CN115639548A - Stripe pipe imaging laser radar image coordinate correcting device - Google Patents
Stripe pipe imaging laser radar image coordinate correcting device Download PDFInfo
- Publication number
- CN115639548A CN115639548A CN202211351761.2A CN202211351761A CN115639548A CN 115639548 A CN115639548 A CN 115639548A CN 202211351761 A CN202211351761 A CN 202211351761A CN 115639548 A CN115639548 A CN 115639548A
- Authority
- CN
- China
- Prior art keywords
- image
- module
- matrix
- laser
- streak tube
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003384 imaging method Methods 0.000 title claims abstract description 56
- 239000011159 matrix material Substances 0.000 claims abstract description 73
- 238000012937 correction Methods 0.000 claims abstract description 25
- 230000011218 segmentation Effects 0.000 claims abstract description 13
- 238000001914 filtration Methods 0.000 claims abstract description 12
- 238000000605 extraction Methods 0.000 claims abstract description 7
- 239000000284 extract Substances 0.000 claims abstract description 4
- 230000003287 optical effect Effects 0.000 claims description 14
- 230000005684 electric field Effects 0.000 claims description 9
- 239000013307 optical fiber Substances 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 238000013519 translation Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 description 23
- 238000012545 processing Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 12
- 238000005259 measurement Methods 0.000 description 10
- 238000004590 computer program Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 8
- 238000003860 storage Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 238000009826 distribution Methods 0.000 description 5
- 238000003702 image correction Methods 0.000 description 5
- 230000000877 morphologic effect Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000007781 pre-processing Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- AYFVYJQAPQTCCC-GBXIJSLDSA-N L-threonine Chemical compound C[C@@H](O)[C@H](N)C(O)=O AYFVYJQAPQTCCC-GBXIJSLDSA-N 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010894 electron beam technology Methods 0.000 description 1
- 239000003623 enhancer Substances 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005405 multipole Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the invention provides a streak tube imaging laser radar image coordinate correction device, which comprises: the light source control device module is configured to obtain a space angle-time delay two-dimensional laser pulse matrix after a single laser pulse is controlled by adjusting the space angle position and the trigger time of a light source; a striped tube detector module configured to form a two-dimensional striped image; and the light spot centroid coordinate matrix extraction unit is configured to obtain light spot areas of each input laser pulse image by filtering, denoising and threshold segmentation on the stripe image, extract coordinates of the light spot area centroid areas in each stripe image to obtain a light spot centroid coordinate matrix of the input laser pulse matrix, and correct the stripe image according to the light spot centroid coordinate matrix.
Description
Technical Field
The invention relates to the field of image processing, in particular to a streak tube imaging laser radar image coordinate correction device.
Background
Airborne laser radar mapping efficiency is high, and the interference killing feature is strong, is often used for land topography mapping and measurement, at topography exploration, traffic guidance, occasions such as forestry protection and military exploration have played important role, wherein airborne streak pipe formation of image laser radar system has integrateed laser scanning outgoing unit and streak pipe echo signal acquisition unit, location and inertial measurement unit and synchronous control unit, cooperation flight platform can realize the quick acquisition of ground three-dimensional spatial information, can realize high-speed high accuracy ground target three-dimensional measurement.
The streak tube imaging laser radar realizes photoelectric conversion through a streak tube detector, and has higher distance resolution due to the high time resolution of a deflection module in a streak tube; and the system is coupled to a high-speed CCD camera for imaging after being matched with an MCP image intensifier for photoelectron imaging intensification, so that the imaging acquisition of high-frame-frequency echo signals with large viewing field and high detection sensitivity can be realized.
And the horizontal and vertical coordinates of pixels in the fringe image respectively represent measurement space angle information and measurement echo signal time information, wherein the laser echo signal time measurement precision directly determines the laser ranging precision. In order to realize high-precision distance measurement, a fringe image needs to be processed to extract coordinates of the centroid of a light spot of an echo signal and obtain time information of the echo signal, and further obtain spatial distance information of a target to be measured.
Disclosure of Invention
In view of this, an embodiment of the present invention provides a streak-tube imaging lidar image coordinate correction apparatus, including:
the light source control device module is configured to obtain a space angle-time delay two-dimensional laser pulse matrix after a single laser pulse is controlled by adjusting the space angle position and the trigger time of a light source;
the streak tube detector module is configured to form an image after the laser pulse output by the light source control device module sequentially passes through an optical lens, a streak tube photocathode, a streak tube multipole gate anode, a streak tube deflection electric field, an image intensifier and a CCD detector to form a two-dimensional streak image;
and the light spot centroid coordinate matrix extraction unit is configured to obtain light spot areas of each input laser pulse image by filtering, denoising and threshold segmentation on the stripe image, extract coordinates of the light spot area centroid areas in each stripe image to obtain a light spot centroid coordinate matrix of the input laser pulse matrix, and correct the stripe image according to the light spot centroid coordinate matrix.
In some embodiments, the light source control device module comprises:
the laser pulse energy adjusting module is configured to adjust the pulse frequency of ns-level pulse width laser pulses output by the subnanosecond laser, so that the pulse frequency of the ns-level pulse width laser pulses is matched with the acquisition frequency of the streak tube detector module, and pulse energy adjustment is performed according to the imaging quality of light spots after the streak tube detector module is imaged.
In some embodiments, the light source control device module further comprises:
and the laser pulse space angle adjusting module is configured to provide a working platform for the subnanosecond laser through the high-precision three-dimensional translation table, and realize the space angle adjustment of the output laser pulse by adjusting the position of the loading surface of the three-dimensional translation table.
In some embodiments, the light source control device module further comprises:
and the laser pulse delay control module is configured to provide the trigger signals of the subnanosecond laser and the streak tube detector module through a delay generating device, and output laser pulses by adjusting the delay of the trigger signals of the subnanosecond laser.
In some embodiments, the streak tube detector module comprises:
the optical lens group module comprises a filtering reflector, an attenuation lens, a converging lens and a diaphragm, and is configured to converge input laser pulses and reduce ambient stray light interference.
In some embodiments, the streak tube detector module further comprises:
the streak tube imaging module comprises a photocathode, an accelerating electrode, a focusing electrode, a deflection electrode, a fluorescent screen and an electrode high-voltage dividing module, and is configured to control the running track of laser pulses.
In some embodiments, the streak tube detector module further comprises:
the device comprises a microchannel plate image enhancement module, a voltage division module and a display module, wherein the microchannel plate image enhancement module comprises a microchannel plate and a microchannel plate electrode high-voltage division module, and the microchannel plate image enhancement module is configured to amplify and enhance the electronic signal of the streak tube fluorescent screen.
In some embodiments, the streak tube detector module further comprises:
the camera coupling and collection module comprises an optical fiber light cone, a CCD camera and a camera collection control unit, wherein the optical fiber light cone is used for coupling the output of the image intensifier and the camera sensing array, and the CCD imaging image quality is improved.
In some embodiments, the two-dimensional matrix of laser pulses is a matrix of m x n laser pulses, the matrix elements are laser pulses with different temporal-spatial information, and m and n are positive integers.
In some embodiments, the spot centroid coordinate matrix is an m × n spot centroid coordinate matrix, the matrix elements are spot centroid coordinates in the fringe image corresponding to each corrected laser pulse, and m and n are positive integers.
Compared with the prior art, the invention at least has the following technical effects:
the invention carries out two-dimensional linear control on the triggering time and the emission space angle of laser pulses through a streak tube imaging laser radar image coordinate correction device, establishes a two-dimensional laser pulse matrix as correction light source equipment, carries out preprocessing and centroid characteristic point extraction on output streak images after imaging input laser pulses through a streak tube detector module, obtains light spot areas of each input laser pulse image, extracts coordinates of the light spot area centroid area in each streak image, obtains a light spot centroid coordinate matrix of the input laser pulse matrix, and carries out streak image correction according to the light spot centroid coordinate matrix. The method can realize the quick calibration of the image coordinates of the streak tube imaging laser radar and improve the measurement performance of the system.
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 some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a process for correcting image coordinates of a bellows imaging lidar according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a streak tube imaging architecture according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a fringe image of a streak tube imaging lidar according to an embodiment of the invention;
FIG. 4 is a schematic diagram of a bellows imaging lidar calibration apparatus module according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram of a streak tube imaging lidar calibration laser pulse matrix and a spot centroid coordinate matrix according to an embodiment of the invention.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an 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 article or apparatus. Without further limitation, the recitation of an element by the phrase "comprising a" does not exclude the presence of additional like elements in a commodity or device comprising the element.
