CN112630796A - Large-view-field associated imaging device and imaging method - Google Patents
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Abstract
The invention discloses a large-view-field associated imaging device and an imaging method. The divergence angle of the emergent light beam is adjusted through the directional scanning projection unit, so that the light energy intensively irradiates a local area of a view field, thereby obtaining a high signal-to-noise ratio and improving the imaging distance; through setting up light beam directional scanning mechanism kind and parameter, combine image mosaic technique can realize wantonly field of view formation of image on a large scale, improve device application scope, and only need one set or a small number of sets of scanning mechanism can realize the field of view extension, the device processing assembly degree of difficulty is low, and stability is high. The image resolution of the imaging device is determined by the light modulation unit, and the directional scanning mechanism does not influence the image resolution.
Description
Technical Field
The invention relates to the field of target detection, identification and imaging, in particular to a large-view-field associated imaging device and an imaging method.
Background
The laser imaging radar based on Time of flight (TOF) has beyond-the-horizon three-dimensional detection capability, and is an indispensable detection means for future applications such as intelligent driving, remote sensing mapping, intelligent monitoring and scene reconstruction.
The currently common laser imaging radar adopts a point-to-point direct information acquisition mode. Multiline imaging is achieved by multiple sets of "transmit-receive" units in conjunction with mechanical scanning or beam deflecting means. On one hand, the imaging distance is limited, and the remote imaging resolution is extremely low; on the other hand, the system has high requirements for precision optical machining and alignment accuracy, resulting in difficulty in reducing the system cost.
Correlated imaging (ghost imaging), is a novel imaging technique that can obtain high-resolution image information of a target in an off-site manner by intensity correlation operation between a reference light field and a target detection light field based on quantum or classical correlation characteristics of fluctuation of the light field. The device developed based on the related imaging technology only has one group of transmitting-receiving units, and the system operation efficiency and stability are greatly improved. In addition, the signal sampling rate efficiency can be effectively improved by combining a compressed sensing signal processing technology, and the signal processing time and the calculation cost are reduced. Is particularly suitable for long-distance high-resolution imaging application. However, the existing related imaging technology still has the following problems: firstly, the light energy loss of high-energy laser output by a light source is higher after the high-energy laser is modulated by a spatial light modulation device, and the expansion of an imaging distance is not facilitated; secondly, the light beams are transmitted to the front of the device at a certain divergence angle after passing through the projection unit, and the light energy density is in an inverse square relation with the increase of the transmission distance, so that the long-distance target detection is not facilitated; the device has a small view field, high-definition imaging of a remote local area can be realized, but when the device is arranged on a carrier with a frequently changed motion state, such as an automobile, a robot, an airplane and the like, the severe change of the imaging range can cause various problems, such as incapability of aligning a target, motion blurring and the like, and the practicability of the system is reduced; and fourthly, the field of view is enlarged by modifying the optical parameters of the projection unit, the light energy density is greatly reduced along with the increase of the size of the field of view, and the detection distance of the device is shortened.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a large-view-field associated imaging device and an imaging method for realizing imaging in any view field range while ensuring the imaging distance and the resolution.
In order to solve the technical problems, the technical scheme of the invention is as follows: a large visual field associated imaging device comprises a pulse light source, a light modulation unit, a directional scanning projection unit, a light receiving unit, a central processing unit and a display unit which are arranged along a light path in sequence, and a control unit connected with the directional scanning projection unit, the light modulation unit and the central processing unit, the pulse light source generates pulse light beams which sequentially pass through the light modulation unit and the directional scanning projection unit and then are projected onto a detection target, the reflected light of the detection target is received by the light receiving unit and transmitted to the central processing unit, the central processing unit synchronously receives the data of the control unit and the light receiving unit and carries out correlation operation to obtain an imaging result, the detection target is divided into a plurality of field zones, and the directional scanning projection unit changes the direction of the pulse light beam so that each pulse is projected to one field zone of the detection target.
Further, the directional scanning projection unit comprises a projection unit and a directional scanning mechanism which are sequentially arranged along the optical path.
Further, the directional scanning projection unit comprises a directional scanning mechanism and a projection unit which are sequentially arranged along the optical path.
Further, the projection unit is a flat field scanning lens.
