CN113302520A - Imaging device, arithmetic processing device therefor, vehicle lamp, vehicle, and sensing method - Google Patents
Imaging device, arithmetic processing device therefor, vehicle lamp, vehicle, and sensing method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/24—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead
- B60Q1/249—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead for illuminating the field of view of a sensor or camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S7/483—Details of pulse systems
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Abstract
The lighting device (110) generates reference light (S1), the reference light (S1) comprising: at least one reference pattern (I)0) The intensity distribution is uniform; and a plurality of random patterns (I)1)～(IM) The intensity distribution is random and the spatially averaged intensity is known. The arithmetic processing device (130) detects the intensity (b) using the reference0) To calculate the average value of the detected intensities (< b >), the reference detected intensity (b)0) In order to use the reference light (S1) as the reference pattern (I)0) Detected intensity (b) obtained0) The average value (< b >) of the detected intensities is a plurality of random patterns (I) in the reference light (S1)1)～(IM) A plurality of detected intensities (b) obtained0)～(bM) Average value of (a).
Description
Technical Field
The present invention relates to an image forming apparatus.
Background
For automatic driving or automatic control of the light distribution of headlamps, an object recognition system that senses the position and type of an object present around a vehicle is used. The object recognition system includes a sensor and an arithmetic processing device that analyzes an output of the sensor. The sensor is selected from a camera, a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), a millimeter wave radar, an ultrasonic sonar, and the like, in consideration of the application, required accuracy, and cost.
As one of the imaging apparatuses (sensors), an imaging apparatus using the principle of ghost imaging is known. In ghost imaging, the intensity distribution (pattern) of reference light is randomly switched and irradiated onto an object, and the photodetection intensity of reflected light is measured for each pattern. The light detection intensity is an integral value of energy or intensity of a certain plane, not an intensity distribution. Then, correlation calculation between the corresponding pattern and the light detection intensity is performed, and a reconstructed image of the object is reconstructed (reconstruct).
[ Prior art documents ]
[ patent document ]
Disclosure of Invention
[ problems to be solved by the invention ]
The present inventors have discussed with respect to an image forming apparatus, and as a result, have recognized the following problems. For correlation in ghost imaging, the correlation function of equation (1) is used. Reference light IrIs the intensity distribution of the r (r ═ 1, 2 …, M), brIs a value of the detected intensity obtained when the reference light having the r-th intensity distribution is irradiated.
[ formula 1 ]
Fig. 1 is a timing chart representing sensing of 1 frame of the imaging apparatus. As can be seen from the equation (1), M detection intensities b obtained in correspondence with the irradiation of the reference light M times are required for the correlation calculation1～bMAverage value of (1) < b >. Therefore, when M shots are not completed, correlation calculation cannot be started, and a time delay τ is generated. In applications requiring real-time performance such as in-vehicle applications, it is necessary to reduce the time delay τ as much as possible.
Further, when the intensity of reflected light from the object OBJ is small, the intensity b is detectedrIt becomes smaller and the S/N ratio decreases. The reduction of the S/N ratio results in a reduction in the quality of the restored image.
The present invention has been made under the above circumstances, and an exemplary object of an aspect thereof is to provide an imaging apparatus that can shorten a time delay of image reconstruction. Another exemplary object of the present invention is to provide an imaging apparatus capable of suppressing image quality degradation.
[ means for solving the problems ]
1. One aspect of the present invention relates to an image forming apparatus. The image forming apparatus includes: an illumination device that irradiates reference light; a photodetector that measures reflected light from an object; and an arithmetic processing device that reconstructs a restored image of the object based on the detected intensity based on the output of the photodetector and the intensity distribution of the reference light. The reference light includes at least one reference pattern having a uniform intensity distribution, and a plurality of random patterns. The intensity distribution of each random pattern is random and the spatially averaged intensity is known. The arithmetic processing device acquires a detection intensity average value, which is an average value of a plurality of detection intensities obtained when the reference light is a plurality of random patterns, based on a reference detection intensity, which is a detection intensity obtained when the reference light is a reference pattern.
2. One aspect of the present invention relates to an image forming apparatus. The image forming apparatus includes: an illumination device that irradiates reference light; a photodetector that measures reflected light from an object; and an arithmetic processing device that reconstructs a restored image of the object based on the detected intensity based on the output of the photodetector and the intensity distribution of the reference light. The reference light includes a plurality of random patterns having random intensity distributions. The arithmetic processing device performs a calculation related to the irradiation of a random pattern when a difference between a detected intensity corresponding to the random pattern and a detected intensity average value, which is an average value of a plurality of detected intensities corresponding to the plurality of random patterns, is larger than a predetermined threshold value, and omits the calculation when the difference is smaller than the predetermined threshold value.
3. One aspect of the present invention relates to an imaging apparatus based on ghost imaging. The image forming apparatus includes: a photodetector that measures reflected light from an object; and an arithmetic processing device. The reconstructed image of the object is reconstructed on the basis of the detected intensity based on the output of the photodetector and the intensity distribution of the reference light. The reference light includes at least one reference pattern having a uniform intensity distribution and a plurality of random patterns having a random intensity distribution and a spatially averaged intensity of a predetermined value. The arithmetic processing device sets the spatial average intensity of the plurality of random patterns based on a reference detection intensity that is a detection intensity obtained when the reference light is the reference pattern.
[ Effect of the invention ]
According to an aspect of the present invention, the amount of calculation can be reduced or the image quality can be improved.