An alternative embodiment of the present invention is described in detail below with reference to the drawings.
The embodiment of the application provides a streak tube imaging laser radar image coordinate correction method. The execution subject of the streak tube imaging laser radar image coordinate correction method includes but is not limited to at least one of electronic devices such as a server and a terminal, which can be configured to execute the method provided by the embodiment of the application. In other words, the method for correcting coordinates of a streak-tube imaging lidar image can be executed by software or hardware installed in a terminal device or a server device, and the server device includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, and the like.
Referring to fig. 1, a schematic flow chart of a method for correcting a coordinate of an image of a streak tube imaging laser radar according to an embodiment of the present invention is shown, where in this embodiment, the method for correcting an image of a streak tube imaging laser radar includes the following steps:
s1, acquiring an input laser pulse stripe image through a stripe tube detector
In the embodiment of the invention, the stripe image of the laser pulse is a two-dimensional gray image generated by a stripe tube detector, wherein the imaging content of the stripe image comprises a corresponding spot image area and a background pixel area after the imaging of the input laser pulse; the horizontal and vertical coordinates of the two-dimensional image respectively represent the receiving time information and the spatial angle information of the echo input laser pulse.
Specifically, referring to fig. 2, the process of imaging the laser pulse signal to the fringe image by the fringe detector includes:
C1. the input laser pulse signal is focused by the optical lens 21, and the input laser light signal is converged to the photocathode of the streak tube 22 by the optical lens group.
C2. The laser light signal incident into the streak tube 22 is induced by the streak tube photocathode to generate photoelectrons, and the light signal is converted into an electronic signal through the photocathode.
C3. The photocathode outputs photoelectrons, the photoelectrons are accelerated and focused by the grid electrode convergence of the streak tube to generate a photoelectron beam, and the photoelectrons are controlled to converge and accelerate the beam forming by the streak tube.
C4. The light electron beams output by the collecting electrode are scanned and deflected to a fluorescent screen through a streak tube deflection electrode, the photoelectrons are controlled to leave the linear space deflection of the deflection electric field position along with the incidence time through a deflection electric field, and the photoelectrons are emitted to the streak tube fluorescent screen for imaging after deflecting the emitted electric field.
C5. The streak tube fluorescent screen image is enhanced through the imaging of the microchannel plate 23, and the streak tube output fluorescent screen electronic imaging is enhanced through the microchannel plate 23 serving as an image enhancer.
C6. The image output by the image intensifier is coupled to the CCD camera 24 through the optical fiber cone to acquire an image, the intensified electronic image is coupled to the CCD camera 24 sensing array through the optical fiber cone, and the two-dimensional stripe image is output after the image is acquired by the camera sensor.
Specifically, referring to fig. 3, the two-dimensional stripe image imaging content and the coordinate information include:
z1. laser pulse signal light spot area, wherein the laser pulse signal light spot area is a bright spot pixel area with higher gray value, and the light spot gray distribution can be changed by adjusting laser pulse energy and streak tube detection parameters; the shape of the light spot area is related to the quality of an input laser pulse light beam and the imaging performance of the streak tube detector, and the shape of the actually acquired light spot is a circular, oval or linear light spot.
Z2. background pixel region, which is a pixel region with a lower gray value, wherein the background pixel region may have noise pixel points due to the collection of ambient noise optical signals and the influence of detector imaging noise, and the signal-to-noise ratio of the fringe image can be improved by adjusting laser pulses and parameters of a fringe tube detector.
A1. A light spot space divergence angle coordinate axis which is a stripe image longitudinal coordinate axis, and longitudinal pixel row coordinates in the stripe image represent space angle information of the echo laser signal; and the total number of pixels in the longitudinal rows of the fringe image represents the measurement dynamic range of the space angle of the echo laser signal.
A2. A light spot delay time coordinate axis which is a stripe image transverse coordinate axis, wherein transverse pixel column coordinates in the stripe image represent delay information of the echo laser signal; and the total number of the horizontal column pixels of the fringe image represents the measurement dynamic range of the delay time of the echo laser signal.