The light beam shaping unit is arranged behind the pulse light source and shapes the light spot of the pulse light beam emitted by the pulse light source into a shape which is the same as or similar to the shape of the view field subarea.
Further, the beam shaping unit is an optical lens group or a diffractive optical element or a diaphragm.
Furthermore, the directional scanning mechanism is a scanning galvanometer, and comprises an X galvanometer and a Y galvanometer which are arranged along the vertical direction.
Further, the directional scanning mechanism is a rotating prism or a movable optical wedge or a grating or a beam deflection device.
The device further comprises a rotating platform, wherein the pulse light source, the light modulation unit, the directional scanning projection unit, the light receiving unit, the central processing unit, the display unit and the control unit are arranged on the rotating platform.
The invention also provides an imaging method of the large-field-of-view correlated imaging device, which comprises the following steps:
s1, dividing the detection target into N view field partitions, namely a first view field partition and a second view field partition … N view field partitions;
s2, the pulse light source generates pulse light beams, the pulse light beams sequentially pass through the light modulation unit and the directional scanning projection unit and then irradiate a first view field subarea in the detection target, the light receiving unit receives pulse signals reflected by the first view field subarea and sends the pulse signals to the central processing unit for correlation calculation, and an original image X of the first view field subarea is obtained1；
And S3, repeating the step S2, and enabling the pulse light beam to sequentially irradiate the second view field subarea and the third view field subarea in the detection target. . . The Nth view field is divided into subareas, and the original images X of the corresponding view field subareas are sequentially obtained2、X3…XNForming a complete sequence of image structures X { X }1,X2,…XN}；
And S4, integrating the sequence X into an image by using an image splicing algorithm according to the space structure and the corresponding relation of the field division, wherein the image is the original image of the detection target.
The invention provides a large-view-field associated imaging device and an imaging method. The divergence angle of the emergent light beam is adjusted through the directional scanning projection unit, so that the light energy intensively irradiates a local area of a view field, thereby obtaining a high signal-to-noise ratio and improving the imaging distance; through setting up light beam directional scanning mechanism kind and parameter, combine image mosaic technique can realize wantonly field of view formation of image on a large scale, improve device application scope, and only need one set or a small number of sets of scanning mechanism can realize the field of view extension, the device processing assembly degree of difficulty is low, and stability is high. The image resolution of the imaging device is determined by the light modulation unit, and the directional scanning mechanism does not influence the image resolution.
Drawings
Fig. 1 is a schematic diagram of a model of a large-field-of-view correlated imaging apparatus according to embodiment 1 of the present invention;
fig. 2 is a schematic view of a shaped beam spot and an imaging area in embodiment 1 of the present invention;
FIG. 3 is a schematic view of another model of a large-field-of-view correlated imaging apparatus according to embodiment 1 of the present invention;
FIG. 4 is a schematic view of another model of a large-field-of-view correlated imaging apparatus according to embodiment 1 of the present invention;
FIG. 5 is a schematic view showing the operation of the directional scanning mechanism and the light receiving unit in embodiment 1 of the present invention;
FIG. 6 is a block diagram of a specific embodiment of a large-field-of-view correlated imaging apparatus according to embodiment 1 of the present invention;
fig. 7 is a schematic diagram of a model of a large-field-of-view correlated imaging apparatus according to embodiment 4 of the present invention.
Shown in the figure: 10. a pulsed light source; 20. a light modulation unit; 30. a directional scanning mechanism; 310. an X galvanometer; 320. a Y galvanometer; 40. a projection unit; 50. a light receiving unit; 60. a central processing unit; 70. a display unit; 80. a control unit; 90. detecting a target; 910. dividing a field of view; 100. a rotating table; 110. a beam shaping unit.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
Example 1
As shown in fig. 1, the present invention provides a large-field-of-view correlated imaging device, which includes a pulse light source 10, a light modulation unit 20, a directional scanning projection unit, a light receiving unit 50, a central processing unit 60, a display unit 70, and a control unit 80 connected to the light modulation unit 20, the directional scanning projection unit, and the central processing unit 60, the pulse light source 10 generates a pulse light beam, the pulse light beam sequentially passes through the light modulation unit 20 and the directional scanning projection unit and is projected onto a detection target 90, the reflected light of the detection target 90 is received by the light receiving unit 50 and is transmitted to the central processing unit 60, the central processing unit 60 synchronously receives the data of the control unit 80 and the light receiving unit 50, performs correlation operation and obtains an imaging result, and displays the imaging result in the display unit 70 for easy viewing, the display unit 70 may be a liquid crystal display, a mobile phone display, a computer display, or the like. The detection target 90 is divided into a plurality of field partitions, and the shape of the field partitions may be a rectangle, a diamond, or an irregular polygon, or may be other shapes, which is not limited herein. The directional scanning projection unit changes the direction of the pulse beam to project each pulse to one of the field partitions of the detection target 90, specifically, the pulse beam includes a series of pulses (light waves), different pulses scan different field partitions of the detection target 90 after changing the direction through the directional scanning projection unit, finally, the scanning of all the field partitions of the detection target 90 is realized, the light receiving unit 50 receives the pulse signals reflected by each field partition and splices the pulse signals into complete observation signals, and the central processing unit 60 obtains the original image information of the detection target 90 by using a signal reconstruction algorithm. Specifically, in the present embodiment, the light modulation unit 20 is a spatial light modulator, and has M (M is a positive integer) reference light fields, the switching between different reference light fields is controlled by the control unit 80, the directional scanning projection unit includes the directional scanning mechanism 30 and the projection unit 40, in the present embodiment, the directional scanning mechanism 30 is located behind the projection unit 40 along the light path, the control unit 80 is connected to the light modulation unit 20 and the directional scanning mechanism 30 at the same time, according to the working characteristics of the used directional scanning mechanism 30, the directional scanning mechanism is controlled to work with the light modulation unit 20 to change the direction of the pulse light beam, so that the light energy is concentrated to irradiate the local area of the detection target 90 to obtain extremely high signal-to-noise ratio, improve the imaging distance, and by setting the working parameters of the directional scanning mechanism 30 and combining the image splicing technology, the field-of-view imaging in any large range can be realized, and the application range of the device is widened.
Preferably, the pulsed light source 10 may be a pulsed laser, and the light emitted by the pulsed laser may be yellow light, red light, blue light, etc., and since the energy of the laser beam emitted by the laser is concentrated, the divergence angle is small, and the imaging distance can be further increased.
The large-field-of-view correlated imaging device further comprises a light beam shaping unit 110 arranged behind the pulse light source 10, wherein the light beam shaping unit 110 shapes the light spot of the pulse light beam emitted by the pulse light source into a shape which is the same as or similar to the field partition. Preferably, the beam shaping unit 110 is an optical lens group or a diffractive optical element or an aperture, and may also be a beam deflection device based on acousto-optic and electro-optic effects. The shaped beam spot is required to cover the field of view area divided by the detection target 90. After the pulse light beam passes through the light modulation unit 20 and the projection unit 40, the pulse light beam covers the divided field partitions, and when the light beam is deflected in a directional manner, two adjacent irradiation regions can be perfectly attached to each other, or the two adjacent irradiation regions can cover part of each other, as shown in fig. 2. The schematic diagram of the shaped beam spot and the imaging area is shown in fig. 2, the first row from top to bottom is a detection target 90, the black frame is an area capable of imaging, the second row is a schematic diagram of the pulse beam projected on the spatial light modulator, the third row is a schematic diagram of the pulse beam projected on the detection target 90 after passing through the directional scanning projection unit, and the fourth row is a schematic diagram of the position of the pulse beam projected on the detection target 90 twice, at this time, two situations exist, one of the situations is that adjacent irradiation areas are perfectly attached, and the other situation is that a local view field area can be closely matched, but for final image splicing, two adjacent view field areas can be partially overlapped with each other, so that the adjustment by an algorithm is facilitated. The light beam irradiation mode can be in a transverse scanning mode and a vertical scanning mode. The beam shaping unit 110 can adjust the beam size, and the spatial light modulator and the directional scanning mechanism 30 are matched, so that high-resolution imaging of any local area in a field range can be realized.
As shown in fig. 1, the directional scanning mechanism 30 is a scanning galvanometer, and includes an X galvanometer 310 and a Y galvanometer 320 that are vertically arranged, the pulse light beam sequentially passes through the X galvanometer 310 and the Y galvanometer 320, so as to implement offset along the X direction and the Y direction, the directional scanning mechanism 30 scans in cooperation with a matrix of the spatial light modulator, which may be a few lines of scanning each time or one-dimensional scanning. When a pulse needs to irradiate a field of view, the directional scanning mechanism 30 can be stabilized in the direction, so as to ensure that the pulse can completely pass through the directional scanning mechanism and irradiate the field of view without changing the direction in the process, and after the pulse finishes scanning, the directional scanning mechanism 30 rotates to the next specific position to wait for the arrival of the next pulse.
Preferably, as shown in fig. 3, the directional scanning mechanism 30 may also be a rotating prism, or may also be a movable optical wedge or a grating or a beam deflection device, as long as the directional deflection of the one-dimensional or two-dimensional light beam can be realized.
As shown in fig. 4, the large-field-of-view related imaging apparatus further includes a rotary stage 100, and the pulsed light source 10, the light modulation unit 20, the directional scanning mechanism 30, the projection unit 40, the light receiving unit 50, the central processor 60, the display unit 70, and the control unit 80 are mounted on the rotary stage 100. The directional scanning mechanism 30 is a rotary prism, which is driven by a motor to rotate to scan surrounding objects up and down, and the whole imaging device is mounted on the rotary table 100, and can also scan surrounding objects left and right, thereby realizing 360-degree scanning. The pulse beam irradiates one field of view partition of the detection target 90 after passing through the scanning galvanometer, the scanning galvanometer rotates to realize irradiation of different field of view partitions of the detection target 90, and the light receiving unit 50 performs scanning imaging in an area larger than the field of view partition of the detection target 90, as shown in fig. 5.
The present embodiment further provides an imaging method of the large-field-of-view correlated imaging apparatus, including the following steps:
s1, dividing the detection target 90 into N field partitions, namely a first field partition and a second field partition …, wherein N is a positive integer, the sequence of the first field partition and the second field partition …, namely the Nth field partition, can be marked from top to bottom or from left to right, or can be marked in other modes, as long as a complete image can be finally spliced.
S2, the pulse light source 10 generates a pulse light beam and irradiates a first view field subarea in the detection target 90 after passing through the light modulation unit 20 and the directional scanning projection unit in sequence, the light receiving unit receives a pulse signal reflected by the first view field subarea and sends the pulse signal to the central processing unit 60 for correlation calculation, and an original image X of the first view field subarea is obtained1(ii) a The method also comprises the step of shaping the light spot of the pulse light beam emitted by the pulse light source into the shape which is the same as or similar to the field subarea by using the light beam shaping unit 110, wherein the directional scanning projection unit comprises a projection unit 40 and a directional scanning mechanism 30 which are sequentially arranged along a light path, when one pulse needs to irradiate a certain field subarea, the directional scanning mechanism 30 can be stabilized in the direction, the pulse is ensured to completely irradiate the field subarea through the directional scanning mechanism 30 without changing the direction, when the pulse light beam is directionally deflected, two adjacent irradiation areas can be completely overlapped, and the partial areas can also be mutually covered. Of course, whether the directional scanning mechanism 30 is a scanning galvanometer or a rotating prism or other beam deflecting device, its steering and speed are controlled by the control unit 80 to work in conjunction with the spatial light modulator. As shown in fig. 6, the central processing unit 60 may be a single chip or other data processing chip, and includes a signal processing unit 610, a calculating unit 620, and a storage unit 630, which are connected to each other, the signal processing unit 610 preprocesses the received signal and then transmits the preprocessed signal to the calculating unit 620 for calculation, so as to obtain original image information, and upload the obtained original image information to the display unit 70, and at the same time, store the original image information through the storage unit 620.
And S3, repeating the step S2 to make the pulse light beam irradiate the second view field subarea and the third view field subarea in the detection target 90 in sequence. . . The Nth view field is divided into subareas, and the original images X of the corresponding view field subareas are sequentially obtained2、X3…XNForming a complete sequence of image structures X { X }1,X2,…XN}；
And S4, integrating the sequence X into an image by using an image splicing algorithm according to the space structure and the corresponding relation of the field division, wherein the image is the original image of the detection target.
Example 2
Unlike embodiment 1, the present embodiment provides an imaging method of the large-field-of-view related imaging apparatus as described above, including the steps of:
s1, dividing the detection target 90 into N field partitions, namely a first field partition and a second field partition …, wherein N is a positive integer, the sequence of the first field partition and the second field partition …, namely the Nth field partition, can be marked from top to bottom or from left to right, or can be marked in other modes, as long as a complete image can be finally spliced.
S2, the pulse light source 10 generates pulse light beams, the pulse light beams are modulated by the light modulation unit 20 in sequence and then irradiate a first field subarea in the detection target 90 through the directional scanning projection unit, and the light receiving unit receives pulse signals reflected by the first field subarea; the method also comprises the step of shaping the light spot of the pulse light beam emitted by the pulse light source into the shape which is the same as or similar to the field subarea by using the light beam shaping unit 110, wherein the directional scanning projection unit comprises a projection unit 40 and a directional scanning mechanism 30 which are sequentially arranged along a light path, when one pulse needs to irradiate a certain field subarea, the directional scanning mechanism 30 can be stabilized in the direction, the pulse is ensured to completely irradiate the field subarea through the directional scanning mechanism 30 without changing the direction, when the pulse light beam is directionally deflected, two adjacent irradiation areas can be completely overlapped, and the partial areas can also be mutually covered.
And S3, repeating the step S2, and enabling the pulse light beam to sequentially irradiate the second view field subarea and the third view field subarea in the detection target 90. . . The Nth view field is divided into regions, and the reflected pulse signals are received to obtain a reflected pulse signal sequence { y'11,y′12,y′13,…y′1n}。
S4 replacement of the light field of the light modulation unit 20, repeating the above steps S2-S3 until all reference light fields
After the acquisition is finished, the obtained pulse signal data is sorted according to the divided field of view partitions, and then the first field of view partition and the second field of view partitionReflected pulse signal y corresponding to the nth field of view partition of region …1、y2、…yNRespectively as follows:
s5, solving the following underdetermined equation set by using a signal reconstruction algorithm for each field of view partition through the calculation unit 620 to obtain an original image information sequence X.
yN＝φXN
X＝{X1,X2,X3...XM}
And integrating the sequence X into an image by using an image splicing algorithm according to the space structure and the corresponding relation of the field division, namely obtaining the original image of the detection target.
Example 3
Unlike embodiment 1, the present embodiment provides an imaging method of the large-field-of-view related imaging apparatus as described above, including the steps of:
s1, dividing the detection target 90 into N field partitions, namely a first field partition and a second field partition …, wherein N is a positive integer, the sequence of the first field partition and the second field partition …, namely the Nth field partition, can be marked from top to bottom or from left to right, or can be marked in other modes, as long as a complete image can be finally spliced.
S2, the pulse light source 10 generates pulse light beams, the pulse light beams are modulated by the light modulation unit 20 in sequence and then irradiate a first field subarea in the detection target 90 through the directional scanning projection unit, and the light receiving unit receives pulse signals reflected by the first field subarea; the method also comprises the step of shaping the light spot of the pulse light beam emitted by the pulse light source into the shape which is the same as or similar to the field subarea by using the light beam shaping unit 110, wherein the directional scanning projection unit comprises a projection unit 40 and a directional scanning mechanism 30 which are sequentially arranged along a light path, when one pulse needs to irradiate a certain field subarea, the directional scanning mechanism 30 can be stabilized in the direction, the pulse is ensured to completely irradiate the field subarea through the directional scanning mechanism 30 without changing the direction, when the pulse light beam is directionally deflected, two adjacent irradiation areas can be completely overlapped, and the partial areas can also be mutually covered.
And S3, repeating the step S2, and enabling the pulse light beam to sequentially irradiate the second view field subarea and the third view field subarea in the detection target 90. . . The Nth view field is divided into regions, and the reflected pulse signals are received to obtain a reflected pulse signal sequence { y'11,y′12,y′13,…y′1nAre summed to obtain y1＝y′11+y′12+y′13+…y′1n。
S4 replacement of the light field of the light modulation unit 20, repeating the above steps S2-S3 until all reference light fields
And finishing the collection.
S5, repeating each reference light field N times to form a new reference light field, solving the following underdetermined equation set by the computing unit 620 for each field partition by using a signal reconstruction algorithm, and obtaining an original image information sequence X. The method comprises the following specific steps:
combining the regenerated reference light fields to form a new reference light field phi'
φ′＝{φ1,φ2,φ3,...φM}
The original image information sequence X is obtained by solving the underdetermined equation y phi' X by the calculation unit 620 using a signal reconstruction algorithm.
Example 4
As shown in fig. 7, the directional scanning projection unit includes a directional scanning mechanism 30 and a projection unit 40 which are disposed in this order along an optical path, unlike embodiment 1. At this time, the directional scanning mechanism 30 is located between the light modulation unit 20 and the projection unit 40, the projection unit 40 at this time adopts a flat-field scanning lens, that is, a ftheta lens, to project the pulse light beam whose direction is changed by the directional scanning mechanism 30 onto one of the field-of-view partitions of the detection target 90, and finally, the pulse light beam can scan all the field-of-view partitions of the detection target 90, which may be in a scanning manner from top to bottom, from bottom to top, or from left to right.
Although the embodiments of the present invention have been described in the specification, these embodiments are merely provided as a hint, and should not limit the scope of the present invention. Various omissions, substitutions, and changes may be made without departing from the spirit of the invention and are intended to be within the scope of the invention.
Claims (10)
1. A large-view-field associated imaging device is characterized by comprising a pulse light source, a light modulation unit, a directional scanning projection unit, a light receiving unit, a central processing unit and a display unit which are sequentially arranged along a light path, and a control unit connected with the directional scanning projection unit, the light modulation unit and the central processing unit, the pulse light source generates pulse light beams which sequentially pass through the light modulation unit and the directional scanning projection unit and then are projected onto a detection target, the reflected light of the detection target is received by the light receiving unit and transmitted to the central processing unit, the central processing unit synchronously receives the data of the control unit and the light receiving unit and carries out correlation operation to obtain an imaging result, the detection target is divided into a plurality of field zones, and the directional scanning projection unit changes the direction of the pulse light beam so that each pulse is projected to one field zone of the detection target.
2. The large-field-of-view correlated imaging device of claim 1, wherein said directional scanning projection unit comprises a projection unit and a directional scanning mechanism arranged in sequence along an optical path.
3. The large-field-of-view correlated imaging device of claim 1, wherein said directional scanning projection unit comprises a directional scanning mechanism and a projection unit arranged in sequence along an optical path.
4. The large field-of-view correlated imaging device of claim 3, wherein said projection unit is a flat field scanning lens.
5. The large-field-of-view correlated imaging device according to claim 1, further comprising a beam shaping unit disposed behind said pulsed light source, said beam shaping unit shaping a spot of the pulsed light beam emitted by the pulsed light source into a shape identical or similar to the shape of said field-of-view partition.
6. The large-field-of-view correlated imaging device according to claim 5, wherein said beam shaping unit is an optical lens group or a diffractive optical element or an aperture.
7. The large-field-of-view correlated imaging device according to any one of claims 2 or 3, wherein said directional scanning mechanism is a scanning galvanometer, comprising an X galvanometer and a Y galvanometer arranged along a vertical direction.
8. The large-field-of-view correlated imaging device according to any one of claims 2 or 3, wherein said directional scanning mechanism is a rotating prism or a movable optical wedge or a grating or a beam deflection device.
9. The large-field-of-view correlated imaging device according to claim 1, further comprising a rotating table on which said pulsed light source, light modulation unit, directional scanning projection unit, light receiving unit, central processing unit, display unit and control unit are mounted.
10. An imaging method of the large-field-of-view correlated imaging apparatus according to claim 1, characterized by comprising the steps of:
s1, dividing the detection target into N view field partitions, namely a first view field partition and a second view field partition … N view field partitions;
s2 pulse light generated by the pulse light sourceThe beams sequentially pass through the light modulation unit and the directional scanning projection unit and then irradiate a first view field subarea in a detection target, the light receiving unit receives pulse signals reflected by the first view field subarea and sends the pulse signals to the central processing unit for correlation calculation, and an original image X of the first view field subarea is obtained1；
S3, repeating the step S2, making the pulse light beam irradiate the second view field subarea and the third view field subarea … and the Nth view field subarea in the detection target in sequence, and obtaining the original image X of the corresponding view field subarea in sequence2、X3…XNForming a complete sequence of image structures X { X }1,X2,…XN}；
And S4, integrating the sequence X into an image by using an image splicing algorithm according to the space structure and the corresponding relation of the field division, wherein the image is the original image of the detection target.
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