CN111766604B - Composite distance measurement method and system - Google Patents
Composite distance measurement method and system Download PDFInfo
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- CN111766604B CN111766604B CN202010517348.3A CN202010517348A CN111766604B CN 111766604 B CN111766604 B CN 111766604B CN 202010517348 A CN202010517348 A CN 202010517348A CN 111766604 B CN111766604 B CN 111766604B
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- 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
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- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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Abstract
The invention discloses a composite distance measuring method and a system, wherein the method adopts an active and passive composite distance measuring method, active distance measurement based on laser echo polarization modulation is adopted, only absolute distance in a specified distance range is detected, the required power is low, passive distance measurement based on scene light polarization characteristics can obtain relative distances of all pixel points without laser illumination, and the two are combined to obtain a three-dimensional image.
Description
Technical Field
The invention relates to the technical field of optics, in particular to a composite distance measuring method and system.
Background
At present, three-dimensional imaging has urgent needs in the fields of topographic mapping, aerospace, unmanned driving and the like, wherein a laser radar method for active ranging becomes a research hotspot and a large amount of research and application are carried out, the existing ranging principle mainly comprises that an absolute distance is derived by measuring the time of flight (TOF) of light, and the method mainly comprises a direct TOF method and an indirect TOF method, but the existing ranging equipment has the defects of high cost, small detection distance range and the like, so that the popularization and the application of the ranging equipment are limited.
Disclosure of Invention
The invention provides a composite distance measuring method and a composite distance measuring system, which are used for solving the problems of high cost, small detection distance range and the like of the conventional distance measuring equipment.
In a first aspect, the present invention provides a composite ranging method, including: separating the received scene light from the laser, imaging according to different exposure times, wherein one is imaging based on the polarization characteristic of the scene light for passive ranging, and two-dimensional imaging based on the polarization characteristic of the scene light, the other is imaging based on laser echo polarization modulation, active ranging is carried out, the passive ranging result is calibrated and optimized according to the active ranging result, pixel-level ranging is carried out, and the two-dimensional image and the distance obtained by the pixel-level ranging are fused to obtain a three-dimensional image.
Optionally, the imaging is performed at different exposure times, including: and carrying out first exposure imaging according to a first preset number of frames, carrying out passive distance measurement and two-dimensional imaging according to an imaging result, carrying out second exposure imaging according to a second preset number of frames, and carrying out active distance measurement according to an imaging result.
Optionally, the two-dimensional imaging is performed based on polarization characteristics of scene light, and includes: obtaining the intensity of 4-angle polarization states of each pixel point at an interval of 45 degrees according to an exposure imaging result; and calculating the total light intensity of the pixel points according to the intensities of the 4-angle polarization states to obtain a two-dimensional image.
Optionally, the imaging based on polarization characteristics of scene light for passive ranging includes: obtaining the intensity of 4-angle polarization states of each pixel point at an interval of 45 degrees according to an exposure imaging result; obtaining a Stokes matrix of each pixel point according to the intensity of the 4-angle polarization state; obtaining a normal vector of the surface of each pixel point in the three-dimensional space according to the right angle and polar coordinate relation of the pixel points and the Stokes matrix; and calculating the relative distance of all the pixel points according to the normal vector, the polarization information and the atmospheric attenuation characteristic.
Optionally, the active ranging based on laser echo polarization modulation imaging includes: applying a modulation voltage according to a preset time function, and modulating the polarization of the laser echo into elliptical polarized light; obtaining the intensity of 2 angular polarization states of each pixel point at intervals of 90 degrees according to the exposure imaging result; obtaining the phase difference of the 2 polarization states according to the intensity of the 2 angular polarization states; obtaining the modulation voltage of polarization modulation of each pixel point according to the phase difference; and obtaining the absolute distance of the pixel points in a preset distance range according to the preset time function of the modulation voltage and the modulation voltage of each pixel point.
Optionally, calibrating and optimizing the passive ranging result according to the active ranging result to perform pixel-level ranging, including: optimizing the normal vector of the surface where each pixel point is located in the passive distance measurement according to the absolute distance of the pixel points in the active distance measurement preset distance range so as to optimize the relative distance of all the pixel points; calibrating the pixel points corresponding to the passive ranging according to the absolute distance of the pixel points in the preset distance range of the active ranging to obtain the absolute distance of the reference point; and according to the absolute distance of the reference point, the optimized relative distance of all pixel points and the three-dimensional image result of a preset number of historical frames, solving the optimal solution of the absolute distance of all pixel points of the current frame.
Optionally, the fusing the two-dimensional image with the distance obtained by the pixel-level distance measurement to obtain the three-dimensional image includes:
and fusing the two-dimensional image and the optimal solution of the absolute distances of all the pixel points to obtain a three-dimensional image.
In a second aspect, the present invention provides a composite ranging system, comprising:
a receiver for receiving scene light and laser echoes;
the optical splitter is used for separating the scene light received by the receiver from the laser echo;
the passive ranging optical path processing unit is used for transmitting the scene light to a photosensitive element;
the active distance measurement light path processing unit is used for emitting laser and modulating polarization of laser echo;
the photosensitive element is used for carrying out exposure imaging of preset frame number and preset exposure time on the scene light and the modulated laser;
and the data processing unit is used for carrying out passive ranging and two-dimensional imaging on the imaging result of the passive ranging light path processing unit according to the photosensitive element, carrying out active ranging on the imaging result of the active ranging light path processing unit according to the photosensitive element, calibrating and optimizing the passive ranging result according to the active ranging result so as to carry out pixel-level ranging, and fusing the two-dimensional image and the distance obtained by the pixel-level ranging to obtain a three-dimensional image.
Optionally, the active ranging optical path processing unit further includes:
the laser transmitter is used for transmitting the laser light source for the active distance measurement;
the linear polaroid is used for filtering clutter of the laser echo;
and the polarization modulator is used for carrying out polarization modulation on the filtered laser echo and transmitting the laser echo to the photosensitive element.
Optionally, the photosensitive element takes 2 × 2 image elements as a unit, and each unit respectively obtains linearly polarized light intensities of 0 degree, 90 degrees, 45 degrees and 135 degrees.
The invention has the following beneficial effects:
the invention adopts an active and passive combined distance measurement method, carries out active distance measurement based on laser echo polarization modulation, detects absolute distance in a specified distance range, has lower required power, carries out passive distance measurement based on scene light polarization characteristics, can obtain relative distances of all pixel points without laser illumination, combines the two to obtain a three-dimensional image, and has the advantages of low cost, large detection distance range, low power consumption, fusion of distance and image pixel level and the like.
Drawings
Fig. 1 is a schematic structural diagram of an active-passive composite ranging system according to an embodiment of the present invention;
fig. 2 is a schematic view of a polarization structure of 2X2 pixels of a photosensitive element according to an embodiment of the present invention;
fig. 3 is a data processing flow provided in the embodiment of the present invention.
Detailed Description
The active ranging laser radar only detects the absolute distance in the designated distance range, and passive ranging can obtain the relative distances of all pixel points without laser illumination, so that the composite ranging system has the advantages of low cost, large detection distance range, low power consumption, fusion of the distances and the image pixel level and the like. The present invention will be described in further detail below with reference to the drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
An embodiment of the present invention provides a composite distance measurement method, as shown in fig. 1, the method includes:
separating the received scene light from the laser, imaging according to different exposure times, wherein one is imaging based on the polarization characteristic of the scene light for passive ranging, and two-dimensional imaging based on the polarization characteristic of the scene light, and the other is imaging based on laser echo polarization modulation, active ranging, calibrating and optimizing the passive ranging result according to the active ranging result to perform pixel-level ranging, and fusing the two-dimensional image and the distance obtained by the pixel-level ranging to obtain a three-dimensional image.
Specifically, the embodiment of the invention divides the reflected or radiated light and the laser in the scene received by the optical lens into two paths, one path is calculated based on the polarization characteristic of the reflected or radiated light to perform passive ranging and two-dimensional imaging, the other path is calculated based on the polarization modulation of laser echo to perform active ranging, the passive ranging result is calibrated and optimized according to the active ranging result to realize pixel-level ranging, and finally, the two-dimensional image and the distance are fused to obtain the three-dimensional image.
Generally, the core idea of the embodiment of the invention is that the active ranging laser radar only detects the absolute distance within the range of the specified distance, and the passive ranging does not need laser illumination to obtain the relative distances of all the pixel points.
In specific implementation, in the embodiment of the present invention, imaging is performed according to different exposure times, including:
and carrying out first exposure imaging according to a first preset number of frames, namely long exposure imaging, carrying out passive ranging and two-dimensional imaging according to an imaging result, carrying out second exposure imaging according to a second preset number of frames, namely short exposure imaging, and finally carrying out active ranging according to an imaging result.
It should be noted that, in the embodiment of the present invention, the first preset number of frames and the second preset number of frames, as well as the exposure time of the first exposure imaging and the exposure time of the second exposure imaging may be set arbitrarily, which is not limited in this respect.
In an embodiment of the present invention, the performing two-dimensional imaging based on polarization characteristics of scene light includes: and obtaining the intensity of 4-degree polarization states of each pixel point at an interval of 45 degrees according to the exposure imaging result, and calculating the total light intensity of the pixel points according to the intensity of the 4-degree polarization states to obtain a two-dimensional image.
The passive ranging based on the polarization characteristic imaging of the scene light comprises the following steps: obtaining the intensity of 4-angle polarization states of each pixel point at an interval of 45 degrees according to the exposure imaging result; obtaining a Stokes matrix of each pixel point according to the intensity of the 4-angle polarization state; obtaining a normal vector of the surface of each pixel point in the three-dimensional space according to the right angle and polar coordinate relation of the pixel points and the Stokes matrix; and calculating the relative distance of all the pixel points according to the normal vector, the polarization information and the atmospheric attenuation characteristic.
As shown in fig. 2, 2 × 2 pixels of the photosensitive element in the embodiment of the present invention are taken as one unit, and each unit acquires linearly polarized light intensities of 0 degree, 90 degrees, 45 degrees, and 135 degrees, respectively.
Further, in the embodiment of the present invention, the active distance measurement based on laser echo polarization modulation imaging includes: applying a modulation voltage according to a preset time function, and modulating the polarization of the laser echo into elliptical polarized light; obtaining the intensity of 2 angular polarization states of each pixel point at intervals of 90 degrees according to the exposure imaging result; obtaining the phase difference of the 2 polarization states according to the intensity of the 2 angular polarization states; obtaining the modulation voltage of polarization modulation of each pixel point according to the phase difference; and obtaining the absolute distance of the pixel points in a preset distance range according to the preset time function of the modulation voltage and the modulation voltage of each pixel point.
In a specific implementation, the calibrating and optimizing the passive ranging result according to the active ranging result in the embodiment of the present invention to perform pixel-level ranging includes: optimizing the normal vector of the surface where each pixel point is located in the passive distance measurement according to the absolute distance of the pixel points in the active distance measurement preset distance range so as to optimize the relative distance of all the pixel points; calibrating the pixel points corresponding to the passive ranging according to the absolute distance of the pixel points in the preset distance range of the active ranging to obtain the absolute distance of the reference point; and solving the optimal solution of the absolute distances of all the pixel points of the current frame according to the absolute distances of the reference points, the optimized relative distances of all the pixel points and the three-dimensional image results of the preset number of historical frames.
In the embodiment of the present invention, the fusing the two-dimensional image and the distance obtained by the pixel-level distance measurement to obtain the three-dimensional image includes: and fusing the two-dimensional image and the optimal solution of the absolute distances of all the pixel points to obtain a three-dimensional image.
The method according to an embodiment of the invention will be described below by way of a specific example:
as shown in fig. 1, the composite ranging system according to the embodiment of the present invention includes:
a receiver (specifically, an optical lens, etc.) for receiving the scene light and the laser echo;
the optical splitter (specifically, a filter or the like) is used for separating the scene light received by the receiver from the laser echo;
the passive distance measurement optical path processing unit is used for transmitting the scene light to a photosensitive element;
the active distance measurement light path processing unit is used for emitting laser and modulating polarization of laser echo;
the photosensitive element is used for carrying out exposure imaging of preset frame numbers and preset exposure time on the scene light and the modulated laser, specifically, carrying out exposure imaging of the preset frame numbers and the preset exposure time on the visible light and the modulated laser in the scene to obtain linear polarized light intensities of 0, 45, 90 and 135 degrees;
and the data processing unit is used for carrying out passive ranging and two-dimensional imaging on the imaging result of the passive ranging light path processing unit according to the photosensitive element, carrying out active ranging on the imaging result of the active ranging light path processing unit according to the photosensitive element, calibrating and optimizing the passive ranging result according to the active ranging result so as to carry out pixel-level ranging, and fusing the two-dimensional image and the distance obtained by the pixel-level ranging to obtain a three-dimensional image.
Specifically, the data processing unit in the embodiment of the present invention calculates the relative distances and two-dimensional imaging of all the pixels according to the 4-angle polarization intensities; calculating the absolute distance of the pixel points within a preset distance range according to the polarization intensity of the 2 angles; calibrating and optimizing relative distances according to the absolute distances to calculate the absolute distances of all pixel points; and fusing the two-dimensional image and the distance data to obtain a three-dimensional RGB-D image.
It should be noted that, in the embodiment of the present invention, the active distance measurement method measures an absolute distance within 50m, and the passive distance measurement method measures relative distances of all pixel points.
As shown in fig. 3, in the embodiment of the present invention, the wavelength band of the laser transmitter is 808nm, the divergence angle is 25 × 25 degrees, the repetition frequency is 20Hz, and the pulse width is 1us; the focal length of the optical lens is 30mm, and the optical caliber is 15mm; the photosensitive element adopts a CCD camera, the receiving field angle is 25 degrees, the effective pixel number is 1024 multiplied by 1024, the pixel size is 13um multiplied by 13um, the working waveband is 380-840nm, the A/D converter is 16bit, the 1 st frame is long exposed for imaging and passive distance measurement, the 2 nd frame is short exposed for active distance measurement, and the cycle is repeated.
In the embodiment of the invention, when the 1 st frame is used for passive ranging, an optical filter with a wavelength of 808nm is adopted for receiving incident light, and under the action of a 45-degree optical filter and a reflector, scene visible light in the incident light is directly input into a CCD camera through 4 reflections.
In order to meet single-frame imaging, 2X2 pixels of a CCD camera are combined into a group, and a 0-degree, 45-degree, 90-degree and 135-degree linear polarizer is respectively added in front of each pixel, so that 1-time imaging is realized to obtain an intensity diagram I in four polarization directions 0 、I 45 、I 90 、I 135 The polarization structure is shown in fig. 2.
The linear polaroids added in front of the CCD camera pixels are respectively arranged on the diagonals of a 2X2 group at 0 degree, 90 degrees, 45 degrees and 135 degrees, and a 1024X 1024 visible light image and a distance image can be obtained.
Calculating the polarization intensity and I of each pixel point at 0 degree and 90 degrees 0 +I 90 Namely the total light intensity of the incident light, and a visible light two-dimensional image is obtained.
Further, a Stokes matrix of each pixel point is obtained according to 4 polarization states
Wherein in item 4
Indicating phase delay
But item 4 is the intensity of circularly polarized light, which is negligible in the calculation.
And obtaining the normal vector of the surface of each pixel point in the three-dimensional space according to the relation between the right angle and the polar coordinate and by combining the Stokes matrix.
Wherein u and v are image pixel coordinates, d is the distance between corresponding coordinate pixels, and theta and v
Respectively, the zenith angle and the azimuth angle of the normal vector.
By combining the normal vector, the polarization information and the atmospheric attenuation characteristic, the relative distance of all the pixel points can be calculated
Wherein beta represents the day of measurementGas condition, I airlight Light intensity information indicating the detection of a received target-free area, E ∞ Represented as illumination information at infinity, P represents polarization information for the current target point.
When the 2 nd frame is actively measured, the linear polarization direction emitted by the laser emitter is 0 degree, and the pulse laser is emitted at the frequency of 20 Hz.
An optical filter with a wavelength of 808nm is adopted, incident light is divided into two parts at the position of the 45-degree optical filter after passing through an optical lens, the incident light with the wavelength of 808nm emitted by a laser penetrates through the optical filter, and other light is reflected.
After the laser echo passes through the optical filter, the background light of the non-0 degree is removed through the linear polaroid of 0 degree, and the signal-to-noise ratio of the system is improved.
The linearly polarized light of the echo propagates into the polarization modulator along the z-axis direction, and the polarization modulator adopts KD P electro-optic crystal, the aperture is 30mm, and the half-wave voltage is 3.4KV.
And applying a modulation voltage in the z-axis direction to the crystal, linearly increasing the modulation voltage from 0 to 3.4KV within 0s to 0.35us of laser emission, and modulating the laser echo into elliptically polarized light.
From the 4 polarization state intensities imaged by the CCD camera, the intensities l 'of two polarization components of 45 degrees and 135 degrees are selected' 45 And l' 135 。
The 2 nd frame data includes scene light and laser echo, but the exposure time is extremely short, the influence of the scene light is negligible, and the intensities of two polarization components of the laser path are approximate to I' 45 And l' 135 。
Calculating the phase difference of two elliptical polarized light components at the moment by the intensity of the polarized component
Obtaining the modulation voltage at t moment according to the electro-optic modulation characteristics of the electro-optic crystal
By time of flight, obtaining distance
The range resolution of the ranging system is about 0.12m due to the use of a 16bit CCD camera.
Echo beam intensity I = I' 45 +I′ 135 。
And obtaining the normal vector of the plane where each point in the area of 0-50m is located by derivation of the absolute distance of active ranging, optimizing the normal vectors of all pixel points, optimizing the relative distance of passive ranging and solving the absolute distance of the reference point in a least square mode.
And calculating the absolute distances of all the pixel points according to the relative distances of all the pixel points in the passive ranging and the absolute distance of the reference point in the optimized solution, wherein the absolute distance is the final absolute distance when the active ranging of the system is less than or equal to 3 frames, and after the active ranging of the system is greater than 3 frames, bundling adjustment is carried out by combining the active and passive ranging results of the front three wheels to obtain the final absolute distance. And after image denoising, fusing visible light and distance data to obtain an RGB-D image.
The invention has at least the following advantages:
1. the active and passive combined ranging method is adopted, the laser radar for active ranging only detects ranging within a specified distance range, the required power is low, and laser illumination is not required for passive ranging, so that the active and passive combined ranging method has the characteristics of low power consumption, eye safety and low cost;
2. according to the invention, the relative distances of all pixel points are obtained through passive distance measurement, and the optical lenses with different focal lengths can perform imaging and distance measurement in different distance ranges, so that the detection distance is not limited by factors such as the power of a main dynamic distance measurement light source, and the detection distance range is large;
3. the technical scheme of the selected photosensitive element is mature, and the effective pixel number of the photosensitive element is high, so that the method has the characteristic of high image resolution;
4. the distance measurement and imaging of the invention share one area array photosensitive element, and the short exposure active distance measurement, the long exposure imaging and the passive distance measurement are carried out, so that the image and the distance image can be fused at a pixel level;
5. the photosensitive element respectively collects 1 frame of polarized intensity image for active ranging and 1 frame of polarized intensity image for passive ranging, and a three-dimensional image can be obtained, so that the photosensitive element has the characteristic of large output frame frequency;
6. the two distance measuring modes share the optical lens and the photosensitive element, the active and passive optical paths are respectively processed between the optical lens and the photosensitive element, and the processing technology is relatively mature, so that the distance measuring device has the characteristics of simple structure and easy integration;
7. the invention utilizes the absolute distance calibration of active distance measurement to optimize the relative distance of passive distance measurement, thereby having the characteristic of strong anti-interference capability.
Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, and the scope of the invention should not be limited to the embodiments described above.
Claims (9)
1. A composite ranging method, comprising:
separating the received scene light from the laser, imaging according to different exposure times, wherein one is imaging based on the polarization characteristic of the scene light for passive ranging, and two-dimensional imaging based on the polarization characteristic of the scene light, and the other is imaging based on laser echo polarization modulation, active ranging is carried out, the passive ranging result is calibrated and optimized according to the active ranging result, so as to carry out pixel-level ranging, and the two-dimensional image and the distance obtained by the pixel-level ranging are fused to obtain a three-dimensional image;
wherein, demarcate and optimize passive ranging result according to the initiative range finding result to carry out pixel level range finding, include: optimizing a normal vector of the surface where each pixel point is located in the passive ranging according to the absolute distance of the pixel points in the active ranging preset distance range so as to optimize the relative distance of all the pixel points; calibrating the pixel points corresponding to the passive ranging according to the absolute distance of the pixel points in the preset distance range of the active ranging to obtain the absolute distance of the reference point; and according to the absolute distance of the reference point, the optimized relative distance of all pixel points and the three-dimensional image result of a preset number of historical frames, solving the optimal solution of the absolute distance of all pixel points of the current frame.
2. The method of claim 1, wherein imaging at different exposure times comprises:
and carrying out first exposure imaging according to a first preset number of frames, carrying out passive distance measurement and two-dimensional imaging according to an imaging result, carrying out second exposure imaging according to a second preset number of frames, and carrying out active distance measurement according to an imaging result.
3. The method of claim 1 or 2, wherein two-dimensional imaging is performed based on polarization characteristics of scene light, comprising:
obtaining the intensity of 4-angle polarization states of each pixel point at an interval of 45 degrees according to an exposure imaging result;
and calculating the total light intensity of the pixel points according to the intensities of the 4-angle polarization states to obtain a two-dimensional image.
4. The method of claim 1 or 2, wherein the imaging based on polarization characteristics of scene light for passive ranging comprises:
obtaining the intensity of 4-angle polarization states of each pixel point at an interval of 45 degrees according to an exposure imaging result;
obtaining a Stokes matrix of each pixel point according to the intensity of the 4 angular polarization states;
obtaining a normal vector of the surface of each pixel point in the three-dimensional space according to the right angle and polar coordinate relation of the pixel points and the Stokes matrix;
and calculating the relative distance of all the pixel points according to the normal vector, the polarization information and the atmospheric attenuation characteristic.
5. The method of claim 1 or 2, wherein the active ranging based on laser echo polarization modulation imaging comprises:
applying a modulation voltage according to a preset time function, and modulating the polarization of the laser echo into elliptical polarized light;
obtaining the intensity of 2-angle polarization states of each pixel point at intervals of 90 degrees according to the exposure imaging result;
obtaining the phase difference of the 2 polarization states according to the intensity of the 2 angular polarization states;
obtaining the modulation voltage of polarization modulation of each pixel point according to the phase difference;
and obtaining the absolute distance of the pixel points within a preset distance range according to the preset time function of the modulation voltage and the modulation voltage of each pixel point.
6. The method of claim 1, wherein fusing the two-dimensional image with the pixel-level range-derived distance to obtain a three-dimensional image comprises:
and fusing the two-dimensional image and the optimal solution of the absolute distances of all the pixel points to obtain a three-dimensional image.
7. A composite ranging system, comprising:
a receiver for receiving scene light and laser echoes;
the optical splitter is used for separating the scene light received by the receiver from the laser echo;
the passive ranging optical path processing unit is used for transmitting the scene light to a photosensitive element;
the active distance measurement light path processing unit is used for emitting laser and modulating polarization of laser echo;
the photosensitive element is used for carrying out exposure imaging of preset frame number and preset exposure time on the scene light and the modulated laser;
the data processing unit is used for performing passive ranging and two-dimensional imaging on the imaging result of the passive ranging optical path processing unit according to the photosensitive element, performing active ranging on the imaging result of the active ranging optical path processing unit according to the photosensitive element, calibrating and optimizing the passive ranging result according to the active ranging result so as to perform pixel-level ranging, and fusing a two-dimensional image and the distance obtained by the pixel-level ranging to obtain a three-dimensional image;
the data processing unit is further used for optimizing a normal vector of the surface where each pixel point is located in the passive distance measurement according to the absolute distance of the pixel point in the active distance measurement preset distance range so as to optimize the relative distance of all the pixel points; calibrating the pixel points corresponding to the passive ranging according to the absolute distance of the pixel points in the active ranging preset distance range to obtain the absolute distance of the reference point; and solving the optimal solution of the absolute distances of all the pixel points of the current frame according to the absolute distances of the reference points, the optimized relative distances of all the pixel points and the three-dimensional image results of the preset number of historical frames.
8. The system of claim 7, wherein the active ranging optical path processing unit further comprises:
the laser transmitter is used for transmitting the laser light source for the active distance measurement;
the linear polaroid is used for filtering clutter of the laser echo;
and the polarization modulator is used for carrying out polarization modulation on the filtered laser echo and transmitting the laser echo to the photosensitive element.
9. The system according to claim 7 or 8, wherein the photosensitive element has 2x2 pixels as a unit, each unit acquiring linearly polarized light intensities of 0 degrees, 90 degrees, 45 degrees and 135 degrees, respectively.
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