S2, filtering the acquired fringe image through 3*3 Gaussian filtering
In the embodiment of the invention, noise interference exists in the acquired fringe image, and each pixel of the fringe image is subjected to convolution filtering through the Gaussian filtering template to eliminate image noise points introduced in the acquisition process;
in detail, the 3*3 gaussian filter is convolved with the following predetermined matrix formula:
G＝I*T Gaussian
wherein I is the acquired fringe image, T Gaussian Is 3*3 gaussian filter matrix, and G is the filtered output image.
S3, carrying out bright spot area segmentation on the filtered stripe image through threshold segmentation
In the embodiment of the invention, the gray level difference between the bright spot area and the background pixel area in the stripe image is set with a gray level threshold value, and the pixel points which are larger than the gray level threshold value in the filtered image are reserved as the bright spot area; taking the pixel point of the filtered image smaller than the gray threshold as a background pixel, and setting the gray level of the pixel in the background area to be 0:
in detail, the threshold segmentation performs image region segmentation by using the following preset operation formula:
wherein g (x, y) filtered pixel gray value at coordinate (x, y) of fringe image, thre gray The f (x, y) threshold value is used as the gray threshold value, and the stripe after threshold value segmentation is used as the stripe image after threshold value segmentation.
S4, carrying out region selection on the stripe image subjected to threshold segmentation through morphological processing
In the embodiment of the invention, partial bright spot noise still exists in the stripe image after filtering and threshold segmentation, and the bright spot pixels in the non-bright spot area are deleted through morphological processing, so that the morphological distribution of the segmented bright spot area is improved, and the accuracy of centroid extraction operation is improved.
S5, extracting the centroid coordinates of the stripe image light spot area through gray scale weighted sum pair
In the embodiment of the present invention, the coordinates of the centroid feature points of the fringe image light spot region represent spatial angle distribution information and delay information of an input laser pulse signal, and the calculation includes:
calculating the centroid coordinate of the spot area in the preprocessed fringe image by using a preset centroid formula as follows:
wherein
And (3) extracting a centroid feature point coordinate for the light spot, (x, y) is a stripe image pixel coordinate, h (x, y) is a pixel gray value with the coordinate of (x, y) in the stripe image after morphological processing, and omega is a light spot area image in the stripe image after preprocessing.
S6, calculating to obtain a correction matrix according to the light spot centroid matrix
In the embodiment of the invention, the spatial angle distribution and the delay information of each pulse in the input laser pulse matrix are known, the spot centroid matrix is established after the spot centroid characteristic point coordinates of each pulse signal are respectively extracted, a fringe image correction matrix is obtained through matrix operation, the calibration of the fringe tube imaging laser radar image coordinates is realized according to the correction matrix, and the operation comprises the following steps:
describing the input laser pulse space angle-time delay matrix by using a preset matrix formula as follows:
where p (theta) m ,t n ) For a spatial angle-time-delay coordinate of (theta) m ,t n ) Time-input laser pulses, m being the moment of the corrected laser pulseAdjusting times of array space angles, wherein n is the time delay adjusting times of the correction laser matrix;
describing a preprocessed fringe image light spot mass center matrix by using a preset matrix formula as follows:
wherein
Is a coordinate of (theta) m ,t n ) Inputting the barycenter coordinates of the laser pulse spot area;
and converting the correction matrix with the output fringe image light spot mass center matrix and the input laser pulse matrix by using the following preset calculation formula:
Y＝C -1 ×P
wherein Y is a calculated fringe image correction matrix, C -1 Is the spot centroid coordinate inverse matrix.
And obtaining a correction file according to the correction matrix, and correcting the fringe image acquired by the fringe tube imaging laser radar through the correction file.
In the embodiment of the invention, a stripe light spot image of an input laser pulse is collected through a stripe tube detector, filtering and noise reduction are carried out on the stripe image, a light spot area in the stripe image is obtained after threshold segmentation and morphological area selection preprocessing, background pixels and noise pixels of the stripe image are removed, a centroid characteristic point coordinate is obtained after gray-scale weighting summation is carried out on pixels of the stripe image area, and after centroid extraction operation, the centroid coordinate of the light spot area can accurately reflect spatial angle information and time delay information of the input laser pulse. And converting the centroid characteristic point coordinate matrix and the input laser pulse space angle-time delay coordinate matrix to obtain a fringe image correction matrix, wherein the correction matrix is used for collecting coordinate correction of fringe images and ensuring the accuracy of the fringe image coordinate.
Referring to fig. 4, a functional block diagram of an image coordinate calibration apparatus for a streak tube imaging lidar according to the present disclosure is shown, wherein the image coordinate calibration apparatus for a streak tube imaging lidar according to the present disclosure includes a light source control device module 100 and a streak tube detector module 200; the light source control device module 100 comprises a laser pulse energy adjusting module 101, a laser pulse spatial angle control module 102, a laser pulse delay control module 103 and a laser pulse emitting module 104; the streak tube detector module 200 comprises an optical lens module 201, a streak tube imaging module 202, a microchannel plate image enhancement module 203, and a camera coupling and acquisition module 204. The module comprises a corresponding control device and a computer program which can be executed by a processor of the electronic equipment, the computer program is stored in a memory of the electronic equipment, and the control equipment and the computer program are connected and communicated through a bus.
In the embodiment of the present invention, in the streak tube imaging laser radar image coordinate correction light source control apparatus module 100, functions of each module are as follows:
the laser pulse light beam adjusting module 101 can adjust and set the laser pulse energy output by the laser light source and the repetition frequency by a program instruction through a bus, and needs to set the parameters according to the laser signal imaging quality of the streak tube detector.
The laser pulse spatial angle control module 102 is a high-precision three-dimensional translation stage device capable of realizing high-precision three-dimensional spatial position adjustment of a laser light source, a corresponding driver and a computer control program, and is used for controlling the spatial angle linear change of the laser light source output laser pulse, and under the same delay output of the delay control module, the spatial angle linear change of the output laser pulse is realized, and the longitudinal position of a light spot in a stripe image is changed.
The laser pulse delay control module 103 is a delay generator capable of outputting ns-level high-precision delay signals, and is configured to control the linear delay change of the laser pulse output by the laser light source, and under the spatial angle setting of the spatial angle control module, the linear delay change of the output laser pulse is enabled, and the transverse position of the light spot in the fringe image is changed.
The laser pulse emitting module 104 is a subnanosecond pulse laser and a related driving element, can set the triggering mode, the output pulse width and the energy of the subnanosecond laser driving module through executing computer program instructions, can stably output ns-level pulse width laser pulses with certain repetition frequency in an external triggering mode, and has stable inherent time delay with a laser pulse signal to output and correct the laser pulse signal.
In the embodiment of the present invention, in the streak tube detector module 200 for image coordinate correction of a streak tube imaging laser radar, the functions of each module are as follows:
the optical lens group module 201 includes optical elements such as a filter mirror, an attenuation lens, a converging lens, and a diaphragm, and converges an input optical signal of the detector by using the optical lens group, thereby reducing the interference of ambient stray light.
The streak tube imaging module 202 includes a photocathode, an accelerating electrode, a focusing electrode, a deflecting electrode, a fluorescent screen, and high-voltage electrode voltage-dividing modules, where the size, spatial distribution, electric field voltage, and other parameters of each electrode determine the imaging characteristics of the streak tube, and the high-voltage electrode voltage-dividing modules are used to provide working voltage signals of each electrode. The deflection voltage of the deflection electric field is controlled by a linear scanning module, the linear scanning module is used for generating and outputting a voltage signal which linearly changes along with time, and the deflection characteristic of the fringe tube deflection electric field is mainly determined by the linearity and the rising speed of the linear deflection voltage.
The microchannel plate image enhancement module 203 comprises a microchannel plate and a microchannel plate electrode high-voltage division module, and is used for amplifying and enhancing electronic signals of a streak tube fluorescent screen.
The camera coupling and acquisition module 204 comprises an optical fiber light cone, a CCD camera and a camera acquisition control unit, specifically, the optical fiber light cone is used for coupling the output of the image intensifier and the camera sensing array, so as to improve the imaging quality of the CCD; the CCD camera and the camera acquisition control unit are used for acquiring and outputting the fringe image.
In detail, the camera acquisition control unit refers to a computer program, a driver, or a processor, a chassis board card and a digital processing chip with a camera acquisition control function, which can perform configuration change on camera working parameters and image acquisition parameters, and further, the camera acquisition control unit can be connected with the CCD camera through various interfaces and lines, and performs acquisition, registration and output of image data according to a camera acquisition protocol.
Referring to fig. 5, a schematic diagram of a fringe tube imaging laser radar image coordinate correction laser pulse matrix and a light spot centroid matrix according to an embodiment of the present invention includes:
and correcting a laser pulse matrix, wherein the corrected laser pulse matrix is an m x n laser pulse matrix, matrix elements are laser pulses with different time and space information, the light source control device module linearly adjusts the delay time and the emission space angle of the laser pulses output by the laser light source to sequentially obtain m x n laser pulses in the matrix, and each laser pulse is input to the streak tube detection module to obtain a corresponding light spot streak image.
And the spot centroid matrix is an m x n centroid coordinate matrix, the matrix elements are spot centroid coordinates in the corresponding fringe image of each corrected laser pulse, and the m x n laser pulse spot centroid coordinates are extracted after the fringe image is processed by referring to the fringe tube imaging laser radar image coordinate correction method in the figure 1.
The embodiment of the invention also provides a device for correcting the image coordinates of the streak tube imaging laser radar, which comprises the following components:
the imaging unit is configured to image laser pulses output by the laser pulse matrix control unit after sequentially passing through the optical lens, the streak tube photocathode, the streak tube collector grid anode, the streak tube deflection electric field, the image intensifier and the CCD detector to form a two-dimensional streak image, wherein the streak image comprises laser spots;
the extraction unit is configured to extract the laser spot centroid coordinates after the stripe images are subjected to filtering noise reduction and threshold segmentation preprocessing;
the conversion unit is configured to obtain an input laser pulse matrix and a laser spot centroid matrix based on the laser spot centroid coordinates;
and the determining unit is configured to calculate to obtain a fringe image correction matrix according to the input laser pulse matrix and the laser spot centroid matrix.
The embodiment of the invention also provides electronic equipment for the streak tube imaging laser radar image coordinate correction method, wherein the electronic equipment can comprise a processor, a memory, a communication interface and a bus, and can also comprise a computer program or algorithm instruction which is stored in the memory and can be run on the processor, so that the methods of storing, processing, correcting and the like of streak images can be realized.
Wherein the memory includes at least one type of readable storage medium, the memory may include both an internal storage unit of the electronic device and an external storage device. The memory may be used not only to store application software installed in the electronic device and various types of data, such as a code of a streak-tube imaging lidar image coordinate correction method program, etc., but also to temporarily store image data that has been output or is to be output.
The processor, which in some embodiments may be comprised of an integrated circuit, is the control core of the electronic device, connects the various components throughout the electronic device using various interfaces and lines, and performs various functions and processes data of the electronic device by running or executing streak image processing and correction programs or modules stored in the memory, and calling up data stored in the memory.
The communication interface is used for communication between the electronic equipment and other equipment, and comprises a network interface and a user interface. Optionally, the network interface may include a wired interface and/or a wireless interface, which are typically used to establish a communication connection between the electronic device and other electronic devices.
The bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. The bus is arranged to enable connected communication between the memory and at least one processor or the like.
For example, although not shown, the electronic device may further include a power supply (such as a battery) for supplying power to each component, and preferably, the power supply may be logically connected to the at least one processor through a power management device, so that functions such as charge management, discharge management, and power consumption management are implemented through the power management device. The power supply may also include any component of one or more dc or ac power sources, recharging devices, power failure detection circuitry, power converters or inverters, power status indicators, and the like. The electronic device may further include various sensors, a bluetooth module, a Wi-Fi module, and the like, which are not described herein again.
It is to be understood that the described embodiments are for purposes of illustration only and that the scope of the appended claims is not limited to such structures.
The program of the streak tube imaging laser radar image coordinate correction method stored in the memory in the electronic equipment is a combination of a plurality of instructions, and when the program runs in the processing, the methods of storing, processing, correcting and the like of streak images can be realized. Specifically, the specific implementation method of the processor for the instruction may refer to the description of the relevant steps in the embodiment corresponding to fig. 1, which is not described herein again.
Further, the electronic device integrated module/unit, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer readable storage medium. The computer readable storage medium may be volatile or non-volatile. For example, the computer-readable medium may include: any entity or device capable of carrying said computer program code, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM).
The present invention also provides a computer-readable storage medium storing a computer program which, when executed by a processor of an electronic device, can implement a method of storing, processing, correcting, or the like, which can realize a streak image.
In the several embodiments provided in the present invention, it should be understood that the apparatuses, devices and methods involved may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional module.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof.
The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned.
Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the system claims may also be implemented by one unit or means in software or hardware. The terms second, etc. are used to denote names, but not any particular order.
As shown in fig. 6, the electronic device may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 601, which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage means 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for the operation of the automatic cleaning apparatus are also stored. The processing device 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
Generally, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; a storage device 608 including, for example, a hard disk; and a communication device 609. The communication means 609 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. While fig. 6 illustrates an electronic device having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Finally, it should be noted that: the embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The system or the device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A streak tube imaging lidar image coordinate correction apparatus, the apparatus comprising:
the light source control device module is configured to obtain a space angle-time delay two-dimensional laser pulse matrix after a single laser pulse is controlled by adjusting the space angle position and the trigger time of a light source;
the streak tube detector module is configured to image laser pulses output by the light source control device module after sequentially passing through an optical lens, a streak tube photocathode, a streak tube poly gate anode, a streak tube deflection electric field, an image intensifier and a CCD detector to form a two-dimensional streak image;
and the light spot centroid coordinate matrix extraction unit is configured to obtain light spot areas of each input laser pulse image by filtering and denoising and threshold segmentation of the stripe image, extract coordinates of the light spot area centroid areas in each stripe image to obtain a light spot centroid coordinate matrix of the input laser pulse matrix, and correct the stripe image according to the light spot centroid coordinate matrix.
2. The apparatus of claim 1, wherein the light source control apparatus module comprises:
the laser pulse energy adjusting module is configured to adjust the pulse frequency of ns-level pulse width laser pulses output by the subnanosecond laser, so that the pulse frequency of the ns-level pulse width laser pulses is matched with the acquisition frequency of the streak tube detector module, and pulse energy adjustment is performed according to the imaging quality of light spots after the streak tube detector module is imaged.
3. The apparatus of claim 1, wherein the light source control apparatus module further comprises:
and the laser pulse space angle adjusting module is configured to provide a working platform for the subnanosecond laser through the high-precision three-dimensional translation table, and realize the space angle adjustment of the output laser pulse through adjusting the loading surface position of the three-dimensional translation table.
4. The apparatus of claim 1, wherein the light source control apparatus module further comprises:
and the laser pulse delay control module is configured to provide the trigger signals of the subnanosecond laser and the streak tube detector module through a delay generating device, and output laser pulses by adjusting the delay of the trigger signals of the subnanosecond laser.
5. The apparatus of claim 1, wherein the streak tube detector module comprises:
the optical lens group module comprises a filtering reflector, an attenuation lens, a converging lens and a diaphragm, and is configured to converge input laser pulses and reduce ambient stray light interference.
6. The apparatus of claim 1, wherein the streak tube detector module further comprises:
the streak tube imaging module comprises a photocathode, an accelerating electrode, a focusing electrode, a deflection electrode, a fluorescent screen and an electrode high-voltage dividing module, and is configured to control the running track of laser pulses.
7. The apparatus of claim 1, wherein the streak tube detector module further comprises:
the device comprises a microchannel plate image enhancement module, a voltage division module and a power supply module, wherein the microchannel plate image enhancement module comprises a microchannel plate and a microchannel plate electrode high-voltage division module, and is configured to amplify and enhance electronic signals of a streak tube fluorescent screen.
8. The apparatus of claim 1, wherein the streak tube detector module further comprises:
the camera coupling and collection module comprises an optical fiber light cone, a CCD camera and a camera collection control unit, wherein the optical fiber light cone is used for coupling the output of the image intensifier and the camera sensing array, and the CCD imaging image quality is improved.
9. The apparatus of claim 1, wherein the two-dimensional matrix of laser pulses is a matrix of m x n laser pulses, the matrix elements are laser pulses with different temporal-spatial information, and m and n are positive integers.
10. The apparatus of claim 1, wherein the spot centroid coordinate matrix is an m x n spot centroid coordinate matrix, the matrix elements are spot centroid coordinates in the respective fringe image of each corrected laser pulse, and m and n are positive integers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211351761.2A CN115639548A (en) | 2022-10-31 | 2022-10-31 | Stripe pipe imaging laser radar image coordinate correcting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211351761.2A CN115639548A (en) | 2022-10-31 | 2022-10-31 | Stripe pipe imaging laser radar image coordinate correcting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115639548A true CN115639548A (en) | 2023-01-24 |
Family
ID=84946138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211351761.2A Pending CN115639548A (en) | 2022-10-31 | 2022-10-31 | Stripe pipe imaging laser radar image coordinate correcting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115639548A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101963666A (en) * | 2010-09-20 | 2011-02-02 | 北京理工大学 | Method for correcting intensity image distortion of streak tube imaging laser radar |
| CN110018495A (en) * | 2019-04-30 | 2019-07-16 | 湖南力研光电科技有限公司 | A kind of measurement of streak tube imaging laser radar Laser emission random error and compensation system |
| US20200025930A1 (en) * | 2017-11-21 | 2020-01-23 | Arete Associates | High range resolution light detection and ranging |
-
2022
- 2022-10-31 CN CN202211351761.2A patent/CN115639548A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101963666A (en) * | 2010-09-20 | 2011-02-02 | 北京理工大学 | Method for correcting intensity image distortion of streak tube imaging laser radar |
| US20200025930A1 (en) * | 2017-11-21 | 2020-01-23 | Arete Associates | High range resolution light detection and ranging |
| CN110018495A (en) * | 2019-04-30 | 2019-07-16 | 湖南力研光电科技有限公司 | A kind of measurement of streak tube imaging laser radar Laser emission random error and compensation system |
Non-Patent Citations (4)
| Title |
|---|
| TONG LUO, ET AL: "Deblurring streak image of streak tube imaging lidar using Wiener deconvolution filter", 《OPTICS EXPRESS》, 30 November 2019 (2019-11-30), pages 1 - 11 * |
| WENZE XIA, ET AL: "Design and modeling of three-dimensional laser imaging system based on streak tube", 《APPLIED OPTICS》, 20 January 2017 (2017-01-20), pages 487 - 497 * |
| 刘爱林: "条纹管激光成像雷达系统探测及数据处理技术研究", 《中国博士学位论文全文数据库 信息科技辑》, 15 November 2021 (2021-11-15) * |
| 董超伟: "高速激光条纹图像处理技术研究", 《中国优秀硕士学位论文全文数据库 基础科学辑》, 15 January 2021 (2021-01-15) * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115639571A (en) | Streak tube imaging laser radar image coordinate correction method and device | |
| US10976536B2 (en) | Image-forming device, and dimension measurement device | |
| US10302420B2 (en) | Method for reconstructing a surface using spatially structured light and a dynamic vision sensor | |
| US3527533A (en) | Method and apparatus for deriving and processing topographical information | |
| US10373797B2 (en) | Charged particle beam device and image forming method using same | |
| WO2021228235A1 (en) | Photoelectric detection and collection system and centroid detection method based on single pixel detector | |
| CN111047650B (en) | Parameter calibration method for time-of-flight camera | |
| CN113253240B (en) | Space target identification method based on photon detection, storage medium and system | |
| CN110531578A (en) | More picture frame imaging method, apparatus and equipment | |
| CN106405566A (en) | High-measurement-precision laser radar distance measurement method | |
| CN115639548A (en) | Stripe pipe imaging laser radar image coordinate correcting device | |
| JPH0670612B2 (en) | Streak camera device | |
| US8153967B2 (en) | Method of generating particle beam images using a particle beam apparatus | |
| CN116592766A (en) | Precise three-dimensional measurement method and device based on fusion of laser and monocular vision | |
| CN111045030A (en) | Depth measuring device and method | |
| CN105717502A (en) | High speed laser distance measuring device based on linear array CCD and method | |
| CN106383352A (en) | Laser radar range finding method | |
| CN109269404B (en) | Image processing method and device and fingerprint identification equipment | |
| US3614240A (en) | Optical target position indicator | |
| JPH06327019A (en) | Picture correcting device | |
| Makhov et al. | Study of possibilities for light marker coordinate measuring with light field digital cameras | |
| CN111445507A (en) | Data processing method for non-visual field imaging | |
| CN117111046B (en) | Distortion correction method, system, device and computer readable storage medium | |
| JPH0230447B2 (en) | NIJIGENBIJAKUGAZOKEISOKUSOCHI | |
| CN115685242B (en) | Control system for detecting laser delay feedback |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |