CN113109787A - Non-vision field imaging device and method based on thermal imaging camera - Google Patents
Non-vision field imaging device and method based on thermal imaging camera Download PDFInfo
- Publication number
- CN113109787A CN113109787A CN202110405070.5A CN202110405070A CN113109787A CN 113109787 A CN113109787 A CN 113109787A CN 202110405070 A CN202110405070 A CN 202110405070A CN 113109787 A CN113109787 A CN 113109787A
- Authority
- CN
- China
- Prior art keywords
- thermal imaging
- imaging camera
- laser
- target object
- pulse
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001931 thermography Methods 0.000 title claims abstract description 54
- 238000003384 imaging method Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000000007 visual effect Effects 0.000 claims abstract description 24
- 238000005315 distribution function Methods 0.000 claims abstract description 4
- 230000003287 optical effect Effects 0.000 claims description 26
- 238000005259 measurement Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 10
- 238000001914 filtration Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 238000005286 illumination Methods 0.000 claims description 3
- 230000002457 bidirectional effect Effects 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012634 optical imaging Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
Abstract
The invention discloses a non-vision field imaging device based on a thermal imaging camera and a method thereof.A shielded target object is used as a light source, and the thermal imaging camera is used for capturing far infrared light radiated by the target object and subjected to diffuse reflection through a middle interface so as to indirectly acquire the information of the target object outside a vision field. The two-way refractive index distribution function of the interface and Stefan-Boltzmann law are combined to realize the accurate estimation of the target object position. The device introduces an auxiliary imaging system consisting of a pulse laser, a photoelectric detector and a lens system, and assists in estimating the depth of a non-visual field scene and the position of a target object in a complex scene, so that the applicability of the device is remarkably expanded.
Description
Technical Field
The invention belongs to the field of computational imaging, and particularly relates to a non-vision field imaging device and a non-vision field imaging method based on a thermal imaging camera.
Background
The rapid development of semiconductor technology, optical imaging and integrated circuits has led to the increasing popularity of powerful, highly integrated camera devices in daily life, and the application of camera devices in various fields is not known. However, for a few special scenes, such as street corners in deep cities and places covered by shelters such as vegetation, objects are often in the blind area of the camera device; or in places which are unfavorable for people to enter and exit, such as ruins and fire scenes after natural disasters, people or objects in the places are difficult to be directly captured by the camera device. In order to realize reconstruction of the occluded objects in these scenes, a Non-line-of-sight Imaging (Non-line-of-sight Imaging) technology is gradually developed and put into practical use.
Different from the traditional imaging mode, the non-visual field imaging mainly uses a camera to aim at the intermediate surface in the non-visual field scene, and the light reflected by the shielded target object is captured by the camera after being diffused and reflected by the intermediate surface, so as to indirectly obtain the information of the object. And processing the captured data by using a correlation algorithm so as to realize the imaging of the target object. Although the technology can effectively realize the three-dimensional reconstruction of the target object outside the visual field, for special scenes such as earthquake, the positioning and imaging of wounded in collapsed ruins, the scenes are very complicated because various broken shelters in the ruins are scattered in a mess, and the conventional active non-visual field imaging device cannot obtain better imaging quality.
Disclosure of Invention
The invention aims to provide a non-visual field imaging device based on a thermal imaging camera and a method thereof, which aim to solve the technical problems that the conventional active non-visual field imaging device cannot obtain better imaging quality, has low applicability to special scenes and has low imaging accuracy.
In order to solve the technical problems, the specific technical scheme of the invention is as follows:
a non-visual field imaging device based on a thermal imaging camera comprises the thermal imaging camera, an auxiliary positioning system and a computing unit;
the thermal imaging camera is used for capturing infrared light reflected by the target object through the intermediate surface;
the auxiliary positioning system estimates the position of the target object before the thermal imaging camera is used for measurement, so that the measurement accuracy is improved;
the auxiliary positioning system comprises a pulse laser, a photoelectric detector, a first optical system and a second optical system;
the pulse laser is used for emitting near-infrared laser pulses;
the photoelectric detector is used for capturing the laser pulse reflected by the intermediate surface and the target, converting the laser pulse into an electric signal and transmitting the electric signal to the computing unit for processing;
the first optical system and the second optical system are used for collimating and expanding laser pulses and adjusting light paths;
the computing unit is a microprocessor used for processing data, and analyzes and processes the electric signals returned by the thermal imaging camera and the photoelectric detector, and computes to obtain the required imaging information.
Furthermore, a band-pass filter is arranged in front of the thermal imaging camera and used for filtering infrared light emitted to the thermal imaging camera, so that light in a far infrared wave band enters the thermal imaging camera.
Further, the captured far infrared band is 1.5-400 μm.
Furthermore, the pulse laser adopts a laser diode, and emits a high-frequency near-infrared light pulse with the same rise time, fall time and duration after being modulated by a pulse modulation circuit.
Furthermore, a first optical system is arranged at the transmitting end of the auxiliary positioning system, and a second optical system is arranged at the receiving end of the auxiliary positioning system;
the first optical system of the emitting end includes:
the beam expander is used for expanding the laser pulse;
the collimating mirror is used for collimating the expanded laser pulse;
a mirror for changing the optical path of the laser pulses.
The second optical system of the receiving end includes:
the converging lens is used for converging the laser pulse reflected by the non-visual field scene;
the collimating mirror is used for collimating the converged laser pulses;
and the reflecting mirror is used for adjusting the light path and enabling the laser pulse to emit to the photoelectric detector.
Furthermore, the collimating lens of the transmitting end enables the laser pulse to enter the interface at different angles by changing the angle during measurement, so as to acquire different data.
Furthermore, a narrow band-pass filter is installed at the front end of the photoelectric detector and used for filtering ambient light noise, and only near infrared light of a corresponding waveband emitted by the pulse laser enters the photoelectric detector.
Furthermore, the pulse laser and the photoelectric detector are both connected with a control unit, and the control unit is used for controlling the pulse laser to emit modulated near-infrared laser pulses and controlling the opening and closing of an electronic shutter in the photoelectric detector.
A non-visual field imaging method based on a thermal imaging camera is characterized by comprising the following steps:
the method comprises the following steps: using an auxiliary positioning system to irradiate the interface, and adjusting the direction of the reflector to change the angle of the laser pulse emitted to the interface;
step two: the position of the target object is obtained by processing the flight time data of the laser pulse returned by the auxiliary positioning system by the computing unit;
step three: determining a proper illumination angle of the thermal imaging camera according to a positioning result of the auxiliary positioning system, and capturing far infrared light radiated by a target object by using the thermal imaging camera;
step four: based on the measurement data of the thermal imaging camera, the target object is accurately positioned by combining the bidirectional refractive index distribution function of the medium interface.
The invention discloses a non-vision field imaging device based on a thermal imaging camera and a method thereof, which have the following advantages:
1. the infrared light emitted by the target object is adopted to realize three-dimensional imaging of the target object, and the target object is taken as a light source, so that the problem of multiple reflection in the conventional active imaging device can be simplified into the problem of word reflection;
2. the auxiliary positioning system introduced into the device can realize the primary positioning of the target object in a complex scene, greatly broadens the applicable scene of the device and improves the imaging accuracy.
Drawings
FIG. 1 is a schematic view of an application scenario of a thermal imaging camera-based non-visual field imaging device according to the present invention;
FIG. 2 is a schematic view of a thermal imaging camera based non-field of view imaging apparatus of the present invention;
the notation in the figure is: 1. a calculation unit; 2. an auxiliary positioning system; 3. a middle interface; 4. a target object; 5. a thermal imaging camera; 6. a control unit; 7. a pulsed laser; 8. a first optical system; 9. a second optical system; 10. a photodetector.
Detailed Description
For better understanding of the objects, structure and functions of the present invention, a thermal imaging camera based non-visual field imaging apparatus and method thereof will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the present disclosure provides an application scenario of a thermal imaging camera-based non-visual field imaging device. In fig. 1, the object 4 is in a very complex non-field-of-view scene: the barriers such as broken walls and rubble in the scene are randomly distributed, and the target objects 4 are 'buried' under the barriers (only shown in the figure). Unlike street corner dead corners, where the scene has irregularities and agnostics in the spatial structure outside the field of view, the conventional non-field imaging method using only the laser illumination medium 3 to capture the reflected light information of the object may cause a reduction in the probability and accuracy due to the clutter distribution of the occlusion objects.
As shown in fig. 1, the present invention provides a non-visual field imaging device based on a thermal imaging camera, which mainly comprises: thermal imaging camera 5, auxiliary positioning system 2, computing unit 1.
The thermal imaging camera 5 is used for capturing infrared light reflected by the target 4 through the intermediate surface 3 and indirectly acquiring information of the target 4.
The calculating unit 1 is a microprocessor for processing data, and analyzes and processes the electric signals returned by the thermal imaging camera 5 and the photodetector 10, and calculates to obtain the required imaging information.
In this arrangement, the auxiliary positioning system 2 plays an important role in preliminarily determining the non-visual field space where the object 4 is located and the approximate position of the object 4.
Based on the calculated data of the auxiliary positioning system 2, the shooting angle of the thermal imaging camera 5 is adjusted, so that the infrared radiation emitted by the target 4 is captured more effectively, and the target 4 is positioned accurately.
As shown in fig. 2, the auxiliary positioning system 2 includes: a control unit 6, a pulse laser 7, a first optical system 8, a second optical system 9, and a photodetector 10.
The pulse laser 7 uses a laser diode as a light source, and has the function of emitting modulated high-precision near-infrared light pulses with the same rise time, fall time and duration.
The photoelectric detector 10 is used for capturing the laser pulse reflected by the middle interface 3 and the target 4, converting the laser pulse into an electric signal and transmitting the electric signal to the computing unit 1 for processing.
The control unit 6 is connected to a pulsed laser 7 and a photodetector 10.
The control unit 6 rapidly triggers and closes the pulse laser 7 to enable the pulse laser 7 to emit high-frequency infrared pulses, simultaneously controls an electronic shutter on a chip of the photoelectric detector 10 to be synchronously opened and closed with the pulse laser 7, the laser pulses returned by reflection irradiate the photoelectric detector 10, and a part of light generates charges C before the electronic shutter is closed0And stored in the photosensitive element. Then, at the moment when the last electronic shutter is closed, another electronic shutter is controlled to be opened, and the rest part of charges C generated by reflected light1Is also stored on the photosensitive element. So that the emitted light is all captured by the detector.
The distance d obtained from a single measurement can be given by the following formula:
wherein c is the speed of light transmitted by the laser pulse; t is tpThe duration of the light pulse; c0、C1Are respectively the firstThe electronic shutter and the delayed second electronic shutter collect charge.
The above process is repeated for a number of times during a set exposure time, and the values obtained by the photodetector 10 are output to the calculation unit 1 for further processing.
It should be noted that: and optical systems consisting of lenses and plane mirrors are arranged at the transmitting end and the receiving end of the auxiliary positioning system 2.
At the transmitting end, the optical system consists of a beam expander, a collimating mirror and a reflecting mirror. The beam expanding lens and the collimating lens are used for expanding and collimating laser pulses emitted by the pulse laser 7 respectively; the mirror mainly functions to change the optical path.
The incidence direction of the laser pulse can be adjusted by changing the angle of the reflector for many times, so that a plurality of groups of flight time data of laser propagation are obtained, and the flight distance of the laser at different incidence angles is further calculated. The depth of the non-visual field scene and the position of the target object 4 can be roughly judged by combining the multiple measurement results.
At the receiving end, the optical system is composed of a converging lens, a collimating mirror and a reflecting mirror, the converging lens can converge the laser pulses reflected from the non-visual field scene, and the laser pulses are collimated by the collimating mirror and then are emitted to the photoelectric detector 10 through the reflecting mirror. The addition of a converging lens here greatly improves the collection efficiency of the system.
The front end of a photoelectric detector 10 and the front end of a thermal imaging camera 5 in the device are respectively provided with a narrow-band filter for filtering light emitted into the two devices, so that the light received by the photoelectric detector 10 is consistent with the wavelength of light emitted by a pulse laser 7; so that the thermal imaging camera 5 captures far infrared light with a wavelength of 1.5-400 μm. The filter filters unnecessary wave bands in the environment, so that the environmental noise is reduced, and the signal-to-noise ratio is effectively improved.
The invention provides a non-visual field imaging method based on a thermal imaging camera, which comprises the following steps:
the method comprises the following steps: the auxiliary positioning system 2 is used to illuminate the interface 3 in the target, and the appropriate exposure time is selected according to the specific scene. When in use, the direction of the reflector is adjusted for multiple times to change the angle of the laser pulse to the medium interface 3 to obtain multiple groups of flight time data, and the calculation unit 1 processes the data to obtain an estimated value of the laser flight distance.
Step two: the depth of the non-visual field scene is roughly judged by comparing and analyzing the difference of the flight distances of the laser pulses at different incidence angles, and a preliminary estimation is made on the rough position of the target object 4.
Step three: based on the judgment of the first two steps, a proper angle is selected, the far infrared light radiated from the target object 4 is effectively captured by using the thermal imaging camera 5, and the obtained information is transmitted to the computing unit 1.
Step four: stefan-boltzmann law of using radiometry in the calculation unit 1E ∈ σ T4(where E is the emittance of the object to be measured; ε is the emissivity of the object to be measured; σ is Stefan-Boltzmann constant, σ ≈ 5.67X 10-8W/(m2·K4) (ii) a T is the temperature of the object to be measured) in combination with a birefringence Distribution Function (BRDF) of the interface 3, establishing a correspondence between the radiation intensity of the voxel of the object 4 and the radiation intensity received by the pixels of the thermal imaging camera 5 by integration, simulating by a monte-carlo path tracking method to obtain a light transmission matrix, and deriving the specific position of the object 4.
According to the non-visual field imaging device based on the thermal imaging camera, the infrared light emitted by the target object 4 is adopted to realize three-dimensional imaging of the target object, the target object 4 is taken as a light source, and the problem of multiple reflection in the conventional active imaging device can be simplified into the problem of word reflection. The auxiliary positioning system 2 introduced into the device can realize the primary positioning of the target object 4 in a complex scene, greatly broadens the applicable scene of the device and improves the imaging accuracy. The addition of the reflector in the system is convenient for adjusting the measurement angle, and the measurement flexibility is improved.
It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes in the features and embodiments, or equivalent substitutions may be made therein by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (9)
1. A thermal imaging camera-based non-visual field imaging device is characterized by comprising a thermal imaging camera (5), an auxiliary positioning system (2) and a computing unit (1);
the thermal imaging camera (5) is used for capturing infrared light reflected by the target object (4) through the middle interface (3);
the auxiliary positioning system (2) estimates the position of the target object (4) before the thermal imaging camera (5) is used for measurement, so that the measurement accuracy is improved;
the auxiliary positioning system (2) comprises a pulse laser (7), a photoelectric detector (10), a first optical system (8) and a second optical system (9);
the pulse laser (7) is used for emitting near-infrared laser pulses;
the photoelectric detector (10) is used for capturing the laser pulse reflected by the intermediate surface (3) and the target (4), converting the laser pulse into an electric signal and transmitting the electric signal to the computing unit for processing;
the first optical system (8) and the second optical system (9) are used for collimating and expanding laser pulses and adjusting light paths;
the computing unit (1) is a microprocessor for processing data, analyzes and processes electric signals returned by the thermal imaging camera (5) and the photoelectric detector (10), and computes to obtain required imaging information.
2. The thermal imaging camera-based non-field-of-view imaging apparatus as claimed in claim 1, wherein the thermal imaging camera (5) is preceded by a band pass filter for filtering infrared light directed to the thermal imaging camera (5) so that light in the far infrared band enters the thermal imaging camera (5).
3. The thermal imaging camera-based non-visual field imaging apparatus according to claim 2, wherein the far infrared band captured is 1.5-400 μm.
4. The thermal imaging camera-based non-visual field imaging device according to claim 3, characterized in that the pulse laser (7) is a laser diode, and emits high frequency near infrared light pulses with the same rise time, fall time and duration after being modulated by a pulse modulation circuit.
5. The thermal imaging camera-based non-field-of-view imaging device according to claim 4, characterized in that the transmitting end of the auxiliary positioning system (2) is provided with a first optical system (8) and the receiving end of the auxiliary positioning system (2) is provided with a second optical system (9);
the first optical system (8) of the emitting end comprises:
the beam expander is used for expanding the laser pulse;
the collimating mirror is used for collimating the expanded laser pulse;
a mirror for changing the optical path of the laser pulses.
The second optical system (9) of the receiving end comprises:
the converging lens is used for converging the laser pulse reflected by the non-visual field scene;
the collimating mirror is used for collimating the converged laser pulses;
and the reflecting mirror is used for adjusting the light path and enabling the laser pulse to be emitted to the photoelectric detector (10).
6. The thermal imaging camera-based non-visual-field imaging device according to claim 5, wherein the collimating mirror at the emitting end is used for acquiring different data by changing the angle during measurement so that the laser pulse enters the interface at different angles.
7. The thermal imaging camera-based non-field-of-view imaging device according to claim 6, characterized in that the photodetector (10) is frontally equipped with a narrow band-pass filter for filtering ambient light noise, so that only the near infrared light of the corresponding band emitted from the pulsed laser (7) enters the photodetector (10).
8. The thermal imaging camera-based non-field-of-view imaging device according to claim 7, characterized in that the pulsed laser (7) and the photodetector (10) are both connected to a control unit (6), the control unit (6) being configured to control the pulsed laser (7) to emit modulated near infrared laser pulses, while at the same time controlling the opening and closing of an electronic shutter in the photodetector (10).
9. The thermal imaging camera-based non-field-of-view imaging method according to any one of claims 1-8, comprising the steps of:
the method comprises the following steps: using an auxiliary positioning system (2) to irradiate the interface (3), and adjusting the direction of a reflector to change the angle of laser pulses emitted to the interface (3);
step two: the position of the target object is obtained by processing the flight time data of the laser pulse returned by the auxiliary positioning system (2) by the computing unit (1);
step three: determining a proper illumination angle of the thermal imaging camera (5) according to a positioning result of the auxiliary positioning system (2), and capturing far infrared light radiated by the target object (4) by using the thermal imaging camera (5);
step four: based on the measurement data of the thermal imaging camera (5), the target object (4) is accurately positioned by combining the bidirectional refractive index distribution function of the medium interface (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110405070.5A CN113109787B (en) | 2021-04-15 | 2021-04-15 | Non-visual field imaging device and method based on thermal imaging camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110405070.5A CN113109787B (en) | 2021-04-15 | 2021-04-15 | Non-visual field imaging device and method based on thermal imaging camera |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113109787A true CN113109787A (en) | 2021-07-13 |
| CN113109787B CN113109787B (en) | 2024-01-16 |
Family
ID=76717186
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110405070.5A Active CN113109787B (en) | 2021-04-15 | 2021-04-15 | Non-visual field imaging device and method based on thermal imaging camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113109787B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114994860A (en) * | 2022-07-19 | 2022-09-02 | 北京易兴元石化科技有限公司 | But angle regulation's interference reflector mobile device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180335525A1 (en) * | 2017-05-19 | 2018-11-22 | Qualcomm Incorporated | NON-LINE-OF-SIGHT (NLoS) SATELLITE DETECTION AT A VEHICLE USING A CAMERA |
| CN111340929A (en) * | 2020-02-20 | 2020-06-26 | 东南大学 | Non-vision field imaging method based on ray tracing algorithm |
| CN111476897A (en) * | 2020-03-24 | 2020-07-31 | 清华大学 | Non-visual field dynamic imaging method and device based on synchronous scanning stripe camera |
| CN111487648A (en) * | 2020-04-16 | 2020-08-04 | 北京深测科技有限公司 | Non-visual field imaging method and system based on flight time |
| CN111880194A (en) * | 2020-08-10 | 2020-11-03 | 中国科学技术大学 | Non-visual field imaging device and method |
-
2021
- 2021-04-15 CN CN202110405070.5A patent/CN113109787B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180335525A1 (en) * | 2017-05-19 | 2018-11-22 | Qualcomm Incorporated | NON-LINE-OF-SIGHT (NLoS) SATELLITE DETECTION AT A VEHICLE USING A CAMERA |
| CN111340929A (en) * | 2020-02-20 | 2020-06-26 | 东南大学 | Non-vision field imaging method based on ray tracing algorithm |
| CN111476897A (en) * | 2020-03-24 | 2020-07-31 | 清华大学 | Non-visual field dynamic imaging method and device based on synchronous scanning stripe camera |
| CN111487648A (en) * | 2020-04-16 | 2020-08-04 | 北京深测科技有限公司 | Non-visual field imaging method and system based on flight time |
| CN111880194A (en) * | 2020-08-10 | 2020-11-03 | 中国科学技术大学 | Non-visual field imaging device and method |
Non-Patent Citations (4)
| Title |
|---|
| ZHAO, SH 等: "A novel algorithm for mobile station location estimation with none line of sight error using robust least M-estimation", 《IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS》, pages 1176 - 1179 * |
| 张飞翔: "短波红外激光非视域三维成像系统及性能研究", 《中国优秀硕士学位论文全文数据库信息科技辑》, pages 13 - 28 * |
| 翟建华: "基于光子计数原理的非视域激光三维成像的精度研究", 《中国优秀硕士学位论文全文数据库信息科技辑》, pages 11 - 23 * |
| 镡京京: "激光非视域成像场景仿真与三维重建技术研究", 《中国优秀硕士学位论文全文数据库基础科学辑》, pages 11 - 28 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114994860A (en) * | 2022-07-19 | 2022-09-02 | 北京易兴元石化科技有限公司 | But angle regulation's interference reflector mobile device |
| CN114994860B (en) * | 2022-07-19 | 2022-11-15 | 北京易兴元石化科技有限公司 | But angle regulation's interference reflector mobile device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113109787B (en) | 2024-01-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8780182B2 (en) | Imaging system and method using partial-coherence speckle interference tomography | |
| US7554652B1 (en) | Light-integrating rangefinding device and method | |
| CA2554955C (en) | Gated imaging | |
| CN111880194B (en) | Non-field-of-view imaging apparatus and method | |
| US9996748B2 (en) | Emitter tracking system | |
| US7742640B1 (en) | Reduction of background clutter in structured lighting systems | |
| CN111025321B (en) | Variable-focus depth measuring device and measuring method | |
| CA2716980C (en) | Light-integrating rangefinding device and method | |
| CN110312079A (en) | Image collecting device and its application system | |
| WO2021019906A1 (en) | Ranging apparatus, information processing method, and information processing apparatus | |
| Busck et al. | High accuracy 3D laser radar | |
| JP2004503753A (en) | Apparatus and method for optical detection and analysis of an object | |
| CN113109787A (en) | Non-vision field imaging device and method based on thermal imaging camera | |
| US20240127566A1 (en) | Photography apparatus and method, electronic device, and storage medium | |
| Göhler et al. | Range accuracy of a gated-viewing system as a function of the gate shift step size | |
| Quero et al. | Towards a 3D Vision System based on Single-Pixel imaging and indirect Time-of-Flight for drone applications | |
| CN115079203B (en) | Non-vision imaging system and imaging method | |
| US8368873B2 (en) | Proximity to target detection system and method | |
| Haase et al. | Multi object detection in direct Time-of-Flight measurements with SPADs | |
| Andersen et al. | Long distance high accuracy 3-D laser radar and person identification | |
| RU2183841C1 (en) | Method of laser location and laser location device for its implementation | |
| Zhang et al. | Three-dimensional laser radar range imagery of complex target with rough surfaces | |
| Quero et al. | Evaluation of a 3D imaging vision system based on a single-pixel InGaAs detector and the time-of-flight principle for drones | |
| CN108563084A (en) | Multi-structured light pattern three-dimensional sensing system | |
| CN117629403A (en) | Active single photon detection array non-field imaging system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |