectric detector; the receiving and transmitting combined module comprises an optical system scanning module and a photoelectric receiving module; the method comprises the following steps:
the computer control module respectively sends synchronous working instructions to the laser carrier light source, the transmitting-receiving combination module, the signal processing module and the photoelectric detector, wherein,
the laser carrier light source transmits carrier light waves to the transceiving combination module, the carrier light waves are received by the photoelectric receiving module, are incident to a target through the transceiving optical system scanning module, and are reflected by the target, and echo signals with target distance information are transmitted to the signal processing module through the photoelectric detector;
the optical system scanning module simultaneously scans the target and transmits an electric signal with target space position information obtained by scanning to the signal processing module;
and the signal processing module performs space coordinate fitting on the received echo signal with the target distance information and the received electric signal with the target space position information to realize image inversion of the target.
2. The laser three-dimensional visual imaging method of claim 1, characterized in that: the receiving and transmitting combined module further comprises a receiving and transmitting combined isolating switch module used for isolating the transmitting light and the echo light.
3. The laser three-dimensional visual imaging method of claim 2, characterized in that: the photoelectric detector is an APD avalanche photodiode.
4. The laser three-dimensional visual imaging method according to any one of claims 1 to 3, characterized in that: the optical system scanning module adopts a direct detection system, and the scanning mode is galvanometer two-dimensional optical machine scanning.
5. The laser three-dimensional visual imaging method of claim 4, characterized in that: and the optical system scanning module adopts a galvanometer type galvanometer.
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Citations (3)
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| EP2549290A1 (en) * | 2011-07-18 | 2013-01-23 | Sick Ag | Optoelectronic sensor and method for recording and determining the distance of an object |
| CN109115121A (en) * | 2018-07-06 | 2019-01-01 | 华东师范大学 | A kind of big visual field laser three-dimensional imaging instrument and imaging method |
| CN209590278U (en) * | 2018-11-02 | 2019-11-05 | 南京信息工程大学 | A kind of laser imaging radar |
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- 2020-05-19 CN CN202010422890.0A patent/CN111474556A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2549290A1 (en) * | 2011-07-18 | 2013-01-23 | Sick Ag | Optoelectronic sensor and method for recording and determining the distance of an object |
| CN109115121A (en) * | 2018-07-06 | 2019-01-01 | 华东师范大学 | A kind of big visual field laser three-dimensional imaging instrument and imaging method |
| CN209590278U (en) * | 2018-11-02 | 2019-11-05 | 南京信息工程大学 | A kind of laser imaging radar |
Non-Patent Citations (1)
| Title |
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| 曲杨: "高精度低成本激光振镜扫描3D视觉系统关键技术研究", 《中国优秀博硕士学位论文全文数据库（博士）信息科技辑》 * |
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Application publication date: 20200731 |