Drawings
Fig. 1 is a timing chart representing sensing of 1 frame of the imaging apparatus.
Fig. 2 is a diagram showing an image forming apparatus of the embodiment.
Fig. 3 is a timing chart for explaining the operation of the imaging apparatus.
Fig. 4 (a) to 4 (c) are views explaining sensing of a modification.
Fig. 5 is a diagram illustrating an operation of the imaging apparatus according to modification 5.
Fig. 6 is a diagram illustrating an operation of the imaging apparatus according to modification 6.
Fig. 7 is a diagram illustrating an operation of the imaging apparatus according to modification 7.
Fig. 8 is a diagram illustrating an operation of the imaging apparatus according to modification 8.
FIG. 9 is a block diagram of an object recognition system.
FIG. 10 is a block diagram of an automobile including an object recognition system.
Fig. 11 is a block diagram showing a vehicle lamp including an object detection system.
Detailed Description
(outline of embodiment)
The "intensity distribution is random" in this specification does not mean completely random as long as the degree of image reconstruction in ghost imaging is random. Therefore, regarding "random" in the present specification, a certain degree of regularity can be contained therein. Further, with respect to "random", it is not required to be unpredictable, but may be predictable and reproducible.
1. One embodiment disclosed herein relates to an image forming apparatus. The image forming apparatus includes: an illumination device that irradiates reference light; a photodetector that measures reflected light from an object; and an arithmetic processing device that reconstructs a restored image of the object based on the detected intensity based on the output of the photodetector and the intensity distribution of the reference light. The reference light includes at least one reference pattern having a uniform intensity distribution, and a plurality of random patterns. The intensity distribution of each random pattern is random and the spatially averaged intensity is known. The arithmetic processing device acquires a detection intensity average value, which is an average value of a plurality of detection intensities obtained when the reference light is a plurality of random patterns, based on a reference detection intensity, which is a detection intensity obtained when the reference light is a reference pattern.
According to this embodiment, the calculation for image reconstruction can be started without waiting for irradiation of all the random patterns, and the calculation time can be shortened. Further, there may be cases where: since it is not necessary to store all data obtained in accordance with the M-times pattern irradiation in the memory, the hardware cost can be reduced.
The reference pattern may be located at the front of the plurality of random patterns. Alternatively, the reference pattern may be inserted into the head portions of the plurality of random patterns.
When the difference between the detected intensity corresponding to a certain random pattern and the average value of the detected intensities is larger than a predetermined threshold value, the calculation related to the irradiation of the random pattern may be performed, and the calculation may be omitted when the difference is smaller. This can reduce the amount of computation and obtain a clear image.
The plurality of random patterns may be irradiated until the number of detected intensities whose difference from the average detected intensity value is larger than the threshold value reaches a predetermined number. In this case, a clear image can be reconstructed.
The spatial average intensity of the plurality of random patterns may be set based on the reference detection intensity. This enables sensing suitable for the size, reflectance, distance of the object to be detected, or the optical path environment of the reference light.
The smaller the reference detection intensity is, the larger the spatial average intensity of the plurality of random patterns is. This can improve the S/N ratio.
2. One embodiment disclosed herein also relates to an image forming apparatus. The image forming apparatus includes: an illumination device that irradiates reference light; a photodetector that measures reflected light from an object; and an arithmetic processing device that reconstructs a restored image of the object based on the detected intensity based on the output of the photodetector and the intensity distribution of the reference light. The reference light includes a plurality of random patterns having random intensity distributions. The arithmetic processing device performs calculation related to the irradiation of a random pattern when a difference between a detection intensity obtained in accordance with the random pattern and a detection intensity average value, which is an average value of a plurality of detection intensities obtained in accordance with the plurality of random patterns, is larger than a threshold value, and omits the calculation when the difference is smaller than the threshold value.
According to this embodiment, the amount of calculation can be reduced.
The plurality of random patterns may be irradiated until the number of detected intensities whose difference from the average detected intensity value is larger than the threshold value reaches a predetermined number. In this case, a clear image can be reconstructed.
One embodiment disclosed herein relates to an image forming apparatus. The image forming apparatus includes: an illumination device that irradiates reference light; a photodetector that measures reflected light from the object and outputs a detection intensity; and an arithmetic processing device that reconstructs a restored image of the object based on the detected intensity and the intensity distribution of the reference light. The reference light includes at least one reference pattern having a uniform intensity distribution, and a plurality of random patterns. The intensity distribution of each random pattern is random, and the spatially averaged intensity is a predetermined value. The arithmetic processing device calculates a detection intensity average value, which is an average value of a plurality of detection intensities obtained when the reference light is a reference pattern, using a reference detection intensity, which is an average value of a plurality of detection intensities obtained when the reference light is a plurality of random patterns.
According to this embodiment, the arithmetic processing for image reconstruction can be started without waiting for irradiation of all the random patterns, and the calculation time can be shortened. Further, there may be cases where: since it is not necessary to store all data obtained in accordance with the M-times pattern irradiation in the memory, the hardware cost can be reduced.
The reference pattern may be located at the front of the plurality of random patterns. Alternatively, the reference pattern may be inserted into the head portions of the plurality of random patterns.
When the difference between the detected intensity corresponding to a certain random pattern and the average value of the detected intensities is larger than a predetermined threshold value, the calculation related to the irradiation of the random pattern may be performed, and the calculation may be omitted when the difference is smaller. This can reduce the amount of computation and obtain a clear image.
The plurality of random patterns may be irradiated until the number of detected intensities whose difference from the average detected intensity value is larger than the threshold value reaches a predetermined number. In this case, a clear image can be reconstructed.
The spatial average intensity of the plurality of random patterns may be set based on the reference detection intensity. This enables sensing suitable for the size, reflectance, distance of the object to be detected, or the optical path environment of the reference light.
The smaller the reference detection intensity is, the larger the spatial average intensity of the plurality of random patterns is. This can improve the S/N ratio.
One embodiment disclosed herein also relates to an image forming apparatus. The image forming apparatus includes: an illumination device that irradiates reference light; a photodetector that measures reflected light from the object and outputs a detection intensity; and an arithmetic processing device that reconstructs a restored image of the object based on the detected intensity and the intensity distribution of the reference light. The reference light includes a plurality of random patterns having random intensity distributions. The arithmetic processing device performs calculation related to the irradiation of a random pattern when a difference between a detection intensity corresponding to the random pattern and a detection intensity average value, which is an average value of a plurality of detection intensities corresponding to the random patterns, is larger than a threshold value, and omits the calculation when the difference is smaller than the threshold value.
According to this embodiment, the amount of calculation can be reduced.
The plurality of random patterns may be irradiated until the number of detected intensities whose difference from the average detected intensity value is larger than the threshold value reaches a predetermined number. In this case, a clear image can be reconstructed.
3. One embodiment disclosed herein relates to an image forming apparatus. The image forming apparatus includes: an illumination device that irradiates reference light; a photodetector that measures reflected light from an object; and an arithmetic processing device that reconstructs a restored image of the object based on the detected intensity based on the output of the photodetector and the intensity distribution of the reference light. The reference light includes at least one reference pattern having a uniform intensity distribution and a plurality of random patterns. The intensity distribution of each random pattern is random, and the spatially averaged intensity is a predetermined value. The arithmetic processing device sets a spatial average intensity of the plurality of random patterns based on a reference detection intensity obtained when the reference light is the reference pattern.
The reference detection intensity varies according to the size, reflectivity, and propagation loss between the imaging device and the object. According to this embodiment, sensing suitable for the size, reflectance, distance, or environment of the optical path of the reference light of the object to be detected can be performed.
The smaller the reference detection intensity is, the larger the spatial average intensity of the plurality of random patterns is. This can suppress a decrease in the S/N ratio when sensing an object having a low reflectance or when sensing in an environment having a large propagation loss.
The arithmetic processing device may acquire a detection intensity average value, which is an average value of a plurality of detection intensities obtained when the reference light is a plurality of random patterns, based on the reference detection intensity. According to this embodiment, the calculation for image reconstruction can be started without waiting for irradiation of all the random patterns, and the calculation time can be shortened. In addition, there may be the following: since it is not necessary to store all data obtained in accordance with the M times of pattern irradiation in the memory, the hardware cost can be reduced.
When the difference between the detected intensity obtained in association with a certain random pattern and the average value of the detected intensities is larger than a threshold value, the calculation related to the irradiation of the random pattern may be performed, and the calculation may be omitted when the difference is smaller. This can reduce the amount of computation and obtain a clear image.
The plurality of random patterns may be irradiated until the number of detected intensities whose difference from the average detected intensity value is larger than the threshold value reaches a predetermined number. In this case, a clear image can be reconstructed.
One embodiment disclosed herein also relates to an image forming apparatus. The image forming apparatus includes: an illumination device that irradiates reference light; a photodetector that measures reflected light from the object and outputs a detection intensity; and an arithmetic processing device that reconstructs a restored image of the object based on the detected intensity and the intensity distribution of the reference light. The reference light includes a plurality of random patterns having random intensity distributions. The arithmetic processing device performs calculation related to the irradiation of a random pattern when a difference between a detection intensity corresponding to the random pattern and a detection intensity average value, which is an average value of a plurality of detection intensities corresponding to the random patterns, is larger than a threshold value, and omits the calculation when the difference is smaller than the threshold value.
According to this embodiment, the amount of calculation can be reduced.
The plurality of random patterns may be irradiated until the number of detected intensities whose difference from the average detected intensity value is larger than the threshold value reaches a predetermined number. In this case, a clear image can be reconstructed.
(embodiment mode)
The present invention will be described below based on preferred embodiments with reference to the accompanying drawings. The same or equivalent constituent elements, members, and processes shown in the respective drawings are denoted by the same reference numerals, and overlapping descriptions are appropriately omitted. The embodiments are not intended to limit the invention, and are merely examples, and all the features or combinations thereof described in the embodiments are not essential to the invention.
Fig. 2 is a diagram showing the image forming apparatus 100 of the embodiment. The imaging apparatus 100 is a single-pixel imaging apparatus using the principle of ghost imaging, and includes an illumination apparatus 110, a photodetector 120, and an arithmetic processing apparatus 130. The imaging device 100 is also referred to as a quantum radar camera.
The illumination device 110 is a pseudo-thermal light source, generates reference light S1 having an intensity distribution I (x, y) that is substantially random, and irradiates the object OBJ. The irradiation of the object OBJ with the reference light S1 is performed while randomly changing the intensity distribution a plurality of times (M times).
The patterning device 114 has a plurality of pixels arranged in a matrix, and is configured to be able to spatially modulate the intensity distribution I of light based on a combination of on and off of the plurality of pixels. In this specification, a pixel in an on state is referred to as an on pixel, and a pixel in an off state is referred to as an off pixel. In the following description, for the sake of easy understanding, each pixel takes only 2 values (1, 0) of on and off, but is not limited thereto, and may take an intermediate gray level.
As the patterning Device 114, a reflective type DMD (Digital Micromirror Device) or a transmissive type liquid crystal Device can be used. The pattern signal PTN (image data) generated by the pattern generator 132 is supplied to the patterning device 114.
The pattern generator 132 generates an intensity distribution I of the specified reference light S1rPattern signal PTN ofrAnd to the pattern signal PTN over timerSwitching is performed (r ═ 1, 2, … M).
The arithmetic processing device 130 includes a pattern generator 132 and a reconstruction processing unit 134. The reconstruction processor 134 performs a plurality of intensity distributions (also referred to as random patterns) I1～IMWith a plurality of detection intensities b1～bMAnd reconstructing a restored image G (x, y) of the object OBJ.
Detection intensity b1～bMBased on the detection signal D1～DM. The relationship between the detection intensity and the detection signal may be determined in consideration of the type, the mode, and the like of the photodetector 120.
A certain intensity distribution IrThe reference light S1 is irradiated during a certain irradiation period. Furthermore, the detection signal DrThe amount of light received at a certain time (or a minute time), i.e., an instantaneous value, is represented. In this case, the detection signal D may be detected a plurality of times during the irradiation periodrSampling is carried out, and the intensity b is detectedrIs set as a detection signal DrAn integrated value, an average value, or a maximum value of all the sample values. Alternatively, some of all the sampled values may be selected, and the integrated value, the average value, or the maximum value of the selected sampled values may be used. The screening of the plurality of sample values may be performed by, for example, extracting the x-th to y-th sequences from the maximum number, removing lower sample values by an arbitrary threshold value, or extracting sample values in a range in which the magnitude of signal fluctuation is small.
When a device capable of setting an exposure time is used as the photodetector 120, such as a camera, the output D of the photodetector 120 can be setrDirectly as the detected intensity br。
From the detected signal DrTo the detected intensity brThe conversion of (2) may be performed by the arithmetic processing device 130, or may be performed outside the arithmetic processing device 130.
For the correlation, the correlation function of equation (1) is used. I isrIs the r-th intensity distribution, brIs the value of the r-th detected intensity.
The arithmetic Processing device 130 can be realized by a combination of a processor (hardware) such as a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or a microcomputer, and a software program executed by the processor (hardware). The arithmetic processing unit 130 may be a combination of a plurality of processors. Alternatively, the arithmetic processing unit 130 may be configured by only hardware.
In the present embodiment, the reference light S1 is divided into a plurality of random patterns I having random intensity distributions and a predetermined spatial average intensity1～IMIn addition, at least one reference pattern I with uniform intensity distribution is also included0. Hereinafter, a reference pattern I is provided01, and all pixels are set to "on" (lit). Preferably, the reference pattern I0Or can be positioned in more than one random pattern I1～IMNear the front.
The spatial average intensity of the reference light S1 is an average of the intensities of all the pixels of the patterning device 114. In the case where each pixel of the patterning device 114 is controlled to be in 2 states of on and off, the intensity of the on pixel corresponds to 1, and the intensity of the off pixel corresponds to 0. When the total number of pixels of the patterning device 114 is denoted by p and the number of pixels that are "on" (on pixels) is denoted by q, the spatial average intensity is q/p, which is referred to as a lighting ratio η. In other words, the pattern generator 132 has the lighting ratio η as the threshold ηaUnder the constraint of (2), a plurality of random patterns I are generated1～IM. In addition, a plurality of random patterns I1～IMRespective lighting ratios η1～ηMNeed not strictly and ηaConsistent, there may be some degree of error.
In addition, the reference pattern I0Is empty ofAverage intensity (lighting ratio eta)0) Is 1.
The reconstruction processor 134 of the arithmetic processor 130 detects the intensity b using the reference0To calculate the average value of the detected intensity (b), the reference detected intensity (b)0To be at reference light S1Is a reference pattern I0The average value < b > of the detected intensities obtained is that a plurality of random patterns I are formed at the reference light S11～IMA plurality of detected intensities b obtained1～brAverage value of (a).
Reference pattern I0Reference detection intensity b obtained by reflecting (x, y) to a certain object0Is composed of
b0＝ΣxΣyI0(x，y)×f(x，y)。
f (x, y) represents the reflection characteristics of the object or the transmission path characteristics of the reference light and the reflected light.
When assuming the same object, the same transmission path, f (x, y) is the same, and thus with respect to the random pattern Ir(r is 1 to M), the same relational expression is also established.
br＝ΣxΣy{Ir(x，y)×f(x，y)}
Furthermore, M random patterns I1(x，y)～IMThe average intensity distribution < I (x, y) > of (x, y) is uniform, ηa×I0(x，y)。
Thus, M detection intensities b1～bMThe average value of the detected intensity of < b > can be calculated according to the following formula.
＜b＞＝Σr＝1：Mbr/M
＝b0×ηa…(2)
The above is the configuration of the imaging device 100. Next, the operation will be described.
Fig. 3 is a timing chart for explaining the operation of the imaging apparatus 100. In fig. 3, the total number of pixels of the patterning device 114 is p-4 × 4-16 pixels, and the random pattern I is1～IMIs generated in a manner of containing 5 on pixels. Namely, the lighting ratio ηaIs identified as 5/16. Of course, the actual patterning device 114 may have a greater number of pixels p.
Initially, the reference pattern I with a uniform distribution of irradiation intensity is irradiated0And detecting the intensity b of the reference corresponding thereto0And (4) carrying out measurement. The reconstruction processor 134 calculates the detected intensity average value < b > based on equation (2) immediately after the completion of the uniform irradiation.
Then, when the random pattern I1End of irradiation to obtain b1Then, the corresponding term (denoted as c) in equation (1) is calculated, and the value thereof is denoted as an accumulated value d.
c1＝(b1－＜b＞)I1/M…(3)
d＝c1…(4)
Then, when the random pattern I2End of irradiation to obtain b2Then, corresponding term c in formula (1) is calculated2. Then, c is added to the value d obtained last time2。
c2＝(b2－＜b＞)I2/M…(5)
d＝d+c2…(6)
When generalized, with the r-th random pattern IrThe following calculation is performed in association with the irradiation of (1).
cr＝(br－＜b＞)Ir/M…(7)
d＝d+cr…(8)
The process is repeated to the final random pattern IMUntil the irradiation of (1).
The above is the action of the imaging apparatus 100. According to the imaging device 100, the reference pattern I can be formed0The step (2) of (1) is a step of calculating a detected intensity average value < b >. Therefore, thereafter, each time a new detection intensity b is obtainedrCorrelation calculations can be advanced. Thus, the random pattern I can be formed at the Mth timeMThe restored image G is obtained immediately after the irradiation of (1) is completed, and the calculation delay can be reduced.
In addition, in the conventional system, b must be continuously held1～bMUntil all the irradiation is completed, the capacity of the memory increases. In contrast, in the present embodiment, brThe calculation can be discarded after completion, and therefore the memory capacity can be reduced.
Next, a modified example of irradiation of the reference pattern will be described. Fig. 4 (a) to 4 (c) are views explaining sensing of a modification.
(modification 1)
In FIG. 3, reference pattern I0The frame is positioned at the beginning of 1 frame, but the frame is not limited to this, and may be inserted at a position other than the beginning. Reference pattern I in consideration of the effect of reducing the calculation delay0Preferably as far forward as possible. For example, as shown in fig. 4 (a), when M is 1000, the insertion may be made into I100And I101In the meantime. Even in this case, the random pattern I is irradiated at the 100 th time100Then, the detected intensity average value < b > is also obtained at the stage of irradiating the reference pattern I0. Therefore, it is not necessary to wait for the 1000 th random pattern irradiation to be completed, so that the calculation delay can be shortened.
(modification 2)
In FIG. 3, the reference pattern I is divided into 1 times0Inserted into 1 frame, but is not limited thereto. As shown in fig. 4 (b), a plurality of reference patterns I may be provided0Inserted into 1 frame. In this case, the detection intensity may be detected based on a plurality of reference detection intensities b obtained in correspondence with a plurality of reference patterns I00The detected intensity average value < b > (m).
(modification 3)
Alternatively, in the sensing of 1 frame, 1 reference pattern I may be irradiated for every K random patterns in succession0. In this case, the pattern may be based on a reference pattern I0Corresponding obtained reference detection intensity b0To calculate the average of the subsequent (or previous) K detected intensities.
(modification 4)
In the example of fig. 3, all the pixels of the reference pattern I0 are set to "on", but the present invention is not limited thereto. The intensity of each pixel can be specified when the intermediate gray scale is assignedIn the case of intensity, the intensity of all pixels may be represented by ηa. In this case, < b > -, b can be made0。
Next, a modification that can further shorten the calculation time will be described.
(modification 5)
In modification 5, a random pattern I is formedrCorresponding obtained detection intensity brDifference | b > from the mean value of the detected intensities < b >rIf b > is greater than the threshold value delta, a calculation is performed relating to the irradiation of the random pattern (i.e., the term c)rIs calculated) is smaller than it, is approximated to br- < b > -0, i.e. c r0, omitting its calculation. In this modification, the term for which calculation is omitted is included in the parent set of the average values.
Fig. 5 is a diagram illustrating an operation of the imaging apparatus 100 according to modification 5. In relation to b1、b3Difference | b > of and < b >r- < b > | is smaller than the threshold value δ. Thus, the items c related to them are omitted1、c3And c is set1＝c3＝0。
According to modification 5, the amount of computation in the computation processing device 130 can be reduced.
(modification 6)
Fig. 6 is a diagram illustrating an operation of the imaging apparatus 100 according to modification 6. In modification 6, as in modification 5, the detection intensity b obtained in accordance with a certain random pattern Ir is measuredrDifference | b > from the mean value of the detected intensities < b >rIf b > is greater than the threshold value delta, a calculation is performed relating to the irradiation of the random pattern (i.e., the term c)rIs calculated) is smaller than this, the calculation is omitted. The difference from modification 5 is that the term c, for which calculation is omitted, is excluded from the mother set of the average valuesrThis is the point. I.e. for M random patterns I1～IMThe actual average number m becomes smaller. According to this modification 6, | br- < b > | the correlation calculation is performed with a large illumination, and therefore a clear image can be obtained.
(modification 7)
Fig. 7 is a diagram illustrating an operation of the imaging apparatus 100 according to modification 7. In this example, M ═ 8 and M ═ 19. In this example, | b at the time point of irradiation of the 12 th random patternrThe number M "of- < b > δ reaches a predetermined value M ═ 8, and at this stage, the final restored image is obtained. According to this modification, a clearer image can be obtained than in modification 6.
(modification 8)
In modification 8, the spatial average intensity, in other words, the lighting ratio η of the plurality of random patternsaIs detected based on the reference0And set. Fig. 8 is a diagram illustrating an operation of the imaging apparatus 100 according to modification 8. In this example, the lighting ratio η of each frameaBased on the reference detection intensity b obtained at the beginning of the frame0To be determined. In fig. 8, 2 consecutive frames are shown.
For example, the reference detection intensity b0The smaller the intensity, i.e., the lighting ratio η, of the plurality of random patterns is, the more spatially averagedaBecomes large and, conversely, the reference detection intensity b0The larger the lighting ratio η is, the more the lighting ratio η is setaAnd becomes smaller. For example, ηaAnd b0Substantially inversely proportional.
For comparison, in the 2 nd frame, the same lighting ratio η as that in the 1 st frame is adopteda. Detection intensity b in this case1～bMAs shown in dotted lines, may becomeIs very small. In contrast, the intensity b can be detected on the basis0In smaller frames, let ηaBecomes larger, thereby subsequently causing the acquired detection intensity b to be larger1～bMBecomes larger. This can suppress a decrease in the S/N ratio.
The present invention has been described above based on the embodiments. It should be understood by those skilled in the art that the embodiments are merely illustrative, and various modifications are possible in the combination of their respective constituent elements or respective processing procedures, and such modifications are also within the scope of the present invention. Hereinafter, such a modification will be described.
(modification 1)
In the embodiment, the illumination apparatus 110 is configured by a combination of the light source 112 and the patterning device 114, but is not limited thereto. For example, the illumination device 110 may be configured as an array of a plurality of semiconductor light sources (LEDs (light emitting diodes) or LDs (laser diodes)) arranged in a matrix, and may be configured to control on/off (or brightness) of the semiconductor light sources.
(use)
Next, the use of the imaging apparatus 100 will be explained. Fig. 9 is a block diagram of the object recognition system 10. The object recognition system 10 is mounted on a vehicle such as an automobile or a motorcycle, and determines the type (category) of an object OBJ present around the vehicle.
The object recognition system 10 includes an imaging device 100 and an arithmetic processing device 40. As described above, the imaging device 100 irradiates the object OBJ with the reference light S1 and measures the reflected light S2 to generate the restored image G of the object OBJ.
The arithmetic processing device 40 processes the output image G of the imaging device 100 and determines the position and type (type) of the object OBJ.
The classifier 42 of the arithmetic processing device 40 receives the image G as an input, and determines the position and the type of the object OBJ included therein. The classifier 42 is implemented based on a model generated by mechanical learning. The algorithm of the classifier 42 is not particularly limited, but may be implemented by YOLO (You Look Only Once) and SSD (Single Tile MultiBox Detector), R-CNN (Region-based Convolutional Neural Network), SPPnet (Spatial Pyramid Pooling), Faster R-CNN, DSSD (Deconvolution-SSD), and Mask R-CNN, or may be implemented by algorithms developed in the future.
The above is the configuration of the object recognition system 10. As the sensor of the object recognition system 10, the following advantages can be obtained by using the imaging device 100.
By using the imaging device 100, i.e., a quantum radar camera, noise resistance is greatly improved. For example, in the case of rainfall, snowfall, or traveling in fog, although it is difficult to visually recognize the object OBJ, the use of the imaging device 100 makes it possible to obtain the restored image G of the object OBJ without being affected by rain, snow, or fog.
Further, the calculation delay can be made small by using the imaging apparatus 100. Thereby, low latency sensing can be provided. In particular, since the object OBJ may move at a high speed in the vehicle-mounted application, the advantage of the low-delay sensing is very large.
Fig. 10 is a block diagram of an automobile including the object recognition system 10. The automobile 300 includes headlamps 302L, 302R. The imaging device 100 is built in at least one of the headlamps 302L, 302R. The headlight 302 is located at the foremost end of the vehicle body, and is most advantageous as the installation position of the imaging device 100 in detecting surrounding objects.
Fig. 11 is a block diagram showing a vehicle lamp 200 including an object detection system 210. The vehicle lamp 200 constitutes a lamp system 310 together with the vehicle-side ECU 304. The vehicle lamp 200 includes a light source 202, a lighting circuit 204, and an optical system 206. Further, the vehicle lamp 200 is provided with an object detection system 210. The object detection system 210 corresponds to the object recognition system 10, and includes the imaging device 100 and the arithmetic processing device 40.
The information on the object OBJ detected by the arithmetic processing device 40 may be used for light distribution control of the vehicle lamp 200. Specifically, lamp-side ECU208 generates an appropriate light distribution pattern based on the information on the type and position of object OBJ generated by arithmetic processing device 40. Lighting circuit 204 and optical system 206 operate to obtain the light distribution pattern generated by lamp-side ECU 208.
Further, information on the object OBJ detected by the arithmetic processing device 40 may be transmitted to the vehicle-side ECU 304. The vehicle-side ECU may perform automatic driving based on the information.
In the embodiment, a method using correlation calculation is described as a method of ghost imaging (or single-pixel imaging), but the method of reconstructing an image is not limited to this. In some embodiments, instead of the correlation calculation, the image may be reconstructed by an analysis method using fourier transform or inverse hadamard transform, a method for solving an optimization problem such as sparse modeling, and an algorithm using AI and mechanical learning.
Although the present invention has been described based on the embodiments using specific terms, the embodiments only show one side of the principle and application of the present invention, and in the embodiments, many modifications and arrangements are allowed without departing from the scope of the idea of the present invention defined in the claims.
[ Industrial availability ]
The present invention relates to an image forming apparatus.
[ description of reference numerals ]
OBJ object
10 object recognition system
40 arithmetic processing device
42 classifier
100 image forming apparatus
110 lighting device
112 light source
114 patterning device
116 pattern generator
120 photo detector
130 arithmetic processing device
132 pattern generator
134 reconstruction processing unit
200 vehicle lamp
202 light source
204 lighting circuit
206 optical system
300 automobile
302 head lamp
310 luminaire system
304 vehicle-side ECU
Claims (28)
1. An image forming apparatus, comprising:
an illumination device that irradiates the reference light,
a photodetector that measures reflected light from the object, an
An arithmetic processing device that reconstructs a restored image of the object based on a detected intensity based on an output of the photodetector and an intensity distribution of the reference light;
the reference light comprises at least one reference pattern with uniform intensity distribution and a plurality of random patterns with random intensity distribution and known spatial average intensity;
the arithmetic processing unit obtains a detection intensity average value, which is an average value of a plurality of detection intensities obtained when the reference light is the reference pattern, by using a reference detection intensity, which is an average value of the plurality of detection intensities obtained when the reference light is the plurality of random patterns.
2. The imaging apparatus of claim 1,
the reference pattern is located at a front side of the plurality of random patterns.
3. The imaging apparatus according to claim 1 or 2,
when the difference between the detected intensity obtained in accordance with a certain random pattern and the average value of the detected intensities is larger than a threshold value, calculation related to the irradiation of the random pattern is performed, and when the difference is smaller than the threshold value, the calculation is omitted.
4. The imaging apparatus of claim 3,
the plurality of random patterns are irradiated until the number of the detection intensities, which have a difference from the average detection intensity value greater than a threshold value, reaches a predetermined number.
5. The imaging apparatus of claim 2,
the spatial average intensity of the plurality of random patterns is set based on the reference detection intensity.
6. The imaging apparatus of claim 5,
the smaller the reference detection intensity is, the larger the spatial average intensity of the plurality of random patterns is.
7. A lamp for a vehicle, characterized in that,
comprising an imaging device according to any one of claims 1 to 6.
8. A motor vehicle, characterized in that,
comprising an imaging device according to any one of claims 1 to 6.
9. An arithmetic processing device used for an imaging device;
the arithmetic processing device is characterized in that the arithmetic processing device is provided with a plurality of arithmetic processing units,
the above-mentioned image forming apparatus includes:
an illumination device that irradiates the reference light,
a photodetector that measures reflected light from the object, an
An arithmetic processing device that controls an intensity distribution of the reference light and is capable of reconstructing a restored image of the object based on a detected intensity based on an output of the photodetector and the intensity distribution of the reference light;
the arithmetic processing device switches an intensity distribution of the reference light between (i) a uniform reference pattern and (ii) a plurality of random patterns having a random intensity distribution and a known spatial average intensity, and acquires a detection intensity average value using a reference detection intensity that is the detection intensity obtained when the reference light is the reference pattern, and the detection intensity average value that is the average value of the plurality of detection intensities obtained when the reference light is the plurality of random patterns.
10. A method of sensing, comprising:
a step of irradiating the reference light to the object,
a step of measuring reflected light from the object and generating a detection intensity, an
Reconstructing a restored image of the object based on the detected intensity and the intensity distribution of the reference light;
the reference light includes at least one reference pattern having a uniform intensity distribution and a plurality of random patterns having a random intensity distribution and a known spatial average intensity;
the average value of the detection intensities obtained when the reference light is the reference pattern is obtained using a reference detection intensity that is an average value of the plurality of detection intensities obtained when the reference light is the plurality of random patterns.
11. An image forming apparatus, comprising:
an illumination device that illuminates reference light including a plurality of random patterns having random intensity distributions,
a photodetector that measures reflected light from the object, an
An arithmetic processing device that reconstructs a restored image of the object based on a detected intensity based on an output of the photodetector and an intensity distribution of the reference light;
the arithmetic processing device performs calculation related to the irradiation of a random pattern when a difference between the detection intensity obtained in accordance with the random pattern and a detection intensity average value that is an average value of a plurality of detection intensities obtained in accordance with the random patterns is larger than a threshold value, and omits the calculation when the difference is smaller than the threshold value.
12. The imaging apparatus of claim 11,
the plurality of random patterns are irradiated until the number of the detection intensities, which have a difference from the average detection intensity value greater than a threshold value, reaches a predetermined number.
13. The imaging apparatus according to claim 11 or 12,
the reference light further includes a uniform reference pattern;
the space average intensity of the random patterns is a preset value;
the arithmetic processing unit calculates the average value of the detection intensities using a reference detection intensity that is the detection intensity obtained when the reference light is the reference pattern.
14. A lamp for a vehicle, characterized in that,
comprising an imaging device according to claim 11 or 12.
15. A vehicle, characterized in that,
comprising an imaging device according to any one of claims 11 to 13.
16. An arithmetic processing device used for an imaging device;
the arithmetic processing device is characterized in that the arithmetic processing device is provided with a plurality of arithmetic processing units,
the above-mentioned image forming apparatus includes:
an illumination device that illuminates reference light including a plurality of random patterns having random intensity distributions,
a photodetector that measures reflected light from the object, an
An arithmetic processing device that controls an intensity distribution of the reference light and reconstructs a restored image of the object based on a detected intensity based on an output of the photodetector and the intensity distribution of the reference light;
the arithmetic processing device performs calculation related to the irradiation of a random pattern when a difference between the detection intensity obtained in accordance with the random pattern and a detection intensity average value that is an average value of a plurality of detection intensities obtained in accordance with the random patterns is larger than a threshold value, and omits the calculation when the difference is smaller than the threshold value.
17. The arithmetic processing device of claim 16,
the plurality of random patterns are irradiated until the number of the detection intensities, which have a difference from the average detection intensity value greater than a threshold value, reaches a predetermined number.
18. The arithmetic processing device of claim 16 or 17,
the space average intensity of the random patterns is a preset value;
the arithmetic processing unit is capable of switching the reference light to a uniform reference pattern;
the arithmetic processing unit obtains the average value of the detection intensities based on a reference detection intensity that is the detection intensity obtained when the reference light is the reference pattern.
19. A method, comprising:
a step of irradiating the object with reference light including a plurality of random patterns having random intensity distributions,
a step of measuring reflected light from the object and generating a detection intensity, an
Reconstructing a restored image of the object based on the detected intensity and the intensity distribution of the reference light;
when a difference between the detection intensity obtained in association with a certain random pattern and a detection intensity average value that is an average value of a plurality of detection intensities obtained in association with the plurality of random patterns is larger than a threshold value, a calculation related to the irradiation of the random pattern is performed, and when the difference is smaller, the calculation is omitted.
20. An image forming apparatus, comprising:
an illumination device that irradiates the reference light,
a photodetector that measures reflected light from the object, an
An arithmetic processing device that reconstructs a restored image of the object based on a detected intensity based on an output of the photodetector and an intensity distribution of the reference light;
the reference light includes at least one reference pattern having a uniform intensity distribution and a plurality of random patterns having a random intensity distribution and a spatial average intensity of a predetermined value;
the arithmetic processing unit sets a spatial average intensity of the plurality of random patterns based on a reference detection intensity that is the detection intensity obtained when the reference light is the reference pattern.
21. The imaging apparatus of claim 20,
the smaller the reference detection intensity is, the larger the spatial average intensity of the plurality of random patterns is.
22. The imaging apparatus of claim 20 or 21,
the arithmetic processing unit obtains a detection intensity average value, which is an average value of the plurality of detection intensities obtained when the reference light is the plurality of random patterns, based on the reference detection intensity.
23. The imaging apparatus of claim 22,
when the difference between the detection intensity obtained in accordance with a certain random pattern and the average value of the detection intensities is larger than a threshold value, calculation related to the irradiation of the random pattern is performed, and when the difference is smaller than the threshold value, the calculation is omitted.
24. The imaging apparatus of claim 23,
the plurality of random patterns are irradiated until the number of the detection intensities, which have a difference from the average detection intensity value greater than a threshold value, reaches a predetermined number.
25. A lamp for a vehicle, characterized in that,
comprising an imaging device according to any one of claims 20 to 24.
26. A vehicle, characterized in that,
comprising an imaging device according to any one of claims 20 to 24.
27. An arithmetic processing device used for an imaging device;
the arithmetic processing device is characterized in that the arithmetic processing device is provided with a plurality of arithmetic processing units,
the above-mentioned image forming apparatus includes:
an illumination device that irradiates the reference light,
a photodetector that measures reflected light from the object and outputs a detection intensity, an
An arithmetic processing device that controls an intensity distribution of the reference light and is capable of reconstructing a restored image of the object based on the detected intensity and the intensity distribution of the reference light;
the arithmetic processing device switches an intensity distribution of the reference light between (i) a uniform reference pattern and (ii) a plurality of random patterns having a random intensity distribution and a predetermined spatial average intensity, and sets the spatial average intensity of the plurality of random patterns based on a reference detection intensity that is the detection intensity obtained when the reference light is the reference pattern.
28. A method of sensing, comprising:
a step of irradiating the reference light to the object,
a step of measuring reflected light from the object and generating a detection intensity, an
Reconstructing a restored image of the object based on the detected intensity and the intensity distribution of the reference light;
the reference light includes at least one reference pattern having a uniform intensity distribution and a plurality of random patterns having a random intensity distribution and a spatial average intensity of a predetermined value;
the spatial average intensity of the plurality of random patterns is set based on a reference detection intensity that is the detection intensity obtained when the reference light is the reference pattern.
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| Application Number | Priority Date | Filing Date | Title |
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| JP2019005429 | 2019-01-16 | ||
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| JP2019-005428 | 2019-01-16 | ||
| JP2019-005430 | 2019-01-16 | ||
| JP2019005428 | 2019-01-16 | ||
| PCT/JP2019/051192 WO2020149139A1 (en) | 2019-01-16 | 2019-12-26 | Imaging apparatus, computational processing device thereof, lighting fixture for vehicle, vehicle, and sensing method |
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| CN113302520A true CN113302520A (en) | 2021-08-24 |
| CN113302520B CN113302520B (en) | 2024-07-02 |
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Also Published As
| Publication number | Publication date |
|---|---|
| JPWO2020149139A1 (en) | 2021-11-25 |
| JP7395511B2 (en) | 2023-12-11 |
| WO2020149139A1 (en) | 2020-07-23 |
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