CN115728744A - Method, device and medium for panoramic pulse laser ghost imaging detection and reconstruction imaging - Google Patents
Method, device and medium for panoramic pulse laser ghost imaging detection and reconstruction imaging Download PDFInfo
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Abstract
The invention discloses a method, a device and a medium for panoramic pulse laser ghost imaging detection and reconstruction imaging. The method comprises the following steps: under the condition of executing a mixed mode according to the control instruction, controlling a laser to emit a light beam, wherein the light beam is collimated and then passes through a reflector and a parabolic reflector with holes to strike a swing mirror, the swing mirror is used for performing panoramic scanning to obtain distance information of surrounding points, a suspected interest point is subjected to secondary scanning to obtain the distance information, whether the point is an interest point is judged according to the distance information, the swing mirror stops swinging after the interest point is found, a DMD is used for performing mask modulation on the light reflected by the interest point for a plurality of times, one interest point receives a plurality of light intensity values from a single-point detector, the plurality of light intensity values and corresponding mask images are subjected to correlation operation, and an image of the interest point is reconstructed; the invention can realize the panoramic laser radar function and can also obtain the ghost imaging of the target, and compared with the traditional ghost imaging system, the invention has rich functions and high integration level.
Description
Technical Field
The invention relates to the technical field of photoelectric imaging, in particular to a method, a device and a medium for detecting and reconstructing imaging of panoramic pulse laser ghost imaging.
Background
Ghost imaging is a novel imaging method, which utilizes a barrel detector to collect the reflected or transmitted light intensity fluctuation condition after a modulated light source irradiates a target, and carries out correlation calculation with the modulated light source to reconstruct a target image. Compared with the traditional imaging method, the ghost imaging has the imaging advantages of simple structure, strong anti-interference capability, imaging resolution exceeding diffraction limit, imaging in different wave bands, high detection sensitivity and the like, can be used for solving the problems and challenges encountered by the traditional imaging technology, and is widely applied in the fields of three-dimensional imaging, microscopic imaging, multispectral imaging, remote sensing and the like at present.
In practical applications, imaging technology has three important requirements, namely high resolution, large field of view and real-time performance. Most of the current researches on ghost imaging are the improvement of imaging quality and the improvement of imaging speed so as to help solve the problems and the challenges encountered by the traditional high-resolution imaging and real-time imaging, but the research results on the large-field ghost imaging are few, and the research on panoramic ghost imaging does not appear to our knowledge. However, the existing conventional panoramic imaging technology has many problems and challenges, for example, imaging cost is high in a non-visible light band, imaging is difficult in some severe imaging environments, such as atmospheric turbulence and scattering media, and with the imaging advantages that ghost imaging has strong anti-interference capability and can image in different bands, the problems can be solved, and therefore, a new panoramic imaging method is urgently needed to be provided by utilizing the ghost imaging advantages.
Disclosure of Invention
The present invention has been made to solve the above-mentioned problems occurring in the prior art. The invention relates to a panoramic pulse laser ghost imaging detection and reconstruction imaging method, a device and a medium, wherein the deflection of emitted light is completed through a parabolic reflector with holes and a reflector, 360-degree panoramic scanning is realized, high-resolution ghost imaging is carried out on a certain interest point, and the system has a simple structure and good reliability.
The invention specifically adopts the following technical scheme:
according to a first aspect of the present invention, there is provided a method for detecting and reconstructing imaging of periocular pulse laser ghost imaging, the method comprising:
acquiring a control instruction, and executing a corresponding working mode according to the control instruction, wherein the working mode comprises a ghost imaging mode, a laser radar mode and a mixed mode;
under the condition of executing a ghost imaging mode according to the control instruction, controlling a laser to emit a light beam, collimating the light beam to the surface of a target object, modulating the scattered or reflected light by a DMD (digital micromirror device), receiving total light intensity information by a single-point detector, and performing correlation operation on the total light intensity information and a mask pattern of the DMD to reconstruct an image of the target object;
under the condition that a laser radar mode is executed according to the control instruction, a laser is controlled to emit a light beam, the light beam is collimated and then passes through a reflector and a parabolic reflector with holes to strike a swing mirror, the swing mirror continuously moves to achieve a panoramic effect, the light reflected by a target object is reflected by a DMD and then is received by a single-point detector, and a point cloud image of the target object is determined according to echo information obtained by the single-point detector;
under the condition of executing a mixed mode according to the control instruction, controlling a laser to emit a light beam, after the light beam is collimated, the light beam is projected onto a swing mirror through a reflector and a parabolic reflector with holes, performing panoramic scanning through the swing mirror to obtain distance information of surrounding points, performing secondary scanning on suspected interest points to obtain the distance information, judging whether the points are interest points according to the distance information, stopping swinging the swing mirror after finding the interest points, performing mask modulation on the light reflected by the interest points for a plurality of times through a DMD (digital mirror device), receiving a plurality of light intensity values from a single-point detector for one interest point, performing correlation operation on the plurality of light intensity values and corresponding mask images, and reconstructing an image of the interest point.
Further, under the condition of executing a mixed mode according to the control instruction, determining suspected interest points according to the distance information of the surrounding points.
Further, the determining the suspected interest point according to the distance information of the surrounding points includes:
and comparing the distance information of the surrounding points with a preset first distance threshold, and determining the points with the distance information within the range of the preset first distance threshold as suspected interest points.
Further, the determining whether the point is an interest point according to the distance information includes:
and comparing the distance information with a preset second distance threshold, and determining the point as the interest point when the distance information is within the range of the preset second distance threshold.
Further, under the condition that the laser radar mode is executed according to the control instruction, the distance information of the suspected interest points is acquired while the panoramic effect is achieved through the continuous movement of the swing mirror, and whether the control instruction is the execution mixed working mode or not is judged:
if yes, performing mask modulation on the light reflected by the interest point for multiple times through the DMD, receiving multiple light intensity values from a single-point detector by one interest point, and performing correlation operation on the multiple light intensity values and corresponding mask images to reconstruct an image of the interest point;
if not, determining the point cloud image of the target object according to the echo information acquired by the single-point detector.
Further, under the condition that a mixed mode is executed according to the control instruction, a laser radar mode is executed to carry out secondary scanning on the suspected interest points to obtain distance information.
According to a second scheme of the invention, a panoramic pulse laser ghost imaging detection and reconstruction imaging device is provided, the device comprises a laser, a collimating mirror, a reflecting mirror, a parabolic reflecting mirror with holes, a swinging mirror, a DMD and a single-point detector, wherein the laser is used for generating emitted light, the collimating mirror is used for controlling the divergence angle of the emitted laser, the reflecting mirror is used for reflecting the emitted light, the emitted light is made to enter the swinging mirror through the through holes of the parabolic reflecting mirror with holes, the swinging mirror is used for realizing annular scanning, the scanning angle of the swinging mirror is continuously increased in the one-time complete scanning process, and finally the maximum mechanical scanning angle of the swinging mirror is reached, the DMD is used for modulating a target through a series of preset mask patterns, and the single-point detector is used for receiving total light intensity;
the processor is in signal connection with the laser, the DMD, and the single point detector, the processor configured to:
acquiring a control instruction, and executing a corresponding working mode according to the control instruction, wherein the working mode comprises a ghost imaging mode, a laser radar mode and a mixed mode;
under the condition of executing a ghost imaging mode according to the control instruction, controlling a laser to emit a light beam, collimating the light beam to the surface of a target object, modulating the scattered or reflected light by a DMD (digital micromirror device), receiving total light intensity information by a single-point detector, performing correlation operation on the total light intensity information and a mask pattern of the DMD, and reconstructing an image of the target object;
under the condition that a laser radar mode is executed according to the control instruction, a laser is controlled to emit a light beam, the light beam is collimated and then passes through a reflector and a parabolic reflector with holes to strike a swing mirror, the swing mirror continuously moves to achieve a panoramic effect, the light reflected by a target object is reflected by a DMD and then is received by a single-point detector, and a point cloud image of the target object is determined according to echo information obtained by the single-point detector;
under the condition of executing a mixed mode according to the control instruction, controlling a laser to emit a light beam, after the light beam is collimated, the light beam is irradiated onto a swing mirror through a reflector and a parabolic reflector with holes, panoramic scanning is carried out through the swing mirror to obtain distance information of surrounding points, secondary scanning is carried out on suspected interest points to obtain the distance information, whether the points are interest points or not is judged according to the distance information, the swing mirror stops swinging after the interest points are found, mask modulation is carried out on the light reflected by the interest points for a plurality of times through a DMD (digital mirror device), a plurality of light intensity values are received by one interest point from a single-point detector, the plurality of light intensity values and corresponding mask images are subjected to correlation operation, and an image of the interest points is reconstructed.
Further, the processor is further configured to:
under the condition that a laser radar mode is executed according to the control instruction, the distance information of the suspected interest points is acquired while the panoramic effect is achieved through the continuous movement of the swing mirror, and whether the control instruction is in a hybrid working mode is judged:
if yes, performing mask modulation on the light reflected by the interest point for a plurality of times through the DMD, receiving a plurality of light intensity values from a single-point detector by one interest point, and performing correlation operation on the plurality of light intensity values and corresponding mask images to reconstruct an image of the interest point;
if not, determining the point cloud image of the target object according to the echo information acquired by the single-point detector.
Further, the processor is further configured to: and under the condition of executing a mixed mode according to the control instruction, executing a laser radar mode to perform secondary scanning on the suspected interest points to obtain distance information.
According to a third aspect of the invention, there is provided a non-transitory computer readable storage medium having stored thereon instructions which, when executed by a processor, perform a method according to any one of the embodiments of the invention.
According to the periscopic pulse laser ghost imaging detection and reconstruction imaging method, device and medium, the periscopic laser radar function can be achieved, ghost imaging of a target can be obtained, and compared with a traditional ghost imaging system, the periscopic pulse laser ghost imaging detection and reconstruction imaging method, device and medium are rich in functions and high in integration level. In addition, the invention can change the large-range detection into the small-range high-resolution observation, and has small data volume and high processing speed.
Drawings
In the drawings, which are not necessarily drawn to scale, like reference numerals may describe similar parts throughout the different views. Like reference numerals having letter suffixes or different letter suffixes may represent different instances of similar components. The drawings illustrate various embodiments, by way of example and not by way of limitation, and together with the description and claims, serve to explain the inventive embodiments. The same reference numbers will be used throughout the drawings to refer to the same or like parts, where appropriate. Such embodiments are illustrative and not intended to be exhaustive or exclusive embodiments of the present apparatus or method.
Fig. 1 shows a schematic structural diagram of a periocular pulsed laser ghost imaging detection and reconstruction imaging device according to an embodiment of the present invention.
Fig. 2 shows a flowchart of a periocular pulsed laser ghost imaging detection and reconstruction imaging method according to an embodiment of the present invention.
Fig. 3 shows a schematic view of the scan field of view of a panoramic lidar in accordance with an embodiment of the invention.
Fig. 4 shows a specific flowchart of a periocular pulsed laser ghost imaging detection and reconstruction imaging method according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The following detailed description of the embodiments of the present invention is provided in connection with the accompanying drawings and the specific embodiments, but not intended to limit the invention. The order in which the various steps described herein are described as examples should not be construed as a limitation if there is no requirement for a context relationship between each other, and one skilled in the art would know that sequential adjustments may be made without destroying the logical relationship between each other, rendering the overall process impractical.
Fig. 1 shows a schematic structural diagram of a periocular pulsed laser ghost imaging detection and reconstruction imaging device according to an embodiment of the present invention. The device is a core component for implementing the panoramic pulse laser ghost imaging detection and reconstruction imaging method, as shown in fig. 1, and specifically includes a laser 1, a collimating mirror 2, a reflecting mirror 3, a parabolic reflecting mirror 4 with a hole, a swinging mirror 5, a DMD6, a single-point detector 7, and a processor (not shown in the figure). The DMD6 is a digital micromirror available in the prior art, and can realize at least reflection and mask modulation functions. The laser device 1 is used for generating emitting light, the collimating mirror 2 is used for controlling the divergence angle of the emitted laser, the reflecting mirror 3 is used for reflecting the emitted light, the emitted light is made to enter the oscillating mirror 5 through the through hole of the parabolic reflecting mirror 4 with the hole, the oscillating mirror 5 is used for realizing annular scanning, the scanning angle of the oscillating mirror 5 is continuously increased in the process of one-time complete scanning, the maximum mechanical scanning angle of the oscillating mirror 5 is finally achieved, the DMD6 is used for modulating a target through a series of preset mask patterns, and the single-point detector 7 is used for collecting the total light intensity.
It should be noted that fig. 1 shows a structural layout diagram capable of implementing the periscopic pulse laser ghost imaging detection and reconstruction imaging method, and in practical implementation, including but not limited to the arrangement shown in fig. 1, it is only necessary to ensure that the light path can follow the preset light path direction.
The periocular pulsed laser ghost imaging detection and reconstruction imaging method described herein is essentially a control method that a processor is configured to implement, and in some embodiments may be implemented as a software program and stored in a corresponding storage medium, extracted therefrom and implemented by the processor.
Fig. 2 shows a flowchart of a method for detecting and reconstructing imaging by periscopic pulse laser ghost imaging according to an embodiment of the present invention, and an embodiment of the present invention provides a method for detecting and reconstructing imaging by periscopic pulse laser ghost imaging, as shown in fig. 2, the method starts with step S100, obtaining a control instruction, and executing corresponding working modes according to the control instruction, where the working modes include a ghost imaging mode, a laser radar mode, and a hybrid mode.
Any one of steps S200-S400 is selectively performed according to the mode selected in step S100.
And (2) executing a step (S200) under the condition of executing a ghost imaging mode according to the control instruction, controlling the laser to emit a light beam in the step (S200), enabling the light beam to be collimated and then reach the surface of the target object, enabling the scattered or reflected light to be modulated by the DMD, receiving the total light intensity information by a single-point detector, and performing correlation operation on the total light intensity information and the mask pattern of the DMD to reconstruct an image of the target object.
Executing a step S300 under the condition that a laser radar mode is executed according to the control instruction, controlling a laser to emit a light beam in the step S300, enabling the light beam to pass through a reflector and a parabolic reflector with holes after being collimated and then to strike a swing mirror, achieving a panoramic effect through continuous movement of the swing mirror, enabling the light beam reflected by the target object to be received by a single-point detector after being reflected by a DMD, and determining a point cloud image of the target object according to echo information acquired by the single-point detector;
and executing a step S400 under the condition of executing a mixed mode according to the control instruction, controlling a laser to emit a light beam in the step S400, collimating the light beam, then striking the light beam onto a swing mirror through a reflector and a parabolic reflector with holes, performing panoramic scanning through the swing mirror to obtain distance information of surrounding points, performing secondary scanning on suspected interest points to obtain the distance information, judging whether the point is an interest point according to the distance information, stopping swinging after finding the interest point, performing mask modulation on light reflected by the interest point for a plurality of times through a DMD (digital micromirror device), receiving a plurality of light intensity values from a single-point detector, performing correlation operation on the plurality of light intensity values and corresponding mask images, and reconstructing an image of the interest point.
In some embodiments, in a case where a hybrid mode is executed according to the control instruction, a suspected point of interest is determined according to distance information of the surrounding points.
It should be noted that the calculation of the distance information of the surrounding points may be performed based on the TOF technology, that is, the calculation of the distance between the target point and a preset reference point, where the preset reference point may be, for example, a geometric center point of the laser, and the like, and the embodiment is not limited herein.
In some embodiments, the determining a suspected interest point according to the distance information of the surrounding points includes: and comparing the distance information of the surrounding points with a preset first distance threshold, and determining the points with the distance information within the range of the preset first distance threshold as suspected interest points.
In some embodiments, the determining whether the point is an interest point according to the distance information includes: and comparing the distance information with a preset second distance threshold, and determining the point as the interest point when the distance information is within the range of the preset second distance threshold.
As shown in fig. 3, in this embodiment, two distance threshold comparisons are performed, first, a point in a large range is screened out as a suspected interest point, and an ideal point is screened out from a plurality of suspected interest points as an interest point. For example only, the preset first distance threshold is greater than the preset second distance threshold, that is, the suspected interest points screened out in the first round have a wider selection range.
In some embodiments, when the laser radar mode is executed according to the control instruction, the distance information of the suspected interest point is acquired while the panoramic effect is achieved through the continuous movement of the oscillating mirror, and whether the control instruction is the execution of the hybrid working mode is determined:
if yes, performing mask modulation on the light reflected by the interest point for a plurality of times through the DMD, receiving a plurality of light intensity values from a single-point detector by one interest point, and performing correlation operation on the plurality of light intensity values and corresponding mask images to reconstruct an image of the interest point;
if not, determining the point cloud image of the target object according to the echo information acquired by the single-point detector.
And under the condition of executing the mixed mode according to the control instruction, executing a laser radar mode to perform secondary scanning on the suspected interest points to obtain distance information.
Illustratively, as shown in fig. 4, another flowchart of a method for detecting and reconstructing imaging of periocular pulse laser ghost imaging is shown, in which a hybrid mode is implemented to cooperate with a lidar mode.
Specifically, the operation mode is selected first, the selection of the operation mode is performed by the user, and after the operation mode is determined, three modes, i.e., a ghost imaging mode, a laser radar mode, and a hybrid mode, are provided.
Under the condition that a ghost imaging mode is selected, the DMD works to carry out panoramic ghost imaging; the DMD modulates the target through a series of mask images; the single-point detector records the total light intensity; and performing correlation operation on the total light intensity and the mask image, reconstructing the image and completing one round of work.
Under the condition of selecting a laser radar mode, the oscillating mirror works to carry out panoramic scanning; obtaining TOF calculation distance, judging whether the current selection is a mixed mode or not, and determining a point cloud image of a target object according to echo information obtained by a single-point detector under the condition that the current selection is not the mixed mode to finish one round of work; under the condition of a mixed mode, the DMD performs ghost imaging on the interest point to obtain a high-resolution image of the point A, and a round of work is completed.
Under the condition of selecting the mixed mode, the oscillating mirror scans to obtain distance information, judges whether the point is an interest point, if the point is the interest point, the DMD images the interest point to obtain a high-resolution image of the point A to complete one round of work, and if the point is not the interest point, the oscillating mirror enters a laser radar mode to complete one round of work under the condition of the mixed mode.
Moreover, although exemplary embodiments have been described herein, the scope thereof includes any and all embodiments based on the present invention with equivalent elements, modifications, omissions, combinations (e.g., of various embodiments across), adaptations or alterations. The elements of the claims are to be interpreted broadly based on the language employed in the claims and not limited to examples described in the present specification or during the prosecution of the application, which examples are to be construed as non-exclusive. It is intended, therefore, that the specification and examples be considered as exemplary only, with a true scope and spirit being indicated by the following claims and their full scope of equivalents.
The above description is intended to be illustrative and not restrictive. For example, the above-described examples (or one or more versions thereof) may be used in combination with each other. For example, other embodiments may be utilized by those of ordinary skill in the art upon reading the foregoing description. In addition, in the foregoing detailed description, various features may be grouped together to streamline the disclosure. This should not be interpreted as an intention that features of an unclaimed invention be essential to any of the claims. Rather, inventive subject matter may lie in less than all features of a particular inventive embodiment. Thus, the following claims are hereby incorporated into the detailed description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that these embodiments may be combined with each other in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.
Claims (10)
1. A method for detecting and reconstructing imaging of periocular pulsed laser ghost imaging, the method comprising:
acquiring a control instruction, and executing a corresponding working mode according to the control instruction, wherein the working mode comprises a ghost imaging mode, a laser radar mode and a mixed mode;
under the condition of executing a ghost imaging mode according to the control instruction, controlling a laser to emit a light beam, collimating the light beam to the surface of a target object, modulating the scattered or reflected light by a DMD (digital micromirror device), receiving total light intensity information by a single-point detector, performing correlation operation on the total light intensity information and a mask pattern of the DMD, and reconstructing an image of the target object;
under the condition that a laser radar mode is executed according to the control instruction, a laser is controlled to emit a light beam, the light beam is collimated and then passes through a reflector and a parabolic reflector with holes to strike a swing mirror, the swing mirror continuously moves to achieve a panoramic effect, the light reflected by a target object is reflected by a DMD and then is received by a single-point detector, and a point cloud image of the target object is determined according to echo information obtained by the single-point detector;
under the condition of executing a mixed mode according to the control instruction, controlling a laser to emit a light beam, after the light beam is collimated, the light beam is irradiated onto a swing mirror through a reflector and a parabolic reflector with holes, panoramic scanning is carried out through the swing mirror to obtain distance information of surrounding points, secondary scanning is carried out on suspected interest points to obtain the distance information, whether the points are interest points or not is judged according to the distance information, the swing mirror stops swinging after the interest points are found, mask modulation is carried out on the light reflected by the interest points for a plurality of times through a DMD (digital mirror device), a plurality of light intensity values are received by one interest point from a single-point detector, the plurality of light intensity values and corresponding mask images are subjected to correlation operation, and an image of the interest points is reconstructed.
2. The method according to claim 1, wherein in a case where a hybrid mode is executed according to the control instruction, the suspected point of interest is determined according to distance information of the surrounding points.
3. The method of claim 2, wherein the determining suspected interest points according to the distance information of the surrounding points comprises:
and comparing the distance information of the surrounding points with a preset first distance threshold, and determining the points with the distance information within the range of the preset first distance threshold as suspected interest points.
4. The method of claim 1, wherein the determining whether the point is an interest point according to the distance information comprises:
and comparing the distance information with a preset second distance threshold, and determining the point as the interest point when the distance information is within the range of the preset second distance threshold.
5. The method according to claim 1, wherein in the case of executing the lidar mode according to the control command, the distance information of the suspected interest point is obtained while the panoramic effect is achieved through the continuous movement of the oscillating mirror, and whether the control command is to execute the hybrid operation mode is determined:
if yes, performing mask modulation on the light reflected by the interest point for a plurality of times through the DMD, receiving a plurality of light intensity values from a single-point detector by one interest point, and performing correlation operation on the plurality of light intensity values and corresponding mask images to reconstruct an image of the interest point;
if not, determining the point cloud image of the target object according to the total light intensity information acquired by the single-point detector.
6. The method of claim 5, wherein in case of performing the hybrid mode according to the control instruction, performing the lidar mode to perform a secondary scan on the suspected point of interest to obtain the distance information.
7. A panoramic pulse laser ghost imaging detection and reconstruction imaging device is characterized by comprising a laser, a collimating mirror, a reflecting mirror, a perforated parabolic reflecting mirror, a swinging mirror, a DMD and a single-point detector, wherein the laser is used for generating emitted light, the collimating mirror is used for controlling the divergence angle of the emitted laser, the reflecting mirror is used for reflecting the emitted light, the emitted light is made to enter the swinging mirror through a through hole of the perforated parabolic reflecting mirror, the swinging mirror is used for realizing annular scanning, the scanning angle of the swinging mirror is continuously increased in the process of one-time complete scanning, the maximum mechanical scanning angle of the swinging mirror is finally reached, the DMD is used for modulating a target through a series of preset mask patterns, and the single-point detector is used for receiving total light intensity;
the processor is in signal connection with the laser, the DMD, and the single point detector, the processor configured to:
acquiring a control instruction, and executing a corresponding working mode according to the control instruction, wherein the working mode comprises a ghost imaging mode, a laser radar mode and a mixed mode;
under the condition of executing a ghost imaging mode according to the control instruction, controlling a laser to emit a light beam, collimating the light beam to the surface of a target object, modulating the scattered or reflected light by a DMD (digital micromirror device), receiving total light intensity information by a single-point detector, and performing correlation operation on the total light intensity information and a mask pattern of the DMD to reconstruct an image of the target object;
under the condition that a laser radar mode is executed according to the control instruction, a laser is controlled to emit a light beam, the light beam is collimated and then passes through a reflector and a parabolic reflector with holes to strike a swing mirror, the swing mirror continuously moves to achieve a panoramic effect, the light reflected by a target object is reflected by a DMD and then is received by a single-point detector, and a point cloud image of the target object is determined according to echo information obtained by the single-point detector;
under the condition of executing a mixed mode according to the control instruction, controlling a laser to emit a light beam, after the light beam is collimated, the light beam is projected onto a swing mirror through a reflector and a parabolic reflector with holes, performing panoramic scanning through the swing mirror to obtain distance information of surrounding points, performing secondary scanning on suspected interest points to obtain the distance information, judging whether the points are interest points according to the distance information, stopping swinging the swing mirror after finding the interest points, performing mask modulation on the light reflected by the interest points for a plurality of times through a DMD (digital mirror device), receiving a plurality of light intensity values from a single-point detector for one interest point, performing correlation operation on the plurality of light intensity values and corresponding mask images, and reconstructing an image of the interest point.
8. The apparatus of claim 7, wherein the processor is further configured to:
under the condition that a laser radar mode is executed according to the control instruction, the distance information of the suspected interest points is acquired while the panoramic effect is achieved through the continuous movement of the swing mirror, and whether the control instruction is in a hybrid working mode is judged:
if yes, performing mask modulation on the light reflected by the interest point for multiple times through the DMD, receiving multiple light intensity values from a single-point detector by one interest point, and performing correlation operation on the multiple light intensity values and corresponding mask images to reconstruct an image of the interest point;
if not, determining the point cloud image of the target object according to the total light intensity information acquired by the single-point detector.
9. The apparatus of claim 8, wherein the processor is further configured to: and under the condition of executing a mixed mode according to the control instruction, executing a laser radar mode to perform secondary scanning on the suspected interest points to obtain distance information.
10. A non-transitory computer-readable storage medium having stored thereon instructions that, when executed by a processor, perform the method of any one of claims 1-6.
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