CN113125010A - Hyperspectral imaging equipment - Google Patents
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Abstract
An embodiment of the present invention provides a hyperspectral imaging apparatus, including: the system comprises an imaging lens, a first relay lens, a second relay lens, a third relay lens, a beam splitter, a prism, a reflective mask and a camera sensor; the imaging lens, the first relay lens, the beam splitter, the prism, the second relay lens and the reflective mask are sequentially arranged along the transmission direction of incident light, and the third relay lens and the camera sensor are sequentially arranged in the reflection direction of the reflected light through the beam splitter; under the condition that the device collects a scene image, the reflective mask reflects incident light to the prism, the prism reversely disperses the incident light and emits the incident light to the beam splitter, and the reflected light of the beam splitter is incident to the camera sensor through the third relay lens so that the camera sensor collects a compressed observation image and determines a two-dimensional image and one-dimensional spectral information of a target scene based on the image. The load of a camera sensor in the hyperspectral imaging acquisition process is reduced, and the hyperspectral image data is acquired quickly and accurately.
Description
Technical Field
The invention relates to the technical field of hyperspectral imaging, in particular to hyperspectral imaging equipment.
Background
The hyperspectral imaging technology is an imaging technology for measuring two-dimensional images and one-dimensional spectral information of scenes, and has wide application in the aspects of remote sensing measurement, medical diagnosis, food detection, cultural relics and jewelry identification and the like. The image acquired by the hyperspectral imaging equipment can show the intensity distribution information of light with different wavelengths corresponding to the acquired scene.
In the related art, the hyperspectral imaging equipment is generally based on two modes of space scanning and wavelength scanning. High-resolution spectral scanning measurement is generally performed on a scene point by point or line by using a spatial scanning hyperspectral imaging device in a point scanning or line scanning mode and the like to acquire an image. However, since the spatial scanning is to measure the high-resolution spectrum of the scene point by point or line by line, the hyperspectral imaging device using the spatial scanning often has the problem that the rapid acquisition of the image with high spatial resolution cannot be realized due to the slow scanning speed.
The hyperspectral imaging equipment using wavelength scanning generally uses a plurality of groups of different band-pass optical filters to sequentially acquire images of the same scene under different spectral bands. However, in the acquisition process, the hyperspectral imaging equipment using wavelength scanning needs to switch different band-pass optical filters for multiple times to acquire the same scene, and the problem of low imaging speed is also caused.
Meanwhile, when the hyperspectral imaging equipment based on spatial scanning and wavelength scanning acquires images with high spatial resolution and high spectral resolution, a large amount of acquired three-dimensional data can cause too high image storage load of the hyperspectral imaging equipment.
Disclosure of Invention
The embodiment of the invention aims to provide hyperspectral imaging equipment, which is used for rapidly and accurately acquiring hyperspectral image data while reducing the load on a camera sensor in a hyperspectral imaging acquisition process. The specific technical scheme is as follows:
an embodiment of the present invention provides a hyperspectral imaging apparatus, including: the system comprises an imaging lens, a first relay lens, a second relay lens, a third relay lens, a beam splitter, a prism, a reflective mask and a camera sensor;
the imaging lens, the first relay lens, the beam splitter, the prism, the second relay lens and the reflective mask are sequentially arranged along the transmission direction of incident light, and the third relay lens and the camera sensor are sequentially arranged in the direction in which reflected light is reflected by the beam splitter, wherein the reflected light is the light reflected by the reflective mask;
the hyperspectral imaging equipment is under the condition of collecting images of a target scene, the reflection type mask reflects incident light which is dispersed by the prism to the prism, emergent light which is reversely dispersed by the prism and is incident to the beam splitter, and the reflected light of the beam splitter is incident to the camera sensor through the third relay lens, so that the camera sensor collects compressed observation images, and the two-dimensional images and one-dimensional spectrum information of the target scene are determined based on the compressed observation images.
Optionally, the hyperspectral imaging device further comprises an optical filter;
the optical filter is arranged between the imaging lens and the first relay lens, wherein the optical filter comprises at least one of a long-wave-pass optical filter and a short-wave-pass optical filter.
Optionally, the pixels of the reflective mask are distributed according to a random pattern or a preset pattern, and the pixels of the reflective mask include a completely transparent pixel and a completely reflective pixel.
Optionally, a distance between the imaging lens and the first relay lens is a sum of a focal length of the imaging lens and a focal length of the first relay lens, and a distance between the second relay lens and the reflective mask is a focal length of the second relay lens.
Optionally, a distance between the third relay lens and the camera sensor is a focal length of the third relay lens.
Optionally, a distance between the first relay lens and the second relay lens in the transmission direction of the incident light is a sum of a focal length of the first relay lens and a focal length of the second relay lens.
Optionally, the second relay lens, the pose of the reflective mask, and the pattern of the reflective mask are determined in advance based on a preset mode, where the preset mode includes:
the calibration light enters the prism through the imaging lens, the first relay lens and the beam splitter, the prism refracts the incident light to obtain refracted calibration light, and the refracted calibration light sequentially passes through the second relay lens and the reflective mask;
adjusting the poses of the second relay lens and the reflective mask to enable the optical axis of the adjusted second relay lens to be consistent with the direction of the refracted calibration light, wherein the plane of the reflective mask is perpendicular to the direction of the optical axis of the second relay lens;
the refracted calibration light is reflected at the adjusted reflective mask, the reflected light passes through the adjusted second relay lens and the prism to the beam splitter, the reflected light of the beam splitter is incident to the camera sensor through the third relay lens, so that the camera sensor collects a calibration image, and the pattern of the reflective mask is determined based on the calibration image.
Optionally, the calibration light is narrowband laser with a preset wavelength emitted by a narrowband laser.
An embodiment of the present invention provides a hyperspectral imaging apparatus, including: the system comprises an imaging lens, a first relay lens, a second relay lens, a third relay lens, a beam splitter, a prism, a reflective mask and a camera sensor; the imaging lens, the first relay lens, the beam splitter, the prism, the second relay lens and the reflective mask are sequentially arranged along the transmission direction of incident light, and the third relay lens and the camera sensor are sequentially arranged in the direction in which the reflected light is reflected by the beam splitter, wherein the reflected light is the light reflected by the reflective mask; the hyperspectral imaging equipment is used for reflecting incident light which is dispersed by the prism to the prism under the condition of collecting an image of a target scene, emergent light which is reversely dispersed by the prism to the incident light is transmitted to the beam splitter, and the reflected light of the beam splitter is incident to the camera sensor through the third relay lens, so that the camera sensor collects a compressed observation image, and a two-dimensional image and one-dimensional spectrum information of the target scene are determined based on the compressed observation image.
Through the dispersion of the prism and the modulation of the reflective mask, although the image acquired by the camera sensor is a compressed observation image of a target scene only with two-dimensional space information, the two-dimensional image and one-dimensional spectrum information of the target scene can be accurately obtained by reconstructing the compressed observation image, so that the hyperspectral imaging equipment provided by the embodiment of the invention can realize the rapid acquisition of the hyperspectral compressed observation image by using an imaging system with a simple structure, can reconstruct the compressed observation image obtained through one-time exposure by using a reconstruction algorithm, and can obtain the accurate two-dimensional image and one-dimensional spectrum information of the target scene by reduction, thereby reducing the load of image information acquisition of the camera sensor and simultaneously obtaining the accurate hyperspectral imaging data of the target scene. Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other embodiments can be obtained by using the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a hyperspectral imaging device according to an embodiment of the invention;
FIG. 2 is a schematic diagram of the intensity distribution of the optical field in the hyperspectral imaging apparatus according to an embodiment of the invention;
FIG. 3 is a schematic diagram of another exemplary configuration of a hyperspectral imaging apparatus according to an embodiment of the invention;
FIG. 4 is a reference RGB map of the target scene based on the embodiment shown in FIG. 3;
FIG. 5 is a compressed observation image acquired by the camera sensor based on the embodiment shown in FIG. 3;
FIG. 6 is a reconstructed two-dimensional image of a target scene over various hyperspectral bands based on the embodiment shown in FIG. 3;
fig. 7 is a schematic diagram of the reconstructed spectral curve and the reference spectral curve according to the embodiment shown in fig. 3.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived from the embodiments given herein by one of ordinary skill in the art, are within the scope of the invention.
In order to realize rapid and accurate acquisition of hyperspectral image data, the embodiment of the invention provides hyperspectral imaging equipment. The following describes a hyperspectral imaging device provided by an embodiment of the invention.
As shown in fig. 1, an embodiment of the present invention provides a hyperspectral imaging apparatus, including: an imaging lens 110, a first relay lens 120, a second relay lens 130, a third relay lens 140, a beam splitter 150, a prism 160, a reflective mask 170, and a camera sensor 180;
the imaging lens 110, the first relay lens 120, the beam splitter 150, the prism 160, the second relay lens 130, and the reflective mask 170 are sequentially disposed along a transmission direction of incident light, and the third relay lens 140 and the camera sensor 180 are sequentially disposed in a direction in which reflected light is reflected by the beam splitter 150, wherein the reflected light is light reflected by the reflective mask 170;
under the condition that the hyperspectral imaging equipment collects the image of the target scene 101, the reflective mask 170 reflects incident light dispersed by the prism 160 to the prism 160, emergent light reversely dispersed by the prism 160 is transmitted to the beam splitter 150, and the reflected light of the beam splitter 150 is incident to the camera sensor 180 through the third relay lens 140, so that the camera sensor 180 collects a compressed observation image, and determines a two-dimensional image and one-dimensional spectrum information of the target scene 101 based on the compressed observation image.
Therefore, the hyperspectral imaging equipment provided by the embodiment of the invention comprises: the system comprises an imaging lens, a first relay lens, a second relay lens, a third relay lens, a beam splitter, a prism, a reflective mask and a camera sensor; the imaging lens, the first relay lens, the beam splitter, the prism, the second relay lens and the reflective mask are sequentially arranged along the transmission direction of incident light, and the third relay lens and the camera sensor are sequentially arranged in the direction in which the reflected light is reflected by the beam splitter, wherein the reflected light is the light reflected by the reflective mask; the hyperspectral imaging equipment is used for reflecting incident light which is dispersed by the prism to the prism under the condition of collecting an image of a target scene, emergent light which is reversely dispersed by the prism to the incident light is transmitted to the beam splitter, and the reflected light of the beam splitter is incident to the camera sensor through the third relay lens, so that the camera sensor collects a compressed observation image, and a two-dimensional image and one-dimensional spectrum information of the target scene are determined based on the compressed observation image. Through the dispersion of the prism and the modulation of the reflective mask, although the image acquired by the camera sensor is a compressed observation image of a target scene only with two-dimensional space information, the two-dimensional image and one-dimensional spectrum information of the target scene can be accurately obtained by reconstructing the compressed observation image, so that the hyperspectral imaging equipment provided by the embodiment of the invention can realize the rapid acquisition of the hyperspectral compressed observation image by using an imaging system with a simple structure, can reconstruct the compressed observation image obtained through one-time exposure by using a reconstruction algorithm, and can obtain the accurate two-dimensional image and one-dimensional spectrum information of the target scene by reduction, thereby reducing the load of image information acquisition of the camera sensor and simultaneously obtaining the accurate hyperspectral imaging data of the target scene.
In the above hyperspectral imaging apparatus, the imaging lens 110, the first relay lens 120, the beam splitter 150, the prism 160, the second relay lens 130, and the reflective mask 170 are sequentially disposed along the transmission direction of the incident light, and the third relay lens 140 and the camera sensor 180 are sequentially disposed in the direction in which the reflected light is reflected by the beam splitter 150. Thus, when the hyperspectral imaging apparatus collects an image of the object scene 101, light of the object scene 101 enters from the imaging lens 110, enters the prism 160 through the first relay lens 120 and the beam splitter 150, the prism 160 disperses the incident light, the dispersed incident light irradiates the reflective mask 170 through the second relay lens 130, the incident light reflected by the reflective mask 170 is transmitted back to the prism 160 through the second relay lens 130, the emergent light reversely dispersed by the prism 160 is transmitted to the beam splitter 150, the reflected light reflected by the beam splitter 150 enters the camera sensor 180 through the third relay lens 140, and the camera sensor 180 can collect a compressed observation image, and can determine a two-dimensional image and one-dimensional spectral information of the object scene 101 based on the compressed observation image, wherein the light of the object scene can be reflected by the object scene, The refracted or emitted light is not particularly limited.
In one embodiment, the imaging lens 110, the first relay lens 120, the second relay lens 130, and the third relay lens 140 may be achromatic lenses, and the focal length thereof may be a preset length, wherein the preset length may be determined according to factors such as a size of the hyperspectral imaging apparatus, for example, 95mm, 100mm, 150mm, and the like, and is not limited herein.
In an embodiment, the beam splitter 150 may be a beam splitting cube having a transmittance-reflectance ratio of a predetermined ratio and a wavelength range of a predetermined wavelength, where the predetermined ratio and the predetermined wavelength may be determined according to factors such as imaging requirements of the hyperspectral imaging apparatus, for example, the predetermined ratio may be 50:50, the wavelength range may be 400-700nm, and the like, and is not limited herein.
In an embodiment, the dispersion direction of the prism 160 may be determined according to the imaging requirements of the hyperspectral imaging apparatus, and the like, for example, the dispersion direction may be a vertical direction or a horizontal direction, and is not limited herein.
In one embodiment, the camera sensor 180 may be any image sensor capable of capturing an image, such as a monochrome camera sensor, a color camera sensor, and the like, and is not particularly limited herein.
When the hyperspectral imaging equipment collects the compressed observation image of the target scene, as shown in fig. 2, the intensity distribution of the light field in the hyperspectral imaging equipment is as follows:
for the light field intensity distribution diagram 201 of the target scene 101, s (x, y, λ) may be used to represent the light field intensity at a wavelength λ and a spatial position (x, y) in the target scene 101, where the target scene may be a hyperspectral scene composed of different wavelengths and a wavelength range λ1-λN。
When the hyperspectral imaging device collects a compressed observation image of the target scene 101, and when the light of the target scene 101 enters the prism 160 placed vertically through the imaging lens 110, the first relay lens 120 and the beam splitter 150, the prism 160 may disperse the input light in the vertical direction, the light field intensity of the dispersed light may be represented by the schematic diagram 202, and if d (λ) represents the dispersion function of the prism 160, the light field intensity distribution of the dispersed light may be represented as s (x, y + d (λ), λ). The specific expression of the dispersion function d (λ) can be determined according to specific parameters of the prism 160, and is not specifically limited and described herein.
The dispersed light is irradiated to the reflection through the second relay lens 130The reflective mask 170 has a certain pattern, so that the reflection result of the light inputted at different positions is different, that is, it can encode (modulate) the inputted light, and the light field intensity distribution of the modulated light can be as shown in the diagram 203. If it is used
Representing the transfer function of the reflective mask, the light field intensity distribution of the modulated light ray can be represented as
The modulated light passes through the second relay lens 130 and then is transmitted to the prism 160 again, the prism 160 performs reverse dispersion on the input light, and the optical field intensity distribution of the light after the reverse dispersion can be shown as a diagram 204. The optical field intensity distribution of the inversely dispersed light ray can be expressed as
The reflected light reflected by the beam splitter 150 after the reverse dispersion is irradiated to the camera sensor 180 through the third relay lens 140, and the camera sensor 180 can acquire a compressed observation image of the target scene, where the light field intensity distribution at this time can be as shown in the schematic diagram 205. Since the compressed observation image is obtained by the camera sensor 180 based on the superposition of the light field intensities of all wavelengths of light in the received light, the light field intensity distribution g (x, y) corresponding to the compressed observation image can be represented by the following formula:
from the above formula, it can be seen that the light field intensity distribution g (x, y) corresponding to the compressed observation image collected by the camera sensor 180 and the transfer function of the reflective mask 170 are based on
Can determineAnd (3) obtaining the light field intensity distribution s (x, y, lambda) corresponding to the target scene, namely the one-dimensional spectral information corresponding to the target scene.
Specifically, the light field intensity distribution g (x, y) corresponding to the compressed observation image and the transfer function of the reflective mask 170 may be based on a TwIST-Step Iterative Shrinkage/Thresholding algorithm, an IST (Iterative Soft Thresholding) algorithm, a GAP-TV algorithm, an ADMM-TV (Alternating direction method of multipliers-Total variation) algorithm, a DeSCI algorithm, and the like
The reconstruction is performed to obtain a light field intensity distribution s (x, y, λ) corresponding to the target scene, which is not specifically limited herein.
As an embodiment, the light field intensity distribution of the target scene 101 may also be vectorized and expressed as a vector
Wherein N isxAnd NyRepresenting a spatial dimension, NλIndicating the number of spectral bands. Transfer function of the reflective mask 170
Can be expressed as a perception matrix
The light field intensity distribution corresponding to the compressed observation image collected by the camera sensor can be vectorized and expressed as a vector
The light field intensity distribution g corresponding to the compressed observation image can be expressed as the product of the light field intensity distribution (input signal) s of the target scene 101 and the sensing matrix Φ, as shown in the following formula:
g＝Φs
the compressed sensing theory shows that when the input signal s is a sparse signal, according to the formula, the light field intensity distribution s of the target scene can be determined based on the light field intensity distribution g corresponding to the compressed observation image collected by the camera sensor 180 and the sensing matrix Φ corresponding to the transfer function of the reflective mask 170.
Similarly, the light field intensity distribution s of the target scene may also be calculated by using a TwIST (Two-Step Iterative Shrinkage/threshold) algorithm, an IST (Iterative Soft threshold) algorithm, a GAP-TV algorithm, an ADMM-TV (Alternating direction method of multipliers-Total variation) algorithm, a DeSCI algorithm, and the like, which is not specifically limited herein.
In an actual scene, due to the presence of noise, the hyperspectral imaging apparatus may also acquire measurement noise when acquiring a compressed observation image of a target scene, wherein the measurement noise may be vectorized into a vector
Then, the light field intensity distribution g corresponding to the compressed observation image can be expressed by the following formula:
g＝Φs+z
as can be seen from the above formula, the light field intensity distribution s of the target scene can still be determined based on the light field intensity distribution g corresponding to the compressed observation image containing the measurement noise z acquired by the camera sensor 180 and the sensing matrix Φ corresponding to the transfer function of the reflective mask 170.
Similarly, a TwIST (Two-Step Iterative Shrinkage/threshold) algorithm, an IST (Iterative Soft threshold) algorithm, a GAP-TV algorithm, an ADMM-TV (Alternating direction method of multipliers-Total variation) algorithm, a DeSCI algorithm, etc. may be still used, and a light field intensity distribution s corresponding to the target scene is obtained by reconstructing based on a light field intensity distribution g corresponding to the compressed observation image and a sensing matrix Φ corresponding to the transfer function of the reflective mask 170, which is not specifically limited herein.
As an implementation manner of the embodiment of the present invention, as shown in fig. 3, the hyperspectral imaging apparatus may further include an optical filter 190.
The filter 190 is disposed between the imaging lens 110 and the first relay lens 120.
The filter 190 may include at least one of a long-wavelength pass filter and a short-wavelength pass filter. In order to perform a filtering process on incident light, an optical filter 190 may be further disposed between the imaging lens 110 and the first relay lens 120 in the hyperspectral imaging apparatus.
Thus, when the hyperspectral imaging device collects a hyperspectral image of the target scene 101, light of the target scene 101 needs to pass through the optical filter 190 before being transmitted to the first relay lens 120 through the imaging lens 110, and the optical filter 190 can filter incident light, so that light with certain wavelengths is blocked and cannot reach the first relay lens 120. Thus, the light transmitted to the first relay lens 120 is light having a predetermined wavelength range, wherein the predetermined wavelength range is a wavelength range through which the optical filter 190 can pass.
In one embodiment, the filter 190 may be a long-wave pass filter. Thus, when the incident light is transmitted to the first relay lens 120 through the imaging lens 110 and the optical filter 190, the light transmitted to the first relay lens 120 is all light with a wavelength greater than the cut-off wavelength of the long-wave pass optical filter.
For example, in the hyperspectral imaging device, a long-wave pass filter with a cutoff wavelength of 450nm is disposed between an imaging lens and a first relay lens, and thus when the hyperspectral imaging device collects a compressed observation image of a target scene, the wavelengths of light transmitted to the first relay lens through the imaging lens and the long-wave pass filter are both greater than 450 nm.
In another embodiment, the filter 190 may be a short-wave pass filter. Thus, when the incident light is transmitted to the first relay lens 120 through the imaging lens 110 and the filter 190, the light transmitted to the first relay lens 120 is all light with a wavelength smaller than the cut-off wavelength of the short-wavelength pass filter.
For example, in the hyperspectral imaging apparatus, a short-wave pass filter with a cut-off wavelength of 650nm is disposed between the imaging lens and the first relay lens, and thus when the hyperspectral imaging apparatus collects a compressed observation image of a target scene, the wavelengths of light rays transmitted to the first relay lens through the imaging lens and the short-wave pass filter are both smaller than 650 nm.
In another embodiment, the filter 190 may include a long-wave pass filter and a short-wave pass filter. Thus, when the incident light is transmitted to the first relay lens 120 through the imaging lens 110 and the filter 190, the light transmitted to the first relay lens 120 is all light with a wavelength between the cut-off wavelength of the long-wavelength pass filter and the cut-off wavelength of the short-wavelength pass filter.
For example, in the hyperspectral imaging apparatus, a long-wave pass filter with a cutoff wavelength of 450nm and a short-wave pass filter with a cutoff wavelength of 650nm are disposed between the imaging lens and the first relay lens, and when the hyperspectral imaging apparatus acquires a compressed observation image of a target scene, the wavelengths of light rays transmitted to the first relay lens through the imaging lens, the long-wave pass filter and the short-wave pass filter are both between 450nm and 650 nm.
It can be seen that, in this embodiment, the light filter that hyperspectral imaging equipment includes can filter the light outside the predetermined wavelength range in the target scene to when making hyperspectral imaging equipment compress the observation image acquisition to the target scene, can only carry out hyperspectral imaging based on the light of the predetermined wavelength range of target scene transmission, and then can confirm the two-dimensional image and the one-dimensional spectral information of target scene in predetermined wavelength range, like this, can make the camera sensor among the hyperspectral imaging equipment image based on the light of the wavelength range of interest in the target scene through the light filter, thereby further reduce the load that camera sensor gathered image information volume.
As an implementation manner of the embodiment of the present invention, the pixels of the reflective mask may be distributed according to a random pattern or a preset pattern, and the pixels of the reflective mask may include fully transmissive pixels and fully reflective pixels.
In order to conveniently construct a sensing matrix corresponding to a transfer function of a reflective mask, so that after a camera sensor acquires a compressed observation image of a target scene, a two-dimensional image and one-dimensional spectral information of the target scene can be obtained through reconstruction based on the compressed observation image, and the pixel distribution of the reflective mask can be distributed according to a random pattern or a preset pattern, wherein the size of the pixel can be determined according to factors such as imaging requirements of hyperspectral imaging equipment, for example, the pixel size can be 15 × 15 μm, 9.6 × 9.6 μm, and the like, and is not particularly limited herein.
In one embodiment, the pixel distribution of the reflective mask may be distributed according to a random pattern, and may include a fully transmissive pixel and a fully reflective pixel. Therefore, when the hyperspectral imaging equipment collects a compressed observation image of a target scene, the incident light after the prism dispersion is transmitted to irradiate the reflective mask through the second relay lens. At the positions of the pixels which are distributed randomly and are completely transparent in the reflective mask, incident light rays completely penetrate through the reflective mask; at randomly distributed fully reflected pixels in the reflective mask, the incident ray is fully reflected. The reflected light is transmitted to the camera sensor through the second relay lens, the prism, the beam splitter and the third relay lens, the camera sensor can acquire a compressed observation image of the target scene after being modulated by the reflective mask, and the compressed observation image can be reconstructed to determine a two-dimensional image and one-dimensional spectral information of the target scene based on a sensing matrix corresponding to a random pattern of the reflective mask and the compressed observation image.
In another embodiment, the pixel distribution of the reflective mask may also be distributed according to a preset pattern, and may include fully transparent pixels and fully reflective pixels, where the preset pattern may be determined according to factors such as imaging requirements of the hyperspectral imaging apparatus, for example, the fully transparent pixels and the fully reflective pixels are alternately distributed, and the present disclosure is not limited in this respect.
Similarly, when the hyperspectral imaging equipment collects a compressed observation image of a target scene, the incident light after the prism dispersion is transmitted to irradiate the reflective mask through the second relay lens. At the positions of the pixels which are distributed according to a preset pattern and are completely transparent, incident light rays completely penetrate through the reflective mask; at fully reflected pixels distributed according to a preset pattern in the reflective mask, the incident light is fully reflected. The reflected light is transmitted to a camera sensor through a second relay lens, a prism, a beam splitter and a third relay lens, the camera sensor can acquire a compressed observation image of a target scene after being modulated by a reflective mask, and can reconstruct and determine a two-dimensional image and one-dimensional spectral information of the target scene based on a sensing matrix corresponding to a random pattern of the reflective mask and the compressed observation image
It can be seen that, in this embodiment, when the hyperspectral imaging device collects an image of a target scene, the difference between the light intensity distribution of the light modulated by the prism dispersion and the light field intensity distribution of the light modulated by the reflective mask corresponding to the completely transparent pixel and the completely reflective pixel is significant, and then the modulated light is incident to the camera sensor after the prism is subjected to reverse dispersion, so that the definition of the compressed observation image collected by the camera sensor can be improved. Meanwhile, the sensing matrix corresponding to the reflective mask code can be accurately determined based on the pixel distribution pattern of the reflective mask code, and the accuracy of the two-dimensional image and the one-dimensional spectral information of the determined target scene can be further improved based on the compressed observation image and the sensing matrix corresponding to the reflective mask code.
As an embodiment of the present invention, a distance between the imaging lens and the first relay lens may be a sum of a focal length of the imaging lens and a focal length of the first relay lens, and a distance between the second relay lens and the reflective mask may be a focal length of the second relay lens.
In order to enable the input light of the target scene to enter the beam splitter in parallel in a parallel light state after passing through the imaging lens and the first relay lens, according to the optical imaging principle, the distance between the imaging lens and the first relay lens can be set to be the sum of the focal lengths of the imaging lens and the first intermediate lens. For example, in the hyperspectral imaging apparatus, when the focal length of the imaging lens is 16mm and the focal length of the first relay lens is 95mm, the distance between the imaging lens and the first relay lens may be set to be 111mm +95 mm.
In order to clearly image the light after the prism dispersion on the reflective mask when the light passes through the second relay lens to the reflective mask, so that the reflective mask can precisely modulate the incident light, the reflective mask may be located on the focal plane of the second relay lens according to the optical imaging principle, that is, the distance between the second relay lens and the reflective mask is the focal length of the second relay lens. For example, in the hyperspectral imaging apparatus, when the focal length of the second relay lens is 100mm, the distance between the second relay lens and the reflective mask may be set to 100 mm.
As can be seen, in this embodiment, the input light of the target scene may be transmitted among the first relay lens, the second relay lens, the third relay lens, the beam splitter, and the prism in a parallel light state, and may be precisely modulated on the reflective mask, so that after the compressed observation image is collected by the camera sensor, the two-dimensional image and the one-dimensional spectral information of the target scene may be more accurately determined.
As an embodiment of the present invention, a distance between the third relay lens and the camera sensor may be a focal length of the third relay lens.
In order to enable the light after the prism is subjected to reverse dispersion to be reflected by the beam splitter, when the light passes through the third relay lens and reaches the camera sensor, the camera sensor can acquire a clear compressed observation image, and according to the optical imaging principle, the distance between the third relay lens and the camera sensor can be set to be the focal length of the third relay lens. For example, in the hyperspectral imaging apparatus, when the focal length of the third relay lens is 100mm, the distance between the third relay lens and the camera sensor may be set to 100 mm.
Therefore, in this embodiment, the camera sensor can acquire a clearer compressed observation image, and then reconstruct based on the compressed observation image, so that a more accurate two-dimensional image and one-dimensional spectral information of the target scene can be obtained.
As an embodiment of the present invention, a distance between the first relay lens and the second relay lens in a transmission direction of an incident light ray may be a sum of a focal length of the first relay lens and a focal length of the second relay lens.
The positions of a first relay lens and a second relay lens in the hyperspectral imaging equipment are adjusted through multiple hyperspectral imaging experiments, and experimental results show that when the distance between the first relay lens and the second relay lens in the transmission direction of incident light is the sum of the focal length of the first relay lens and the focal length of the second relay lens, the two-dimensional image and the one-dimensional spectral information of the target scene determined through reconstruction are most accurate, so that the distance between the first relay lens and the second relay lens in the transmission direction of the incident light can be the sum of the focal length of the first relay lens and the focal length of the second relay lens.
For example, in the hyperspectral imaging apparatus, the focal length of the first relay lens is 95mm, and the focal length of the second relay lens is 100mm, then the distance between the first relay lens and the second relay lens in the transmission direction of the incident light ray may be set to be 95mm +100mm, which is 195 mm.
It can be seen that, in this embodiment, a distance between the first relay lens and the second relay lens in the hyperspectral imaging device in the transmission direction of the incident light may be a sum of a focal length of the first relay lens and a focal length of the second relay lens, so that the camera sensor may reconstruct a compressed observation image acquired based on the camera sensor to determine a more accurate two-dimensional image and one-dimensional spectral information of the target scene.
As an implementation manner of the embodiment of the present invention, the second relay lens, the pose of the reflective mask, and the pattern of the reflective mask may be determined in advance based on a preset manner, where the preset manner may include:
the calibration light enters the prism through the imaging lens, the first relay lens and the beam splitter, the prism refracts the incident light to obtain refracted calibration light, and the refracted calibration light sequentially passes through the second relay lens and the reflective mask; adjusting the poses of the second relay lens and the reflective mask to enable the optical axis of the adjusted second relay lens to be consistent with the direction of the refracted calibration light, wherein the plane of the reflective mask is vertical to the direction of the optical axis of the second relay lens; the refracted calibration light is reflected at the adjusted reflective mask, the reflected light passes through the adjusted second relay lens and the adjusted prism and then reaches the beam splitter, the reflected light of the beam splitter enters the camera sensor through the third relay lens, so that the camera sensor collects the reflected light for imaging, and the pattern of the reflective mask is determined based on the reflected light for imaging.
In order to determine the poses (positions and angles) of the second relay lens and the reflective mask and the pattern of the reflective mask, a hyperspectral imaging experiment can be performed on the hyperspectral imaging equipment by using a calibration light ray, the calibration light ray enters a prism through an imaging lens, the first relay lens and a beam splitter, and the light ray refracted by the prism sequentially passes through the second relay lens and the reflective mask so as to finish the light path transmission of the calibration light ray from the imaging lens to the reflective mask.
At this time, the poses of the second relay lens and the reflective mask are probably not appropriate, so that the light reflected by the reflective mask cannot be transmitted to the beam splitter through the second relay lens and the prism, and further the reflected light cannot reach the camera sensor through the third relay lens after being reflected by the beam splitter, so that the camera sensor cannot acquire images. Therefore, the poses of the second relay lens and the reflective mask can be adjusted, so that the direction of the optical axis of the adjusted second relay lens is consistent with the direction of the calibration light refracted by the prism, and the plane where the reflective mask is located is perpendicular to the direction of the optical axis of the second relay lens.
After the poses of the second relay lens and the reflective mask are adjusted, the calibration light can be reflected by the adjusted reflective mask in the transmission process, the reflected light can be transmitted to the beam splitter through the adjusted second relay lens and the prism, the reflected light of the beam splitter can be incident to the camera sensor through the third relay lens, the camera sensor can acquire a calibration image, and then the pattern of the reflective mask can be determined based on the calibration image and the optical imaging principle.
Therefore, in this embodiment, the positions of the second relay lens and the reflective mask in the hyperspectral imaging equipment and the pattern of the reflective mask can be accurately determined by using the calibration light, so that the sensing matrix corresponding to the reflective mask can be accurately determined, and after the compressed observation image of the target scene is collected by using the hyperspectral imaging equipment, the accurate two-dimensional image and the accurate one-dimensional spectrum information of the target scene can be reconstructed and obtained based on the sensing matrix and the collected compressed observation image.
As an implementation manner of the embodiment of the present invention, the calibration light may be a narrow-band laser with a preset wavelength emitted by a narrow-band laser.
The narrow-band laser emitted by the narrow-band laser emitter is monochromatic, so that the narrow-band laser can be prevented from being dispersed when passing through the prism, the transmission directions of the light rays refracted by the prism are consistent, and the determination of the poses of the second relay lens and the reflective mask is facilitated. The preset wavelength may be determined according to an imaging requirement of the hyperspectral imaging device, and may be, for example, 532nm, 590.5nm, 500nm, and the like, which is not specifically limited herein.
It can be seen that, in this embodiment, the calibration light may be a narrowband laser with a preset wavelength emitted by a narrowband laser, and since the calibration light is monochromatic light, dispersion may be avoided when passing through the prism, and the transmission directions of the light refracted by the prism are the same, which is beneficial to determining the poses of the second relay lens and the reflective mask, and meanwhile, the calibration image collected by the modulated camera sensor is an image of the reflective mask, so that the pattern of the reflective mask may be determined efficiently and accurately based on the calibration image collected by the camera sensor.
The following describes an example of a process of collecting hyperspectral image data by using the hyperspectral imaging apparatus according to the embodiment of the invention. In this embodiment, each device and parameter included in the hyperspectral imaging apparatus are shown in the following table:
the hyperspectral imaging equipment can be provided with an imaging lens, an optical filter, a first relay lens, a second relay lens, a third relay lens, a beam splitter, a prism, a reflective mask and a camera sensor according to the structural schematic diagram shown in fig. 3 so as to collect hyperspectral image data with a wavelength range of 450nm to 650nm corresponding to a target scene. The distance between the imaging lens and the first relay lens is 170mm, the distance between the second relay lens and the reflective mask is 100mm, and the distance between the third relay lens and the camera sensor is 100 mm.
Before the compressed observation image of the target scene is acquired by using the hyperspectral imaging equipment, the light path calibration can be performed on hyperspectral imaging by using narrowband laser emitted by a narrowband laser with the wavelength of 532nm as calibration light in advance so as to determine the positions and angles of the second relay lens and the reflective mask and the pattern of the reflective mask. Meanwhile, the camera sensor may determine a pattern of the reflective mask based on the collected modulated calibration light, and then determine a perception matrix corresponding to the reflective mask.
Furthermore, the number and the central wavelength of the hyperspectral spectral bands which can be acquired by the hyperspectral imaging equipment can be determined based on the wavelength range of the hyperspectral image data to be acquired, the parameters of the prism and the parameters of the second relay lens.
In one embodiment, the number of the hyperspectral bands and the central wavelength which can be collected can be determined according to the parameters of the prism and the second relay lens, so that after the spectral bands adjacent to the central wavelength are dispersed by the prism and transmitted to the reflective mask through the second relay lens, the position of the spectral bands irradiated on the reflective mask is different by a preset number of pixels and the like. For example, the number of pixels may be 1 pixel, 2 pixels, 3 pixels, and the like, and is not particularly limited herein.
Taking the hyperspectral imaging equipment with parameters as the parameters in the table as an example, when spectral bands with adjacent wavelengths are dispersed by a prism and transmitted to a reflective mask through a second relay lens, and the positions of the spectral bands irradiated on the reflective mask are different by one pixel, the number of the hyperspectral spectral bands which can be collected by the hyperspectral imaging equipment in the wavelength range of 450nm to 650nm can be obtained by calculating the parameters of the prism and the second relay lens, wherein the hyperspectral imaging equipment has the following central wavelengths: 452.8nm, 456.7nm, 460.8nm, 465.0nm, 469.2nm, 473.6nm, 478.2nm, 482.8nm, 487.6nm, 492.6nm, 497.7nm, 502.9nm, 508.4nm, 514.0nm, 519.8nm, 525.8nm, 532.0nm, 538.4nm, 545.1nm, 552.0nm, 559.1nm, 566.5nm, 574.2nm, 582.2nm, 590.5nm, 599.2nm, 608.2nm, 617.6nm, 627.3nm, 637.5nm, 648.1 nm.
The hyperspectral imaging device can be used for acquiring hyperspectral data of a target scene, and in a specific embodiment, an image acquired by the target scene through a color camera is shown in fig. 4 and serves as a reference RGB image of the target scene. Wherein, the area 1 is dark green, the area 2 is ochre red, and the area 3 is yellow green. The hyperspectral imaging equipment provided by the embodiment of the invention is adopted to acquire the compressed observation image of the target scene, and a camera sensor in the hyperspectral imaging equipment can acquire the compressed observation image as shown in figure 5.
After the compressed observation image is collected, a tweet (Two-Step Iterative Shrinkage/threshold) algorithm is adopted based on the compressed observation image and a sensing matrix corresponding to the reflective mask to reconstruct a hyperspectral image corresponding to the target scene, so that Two-dimensional image information of the target scene under light with different wavelengths is obtained. For example, the reconstructed hyperspectral image of the target scene in fig. 4 after reconstruction may be as shown in fig. 6, where 31 images shown in fig. 6 respectively represent two-dimensional image information of the spectral bands of the target scene shown in fig. 4 corresponding to the above 31 central wavelengths.
Further, one-dimensional spectral information of a preset region of the target scene can be obtained through calculation. For example, the reconstructed spectral curves of the region 1, the region 2 and the region 3 in the target scene shown in fig. 4 may be as shown in the reconstructed curve in fig. 7, where the reconstructed spectral curves in fig. 7 respectively represent the spectral distributions corresponding to the region 1, the region 2 and the region 3 in the target scene, and the reference spectral curves in fig. 7 respectively represent the corresponding spectral distributions measured by the spectrometer in the region 1, the region 2 and the region 3 in the target scene. As can be seen from the reconstructed spectrum curve and the reference spectrum curve in fig. 7, the hyperspectral imaging apparatus provided by the embodiment of the invention can reconstruct and obtain accurate one-dimensional spectrum information of a target scene.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (8)
1. A hyperspectral imaging apparatus, characterized in that the hyperspectral imaging apparatus comprises: the system comprises an imaging lens, a first relay lens, a second relay lens, a third relay lens, a beam splitter, a prism, a reflective mask and a camera sensor;
the imaging lens, the first relay lens, the beam splitter, the prism, the second relay lens and the reflective mask are sequentially arranged along the transmission direction of incident light, and the third relay lens and the camera sensor are sequentially arranged in the direction in which reflected light is reflected by the beam splitter, wherein the reflected light is the light reflected by the reflective mask;
the hyperspectral imaging equipment is under the condition of collecting images of a target scene, the reflection type mask reflects incident light which is dispersed by the prism to the prism, emergent light which is reversely dispersed by the prism and is incident to the beam splitter, and the reflected light of the beam splitter is incident to the camera sensor through the third relay lens, so that the camera sensor collects compressed observation images, and the two-dimensional images and one-dimensional spectrum information of the target scene are determined based on the compressed observation images.
2. The hyperspectral imaging apparatus according to claim 1, further comprising an optical filter;
the optical filter is arranged between the imaging lens and the first relay lens, wherein the optical filter comprises at least one of a long-wave-pass optical filter and a short-wave-pass optical filter.
3. The hyperspectral imaging apparatus according to claim 1, wherein the pixels of the reflective mask are distributed according to a random pattern or a preset pattern, and the pixels of the reflective mask comprise fully transmissive pixels and fully reflective pixels.
4. The hyperspectral imaging apparatus according to claim 1, wherein the distance between the imaging lens and the first relay lens is the sum of the focal length of the imaging lens and the focal length of the first relay lens, and the distance between the second relay lens and the reflective mask is the focal length of the second relay lens.
5. The hyperspectral imaging apparatus according to claim 1 wherein the distance between the third relay lens and the camera sensor is the focal length of the third relay lens.
6. The hyperspectral imaging apparatus according to claim 1, wherein the distance between the first relay lens and the second relay lens in the direction of transmission of the incident light is the sum of the focal length of the first relay lens and the focal length of the second relay lens.
7. The hyperspectral imaging apparatus according to any of claims 1-6, wherein the second relay lens, the pose of the reflex mask and the pattern of the reflex mask are determined in advance based on a preset manner, the preset manner comprising:
the calibration light enters the prism through the imaging lens, the first relay lens and the beam splitter, the prism refracts the incident light to obtain refracted calibration light, and the refracted calibration light sequentially passes through the second relay lens and the reflective mask;
adjusting the poses of the second relay lens and the reflective mask to enable the optical axis of the adjusted second relay lens to be consistent with the direction of the refracted calibration light, wherein the plane of the reflective mask is perpendicular to the direction of the optical axis of the second relay lens;
the refracted calibration light is reflected at the adjusted reflective mask, the reflected light passes through the adjusted second relay lens and the prism to the beam splitter, the reflected light of the beam splitter is incident to the camera sensor through the third relay lens, so that the camera sensor collects a calibration image, and the pattern of the reflective mask is determined based on the calibration image.
8. The hyperspectral imaging apparatus according to claim 7, wherein the calibration light is a narrowband laser of a preset wavelength emitted by a narrowband laser.
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