CN116647737B - Color imaging assembly and image processing method thereof - Google Patents

Color imaging assembly and image processing method thereof Download PDF

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Publication number
CN116647737B
CN116647737B CN202310896917.3A CN202310896917A CN116647737B CN 116647737 B CN116647737 B CN 116647737B CN 202310896917 A CN202310896917 A CN 202310896917A CN 116647737 B CN116647737 B CN 116647737B
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infrared
light
image
filter
angle side
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CN116647737A (en
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郑治钦
谢锦阳
闫合
张健
唐昊
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Lizhen Holdings (Kunshan) Co.,Ltd.
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Lizhen Technology Kunshan Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
    • H04N23/11—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths for generating image signals from visible and infrared light wavelengths
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/95—Computational photography systems, e.g. light-field imaging systems

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Color Television Image Signal Generators (AREA)

Abstract

The invention discloses a color imaging assembly and an image processing method thereof. The image acquisition module comprises a visible ray processing unit and an infrared ray processing unit, and the visible ray processing unit and the infrared ray processing unit are positioned in the same area of the image acquisition module; the visible ray processing unit is used for acquiring a color plane image of the imaging target according to visible rays, and the infrared ray processing unit is used for acquiring an infrared image of the imaging target according to infrared rays. Therefore, the light splitting assembly separates the reflected visible light rays and the infrared light rays, screens out the infrared light rays, then merges the screened infrared light rays and the visible light rays, and jointly irradiates the visible light ray processing unit and the infrared light ray processing unit which are positioned in the same area, so that the registration precision of the color plane image and the infrared image is improved.

Description

Color imaging assembly and image processing method thereof
Technical Field
The invention relates to the technical field of cameras, in particular to a color imaging assembly and an image processing method thereof.
Background
When shooting a three-dimensional color panoramic model by a color stereo device, a color camera and a depth camera collect the model and the image simultaneously and then process the model and the image to produce the three-dimensional color panoramic model. However, in the prior art, the color camera and the depth camera are independent, so that when the photographed model and the photographed image are processed, small offset of the model and the photographed image is likely to appear, and are difficult to be aligned completely, and when the visible light photo and the infrared light photo are mutually aligned, the registration accuracy of the independent color camera and the independent depth camera is not high enough, so that the formed three-dimensional color panoramic model has flaws.
Disclosure of Invention
The embodiment of the invention provides a color imaging assembly and an image processing method thereof, which are used for improving the registration accuracy of an acquired color plane image and an infrared image.
In a first aspect, an embodiment of the present invention provides a color imaging assembly, including a light emitting module, a light receiving module, and an image acquisition module;
the light ray emission module is used for emitting infrared light rays to an imaging target;
the light receiving module comprises a light splitting component, and the light splitting component is used for separating visible light rays and infrared light rays reflected by the imaging target and then respectively transmitting the separated visible light rays and infrared light rays to the image acquisition module;
The image acquisition module comprises a visible light ray processing unit and an infrared light ray processing unit, and the visible light ray processing unit and the infrared light ray processing unit are positioned in the same area of the image acquisition module; the visible ray processing unit is used for acquiring a color plane image of the imaging target according to the visible rays; the infrared ray processing unit is used for acquiring an infrared image of the imaging target according to the infrared rays.
Further, the light splitting assembly comprises a first light splitting unit, a second light splitting unit and a third light splitting unit;
the visible light is transmitted by the first light splitting unit and the second light splitting unit in sequence and then enters the image acquisition module;
the infrared light is reflected by the first light splitting unit, the third light splitting unit and the second light splitting unit in sequence and then enters the image acquisition module; and the propagation path of the infrared light after being reflected by the second light splitting unit is not coincident with the propagation path of the visible light after being transmitted by the second light splitting unit.
Further, the first light splitting unit comprises a first isosceles right triangular prism and a first infrared cut-off filter, and the first isosceles right triangular prism comprises a first right-angle side, a second right-angle side and a first oblique side; the second light splitting unit comprises a second isosceles right-angle triangular prism and a second infrared cut-off filter, and the second isosceles right-angle triangular prism comprises a third right-angle side, a fourth right-angle side and a second oblique side; the third light splitting unit comprises a third isosceles right triangular prism, and the third isosceles right triangular prism comprises a fifth right angle side, a sixth right angle side and a third hypotenuse;
The first infrared cut filter is arranged on the surface of the first inclined edge; the second infrared cut filter is arranged on the surface of the second inclined edge;
the visible light is transmitted by the first right-angle side, the first infrared cut-off filter, the second infrared cut-off filter and the fourth right-angle side in sequence and then is incident to the image acquisition module;
the infrared light is sequentially transmitted through the first right-angle side, the first infrared cut-off filter, the second right-angle side, the fifth right-angle side, the sixth right-angle side, the third right-angle side, the second infrared cut-off filter and the fourth right-angle side, and then is incident to the image acquisition module.
Further, the refractive indexes of the first isosceles right triangular prism and the second isosceles right triangular prism are smaller than 1.414;
the refractive index of the third isosceles right triangular prism is greater than 1.414.
Further, the first light splitting unit comprises a first isosceles right triangular prism and a first infrared cut-off filter, and the first isosceles right triangular prism comprises a first right-angle side, a second right-angle side and a first oblique side; the second light splitting unit comprises a second isosceles right-angle triangular prism and a second infrared cut-off filter, and the second isosceles right-angle triangular prism comprises a third right-angle side, a fourth right-angle side and a second oblique side; the third light splitting unit comprises a third isosceles right triangular prism, a third infrared cut-off filter and a fourth infrared cut-off filter, and the third isosceles right triangular prism comprises a fifth right angle side, a sixth right angle side and a third hypotenuse;
The first infrared cut filter is arranged on the surface of the first inclined edge; the second infrared cut filter is arranged on the surface of the second inclined edge; the third infrared cut-off filter is arranged on the surface of the fifth right-angle side; the fourth infrared cut-off filter is arranged on the surface of the sixth right-angle side;
the visible light is transmitted by the first right-angle side, the first infrared cut-off filter, the second infrared cut-off filter and the fourth right-angle side in sequence and then is incident to the image acquisition module;
the infrared light is incident to the image acquisition module after passing through the first right-angle side transmission, the first infrared cut-off filter reflection, the second right-angle side transmission, the third infrared cut-off filter reflection, the fourth infrared cut-off filter reflection, the third right-angle side transmission, the second infrared cut-off filter reflection and the fourth right-angle side transmission in sequence.
Further, the first isosceles right triangular prism and the second isosceles right triangular prism are oppositely arranged, and the first isosceles right triangular prism and the second isosceles right triangular prism are arranged on the surface of the third inclined edge; the first bevel edge is arranged in parallel with the fifth right-angle edge, and the second bevel edge is arranged in parallel with the sixth right-angle edge.
Further, the light splitting assembly further comprises an infrared filter arranged between the second right-angle side and the third bevel side and between the third right-angle side and the third bevel side.
Further, the infrared filter comprises a 930nm infrared filter.
Further, the thickness of the 930nm infrared filter is 232.5nm or 697.5nm.
Further, the visible ray processing unit comprises a plurality of red filtering subunits, a plurality of blue filtering subunits and a plurality of green filtering subunits; the number of the green filter subunits is greater than the number of the red filter subunits and the blue filter subunits;
the infrared ray processing unit comprises a plurality of infrared filtering subunits;
the red filtering subunit, the blue filtering subunit, the green filtering subunit and the infrared filtering subunit are arranged in an array and are arranged at intervals.
Further, the color imaging assembly further comprises a first optical train disposed in an optical path between the imaging target and the light splitting assembly;
the first optical system comprises a first lens, a second lens, a third lens and a fourth lens which are sequentially arranged along the object plane side to the image plane side;
The object plane surface of the first lens is an aspheric convex surface, and the image plane surface is a plane;
the object plane surface of the second lens is an aspheric convex surface, and the image side surface is a plane;
the object-plane side surface of the third lens is an aspheric convex surface, and the image-plane side surface is a plane;
the object-plane surface of the fourth lens is a plane, and the image-plane surface of the fourth lens is an aspheric convex surface.
In a second aspect, an embodiment of the present invention further provides an image processing method of a color imaging assembly, where the image processing method includes:
acquiring an infrared image and a color plane image of an imaging target; the infrared image and the color plane image are output by the color imaging assembly of any of the first aspects;
generating depth information of the imaging target according to the infrared image;
and generating a color stereoscopic image of the imaging target according to the depth information and the color plane image.
The color imaging component in the implementation of the invention comprises a light emitting module, a light receiving module and an image acquisition module. The light emission module is used for emitting infrared light rays to the imaging target, the light receiving module comprises a light splitting component, and the light splitting component is used for separating visible light rays reflected by the imaging target from the infrared light rays and then transmitting the separated visible light rays and the separated infrared light rays to the image acquisition module. The image acquisition module comprises a visible ray processing unit and an infrared ray processing unit, the visible ray processing unit and the infrared ray processing unit are positioned in the same area of the image acquisition module, and the visible ray processing unit is used for acquiring a color plane image of an imaging target according to visible rays; the infrared light processing unit is used for acquiring an infrared image of the imaging target according to the infrared light. So, combine visible ray processing unit and infrared ray processing unit, make both be located the same region of image acquisition module, and then beam splitting subassembly separates the visible ray and the infrared ray of reflection, screen out the infrared ray, then meet the infrared ray and the visible ray of screening, the common incidence is to the visible ray processing unit and the infrared ray processing unit that are located same region, both guaranteed the accuracy that infrared ray imaged, can image the visible ray again, the registration precision of color plane image and infrared image has been improved simultaneously. Further, the improvement of the registration precision of the color plane image and the infrared image is beneficial to further improving the accuracy of the color stereoscopic image generated based on the color plane image and the infrared image.
Drawings
FIG. 1 is a schematic view of a color imaging assembly according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an optical path of a light splitting assembly according to an embodiment of the present invention;
FIG. 3 is a diagram of an optical path for the law of refraction provided by an embodiment of the present invention;
FIG. 4 is a schematic view of an optical path of another optical splitting component according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of an optical path of air incident on an optically dense medium according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an image capturing module according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating a triangulation method according to an embodiment of the present invention;
fig. 8 is a flowchart of an image processing method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be fully described below by way of specific embodiments with reference to the accompanying drawings in the examples of the present invention. It is apparent that the described embodiments are some, but not all, embodiments of the present invention, and that all other embodiments, which a person of ordinary skill in the art would obtain without making inventive efforts, are within the scope of this invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic structural diagram of a color imaging assembly according to an embodiment of the present invention, referring to fig. 1, the color imaging assembly includes a light emitting module 10, a light receiving module 20, and an image obtaining module 30, where the light emitting module 10 is used for emitting infrared light toward an imaging target. The light receiving module 20 includes a light splitting component 210, and the light splitting component 210 is configured to separate visible light and infrared light reflected by the imaging target and transmit the separated visible light and infrared light to the image acquisition module 30. The image acquisition module 30 includes a visible light processing unit 310 and an infrared light processing unit 320, where the visible light processing unit 310 and the infrared light processing unit 320 are located in the same area of the image acquisition module 30, the visible light processing unit 310 is configured to acquire a color plane image of the imaging target according to visible light, and the infrared light processing unit 320 is configured to acquire an infrared image of the imaging target according to infrared light.
Specifically, as shown in fig. 1, the color imaging assembly includes a light emitting module 10, a light receiving module 20, and an image acquisition module 30. Wherein the light emitting module 10 is used for emitting infrared light to an imaging target, and the light receiving module 20 and the image acquisition module 30 are located on the light propagation paths of visible light and infrared light. Specifically, the light receiving module 20 receives visible light and infrared light reflected by the imaging target, wherein the infrared light reflected by the imaging target is derived from the light emitting module 10, and the visible light reflected by the imaging target is derived from ambient light. The light receiving module 20 includes a light splitting component 210, after the light receiving module 20 receives the visible light and the infrared light reflected by the imaging target, the light splitting component 210 screens the infrared light reflected by the imaging target, so as to separate the infrared light and the visible light reflected by the imaging target, and then the infrared light and the visible light are converged and are commonly incident to the image acquisition module 30 after passing through different light propagation paths. The image capturing module 30 includes a visible light processing unit 310 and an infrared light processing unit 320, where the visible light processing unit 310 and the infrared light processing unit 320 are located in the same area of the image capturing module 30, and then after the infrared light and the visible light are converged, they are incident on the same area of the image capturing module 30 together, so that the infrared light is incident on the infrared light processing unit 320 in the same area, and the visible light is incident on the visible light processing unit 310 in the same area. After receiving the infrared light, the infrared light processing unit 320 acquires an infrared image of the imaging target according to the infrared light. After receiving the visible light, the visible light processing unit 310 acquires a color plane image of the imaging target according to the visible light, and the image acquisition module 30 performs mutual registration on the infrared image and the color plane image of the imaging target through a registration algorithm to acquire a color 3D image of the imaging target.
In the prior art, an independent color camera and a depth camera are generally adopted to respectively acquire an infrared image and a color plane image of an imaging target, on one hand, different lenses are adopted when acquiring infrared rays and visible rays, so that when a shot model and an image are processed, a small amount of offset of the model and the image is likely to appear, and the model and the image are difficult to be aligned completely. In addition, the independent color camera and the depth camera respectively acquire the visible light photo and the infrared light photo of the imaging target through RGB chips and Time of Flight (TOF) chips with different positions, so that when the visible light photo and the infrared light photo are mutually matched, the registration accuracy is not high enough, and the formed three-dimensional color panoramic model has flaws.
Therefore, in the embodiment of the present invention, the visible light and the infrared light reflected by the imaging target are received simultaneously by the light receiving module 20, and the infrared light reflected by the imaging target is screened out by the light splitting component 210 in the light receiving module 20, so that the infrared light and the visible light reflected by the imaging target are separated, and then are converged after passing through different light propagation paths, and are commonly incident to the visible light processing unit 310 and the infrared light processing unit 320 in the same area, i.e. the visible light processing unit 310 and the infrared light processing unit 320 are combined, thereby not only ensuring the accuracy of infrared light imaging, but also being capable of imaging the visible light, and simultaneously improving the registration accuracy of the color plane image and the infrared image.
It should be noted that, after the infrared image of the imaging target is obtained by the infrared light processing unit 320, the infrared image generated by the infrared light processing unit 320 may be obtained by the processing module, and the obtained infrared image is processed to obtain the depth information of the imaging target, then the processing module obtains the color plane image generated by the visible light processing unit 310, and fuses the depth information of the imaging target and the color plane image to obtain the color stereoscopic image, and further after the color stereoscopic image is obtained, the effect images in different directions may be viewed by rotating the color stereoscopic image. The processing module may be located in the color imaging component, or may be located in another component matched with the color imaging component, which is not limited by the embodiment of the present invention.
In summary, the color imaging module in the embodiment of the present invention includes a light emitting module, a light receiving module, and an image obtaining module. The light emission module is used for emitting infrared light rays to the imaging target, the light receiving module comprises a light splitting component, and the light splitting component is used for separating visible light rays reflected by the imaging target from the infrared light rays and then transmitting the separated visible light rays and the separated infrared light rays to the image acquisition module. The image acquisition module comprises a visible ray processing unit and an infrared ray processing unit, the visible ray processing unit and the infrared ray processing unit are positioned in the same area of the image acquisition module, and the visible ray processing unit is used for acquiring a color plane image of an imaging target according to visible rays; the infrared light processing unit is used for acquiring an infrared image of the imaging target according to the infrared light. So, combine visible ray processing unit and infrared ray processing unit, make both be located the same region of image acquisition module, and then beam splitting subassembly separates the visible ray and the infrared ray of reflection, screen out the infrared ray, then meet the infrared ray and the visible ray of screening, the common incidence is to the visible ray processing unit and the infrared ray processing unit that are located same region, both guaranteed the accuracy that infrared ray imaged, can image the visible ray again, the registration precision of color plane image and infrared image has been improved simultaneously.
Optionally, fig. 2 is a schematic light path diagram of a light splitting assembly according to an embodiment of the present invention, as shown in fig. 1 and fig. 2, where, the light splitting assembly 210 includes a first light splitting unit 211, a second light splitting unit 212, and a third light splitting unit 213, and visible light is sequentially transmitted by the first light splitting unit 211 and transmitted by the second light splitting unit 212 and then is incident to the image acquisition module 30; the infrared light is reflected by the first light splitting unit 211, the third light splitting unit 213, and the second light splitting unit 212 in sequence, and then is incident to the image acquisition module 30, and the propagation path of the infrared light reflected by the second light splitting unit 212 is not coincident with the propagation path of the visible light transmitted by the second light splitting unit 212.
As shown in fig. 1 and 2, the spectroscopic assembly 210 includes a first spectroscopic unit 211, a second spectroscopic unit 212, and a third spectroscopic unit 213. The first light splitting unit 211 and the second light splitting unit 212 are used for transmitting visible light rays, reflecting infrared light rays, and the third light splitting unit is used for screening infrared light rays and reflecting infrared light rays. Specifically, the first light splitting unit 211 and the second light splitting unit 212 are located on a propagation path of the visible light, after the visible light reflected by the imaging target is received by the light receiving module 20, the visible light is incident on the light splitting assembly 210, and then the visible light is sequentially transmitted by the first light splitting unit 211 and transmitted by the second light splitting unit 212 and then is incident on the image acquisition module 30. Similarly, the first light splitting unit 211, the second light splitting unit 212 and the third light splitting unit 213 are located on the propagation path of the infrared light, after the light receiving module 20 receives the infrared light reflected by the imaging target, the infrared light is incident on the light splitting component 210, and then the infrared light is reflected by the first light splitting unit 211, the third light splitting unit 213 and the second light splitting unit 212 in sequence, and is incident on the image obtaining module 30. That is, the visible light and the infrared light are separated at the first light splitting unit 211 so that the visible light is transmitted through the first light splitting unit 211, the infrared light is reflected at the first light splitting unit 211 to the third light splitting unit 213, the third light splitting unit 213 is used for screening out the infrared light, and the infrared light is reflected to the second light splitting unit 212, so that the infrared light and the visible light are converged at the second light splitting unit 211 and are commonly incident to the image acquisition module 30. The propagation path of the infrared light reflected by the second light splitting unit 212 is not coincident with the propagation path of the visible light transmitted by the second light splitting unit 212, in other words, after the infrared light and the visible light are converged at the second light splitting unit 211, the infrared light may be incident into the image acquisition module 30 in parallel, so that the visible light processing unit 310 in the image acquisition module 30 acquires a color plane image of the imaging target according to the visible light, and the infrared light processing unit 320 acquires an infrared image of the imaging target according to the infrared light, so that the visible light and the infrared light are separated by the first light splitting unit 211, the second light splitting unit 212 and the third light splitting unit 213, and the infrared light is screened out by the third light splitting unit 213, so that accuracy of acquiring the infrared image of the imaging target by the infrared light processing unit 320 can be improved.
Alternatively, with continued reference to fig. 1 and 2, the first light splitting unit 211 includes a first isosceles right triangular prism 2111 and a first infrared cut filter 2112, and the first isosceles right triangular prism 2111 includes a first right side 2111a, a second right side 2111b, and a first oblique side 2111c. The second light splitting unit 212 includes a second isosceles right triangle 2121 and a second infrared cut filter 2122, the second isosceles right triangle 2121 includes a third right angle side 2121a, a fourth right angle side 2121b, and a second oblique side 2121c, the third light splitting unit 213 includes a third isosceles right triangle 2131, and the third isosceles right triangle 2131 includes a fifth right angle side 2131a, a sixth right angle side 2131b, and a third oblique side 2131c. The first ir cut filter 2112 is provided on the surface of the first oblique side 2111c, and the second ir cut filter 2122 is provided on the surface of the second oblique side 2121 c. Visible light is transmitted through the first right-angle side 2111a, the first infrared cut filter 2112, the second infrared cut filter 2122 and the fourth right-angle side 2121b in this order, and then is incident to the image acquisition module 30. The infrared light is sequentially transmitted through the first right-angle side 2111a, reflected by the first infrared cut-off filter 2112, transmitted through the second right-angle side 2111b, totally reflected by the fifth right-angle side 2131a, totally reflected by the sixth right-angle side 2131b, transmitted through the third right-angle side 2121a, reflected by the second infrared cut-off filter 2122, and transmitted through the fourth right-angle side 2121b, and then incident to the image acquisition module.
Specifically, the first isosceles right triangular prism 2111 includes a first right angle side 2111a, a second right angle side 2111b and a first oblique side 2111c, the first infrared cut filter 2112 is used for cutting infrared light with a wavelength longer than 780nm, allowing visible light to pass through, and further the first infrared cut filter 2112 is disposed on the surface of the first oblique side 2111c, so that the first oblique side 2111c of the first isosceles right triangular prism 2111 is used for reflecting infrared light and passing visible light. The second isosceles right triangular prism 2121 includes a third right angle edge 2121a, a fourth right angle edge 2121b, and a second oblique edge 2121c, and the second ir cut-off filter 2122 is also used for cutting off ir light having a wavelength longer than 780nm, allowing visible light to pass through, and the second ir cut-off filter 2122 is disposed on the surface of the second oblique edge 2121c, so that the second oblique edge 2121c of the second isosceles right triangular prism 2121 is used for reflecting ir light, and the first oblique edge 2111c and the second oblique edge 2121c are disposed opposite to each other, i.e., the first oblique edge 2111c and the second oblique edge 2121c form an angle of 90 °, so that the visible light is transmitted through the first right angle edge 2111a, the first ir cut-off filter 2112 (first oblique edge 2111 c) is transmitted, the second ir cut-off filter 2122 (second oblique edge 2121 c) is transmitted through, and the fourth right angle edge 2121b is transmitted, and then incident on the image acquisition module 30 in sequence in the light splitting module 210.
The third isosceles right triangular prism 2131 includes a fifth right angle side 2131a, a sixth right angle side 2131b and a third oblique side 2131c. The third inclined edge 2131c is disposed corresponding to the second right-angle edge 2111b and the third right-angle edge 2121a, that is, the third inclined edge 2131c forms an angle of 45 ° with the first inclined edge 2111c and an angle of 45 ° with the second inclined edge 2121 c. The fifth right angle side 2131a and the sixth right angle side 2131b of the third isosceles right angle prism 2131 are both used for total reflection of infrared light, the third inclined side 2131c is used for transmission of infrared light, and further, the infrared light is transmitted through the first right angle side 2111a, reflected by the first infrared cut filter 2112 (the first inclined side 2111 c), transmitted by the second right angle side 2111b (the third inclined side 2131 c), totally reflected by the fifth right angle side 2131a, totally reflected by the sixth right angle side 2131b, transmitted by the third right angle side 2121a (the third inclined side 2131 c), reflected by the second infrared cut filter 2122 (the second inclined side 2121 c), and transmitted by the fourth right angle side 2121b in this order in the spectroscopic assembly 210, and then is incident to the image acquisition module. And then, the visible light and the infrared light are separated through different transmission conditions of the three isosceles right triangular prisms on the visible light and the infrared light, and the infrared light is screened out through the first infrared cut-off filter 2112, the fifth right-angle side 2131a and the sixth right-angle side 2131b, so that the accuracy of acquiring the infrared image of the imaging target by the infrared light processing unit 320 can be improved.
Optionally, fig. 3 is a schematic diagram of an optical path related to the law of refraction according to an embodiment of the present invention, referring to fig. 2 and fig. 3, the refractive index of each of the first isosceles right triangular prism 2111 and the second isosceles right triangular prism 2121 is less than 1.414; the refractive index of the third isosceles right triangle prism 2131 is greater than 1.414.
Specifically, assuming that the refractive index of air is 1, the refractive index of the third isosceles right triangular prism 2131 is calculated according to the formula of the law of refraction, such that the third isosceles right triangular prism 2131 is totally reflected, the formula of the law of refraction includes:
wherein n is 2 Is third equal waist right angle triangular prismThe refractive index of mirror 2131, α is the angle of refraction of the light; beta is the angle of incidence of the light. Specifically, as shown in fig. 3, when light is incident into air from an optical dense medium, refraction occurs at the critical surface. Let the refractive index of air be 1 and the refractive index of the optical dense medium be n2. Satisfy the law of refraction:
further, the refractive index of the third isosceles right triangular prism 2131 is calculated according to the formula of the refraction law, the same first isosceles right triangular prism 2111 and second isosceles right triangular prism 2121 do not need to generate total reflection, and further the first isosceles right triangular prism 2111 can not generate total reflection for the visible light wavelength in the range of 380 nm-780 nm by changing the refractive indexes of the first isosceles right triangular prism 2111 and the second isosceles right triangular prism 2121, so that the first light splitting unit 211, the second light splitting unit 212 and the third light splitting unit 213 can separate the visible light and the infrared light, and then commonly enter the image acquisition module. Specifically, if the light splitting module 210 is disposed in air, that is, light is incident into air from the third isosceles right triangular prism 2131, wherein the refractive index of air is 1, and when total reflection occurs, α=pi/2, sinα=1, n can be obtained 2 The angle of incidence β=pi/4 of the third isosceles right triangle prism 2131 is substituted with 1/sin β, n can be obtained 2 About 1.414, that is, the refractive index of the third isosceles right triangular prism 2131 needs to be greater than 1.414, the third isosceles right triangular prism 2131 can satisfy the condition of total reflection of light. Similarly, in order to prevent total reflection of the first isosceles right triangular prism 2111 and the second isosceles right triangular prism 2121, the refractive index of the first isosceles right triangular prism 2111 and the second isosceles right triangular prism 2121 needs to be smaller than 1.414, so that the first light splitting unit 211, the second light splitting unit 212, and the third light splitting unit 213 can separate the visible light and the infrared light, and then, the visible light and the infrared light are commonly incident on the image acquisition module.
In still another embodiment, the third isosceles right triangular prism 2131 may be made to realize total reflection without changing the refractive index of the third isosceles right triangular prism 2131, and instead, the third infrared cut filter 2133 and the fourth infrared cut filter 2134 may be provided on the fifth right side 2131a and the sixth right side 2131b of the third isosceles right triangular prism 2131, respectively, to realize total reflection of infrared light.
Fig. 4 is an optical path schematic diagram of another optical splitting assembly according to an embodiment of the present invention, as shown in fig. 1 and 4, the first optical splitting unit 211 includes a first isosceles right triangular prism 2111 and a first infrared cut filter 2112, the first isosceles right triangular prism 2111 includes a first right angle side 2111a, a second right angle side 2111b and a first oblique side 2111c, the second optical splitting unit 212 includes a second isosceles right triangular prism 2121 and a second infrared cut filter 2122, the second isosceles right triangular prism 2121 includes a third right angle side 2121a, a fourth right angle side 2121b and a second oblique side 2121c, the third optical splitting unit 213 includes a third isosceles right triangular prism 2131, a third infrared cut filter 2133 and a fourth infrared cut filter 2134, and the third isosceles right triangular prism 2131 includes a fifth right angle side 2131a, a sixth right angle side 1b and a third oblique side 2131c. The first infrared cut filter 2112 is provided on the surface of the first oblique side 2111c, the second infrared cut filter 2122 is provided on the surface of the second oblique side 2121c, the third infrared cut filter 2133 is provided on the surface of the fifth right angle side 2131a, and the fourth infrared cut filter 2134 is provided on the surface of the sixth right angle side 2131 b.
Visible light is transmitted through the first right-angle side 2111a, the first infrared cut filter 2112, the second infrared cut filter 2122 and the fourth right-angle side 2121b in this order, and then is incident to the image acquisition module 30. The infrared light is sequentially transmitted through the first right-angle side 2111a, reflected by the first infrared cut filter 2112, transmitted by the second right-angle side 2111b, reflected by the third infrared cut filter 2133, reflected by the fourth infrared cut filter 2134, transmitted by the third right-angle side 2121a, reflected by the second infrared cut filter 2122, and transmitted by the fourth right-angle side 2121b, and then is incident to the image acquisition module 30.
Specifically, the first isosceles right triangular prism 2111 includes a first right angle side 2111a, a second right angle side 2111b and a first oblique side 2111c, the first infrared cut filter 2112 is used for cutting infrared light with a wavelength longer than 780nm, allowing visible light to pass through, and further the first infrared cut filter 2112 is disposed on the surface of the first oblique side 2111c, so that the first oblique side 2111c of the first isosceles right triangular prism 2111 is used for reflecting infrared light and passing visible light. The second isosceles right triangular prism 2121 includes a third right angle edge 2121a, a fourth right angle edge 2121b, and a second oblique edge 2121c, and the second ir cut-off filter 2122 is also used for cutting off ir light having a wavelength longer than 780nm, allowing visible light to pass through, and the second ir cut-off filter 2122 is disposed on the surface of the second oblique edge 2121c, so that the second oblique edge 2121c of the second isosceles right triangular prism 2121 is used for reflecting ir light, and the first oblique edge 2111c and the second oblique edge 2121c are disposed opposite to each other, i.e., the first oblique edge 2111c and the second oblique edge 2121c form an angle of 90 °, so that the visible light is transmitted through the first right angle edge 2111a, the first ir cut-off filter 2112 (first oblique edge 2111 c) is transmitted, the second ir cut-off filter 2122 (second oblique edge 2121 c) is transmitted through, and the fourth right angle edge 2121b is transmitted, and then incident on the image acquisition module 30 in sequence in the light splitting module 210.
The third isosceles right triangular prism 2131 includes a fifth right angle side 2131a, a sixth right angle side 2131b and a third oblique side 2131c. The third inclined edge 2131c is disposed corresponding to the second right-angle edge 2111b and the third right-angle edge 2121a, that is, the third inclined edge 2131c forms an angle of 45 ° with the first inclined edge 2111c and an angle of 45 ° with the second inclined edge 2121 c. The third spectroscopic unit further includes a third infrared cut filter 2133 and a fourth infrared cut filter 2134, and the third infrared cut filter 2133 and the fourth infrared cut filter 2134 are both used for cutting infrared light having a wavelength longer than 780 nm. Further, the third infrared cut filter 2133 is disposed on the surface of the fifth right-angle side 2131a, the fourth infrared cut filter 2134 is disposed on the surface of the sixth right-angle side 2131b, the infrared light is totally reflected by the third infrared cut filter 2133 and the fourth infrared cut filter 2134, the third oblique side 2131c is used for transmitting the infrared light, and the infrared light is transmitted by the first right-angle side 2111a, reflected by the first infrared cut filter 2112, transmitted by the second right-angle side 2111b, reflected by the third infrared cut filter 2133, reflected by the fourth infrared cut filter 2134, transmitted by the third right-angle side 2121a, reflected by the second infrared cut filter 2122, and transmitted by the fourth right-angle side 2121b in this order in the spectroscopic module 210, and then is incident on the image acquisition module 30. And then, the transmission conditions of the three isosceles right triangular prisms on the visible light and the infrared light are different, so that the visible light and the infrared light are separated, and the infrared light is screened out through the first infrared cut-off filter 2112, the third infrared cut-off filter 2133 and the fourth infrared cut-off filter 2134, so that the accuracy of acquiring the infrared image of the imaging target by the infrared light processing unit 320 can be improved.
Optionally, with continued reference to fig. 2 or fig. 4, the first isosceles right triangular prism 2111 and the second isosceles right triangular prism 2121 are disposed opposite to each other, and the first isosceles right triangular prism 2111 and the second isosceles right triangular prism 2121 are disposed on the surface of the third inclined edge 2131c, the first inclined edge 2111c is disposed parallel to the fifth right angle edge 2131a, and the second inclined edge 2121c is disposed parallel to the sixth right angle edge 2131 b.
Specifically, the first isosceles right triangular prism 2111 and the second isosceles right triangular prism 2121 are oppositely disposed, so that the first oblique side 2111c and the second oblique side 2121c form a V-shaped structure, and then the first oblique side 2111c can screen out infrared light and reflect downward toward a direction parallel to the first oblique side 2111a, meanwhile, since the first oblique side 2111c is parallel to the fifth oblique side 2131a, the second oblique side 2121c is parallel to the sixth oblique side 2131b, and then infrared light reflected by the first oblique side 2111c is reflected by the fifth oblique side 2131a, and then enters the sixth oblique side 2131b along a direction parallel to the third oblique side 2131a, and then enters the second oblique side 2121c upward along a direction parallel to the first oblique side 2131a, and finally enters the image acquisition module 2131c along a direction parallel to the third oblique side 2131c after being reflected by the second oblique side 2121c, and thus the accuracy of the image acquisition module 2131c can be improved by arranging the first oblique side 2131c parallel to the fifth oblique side 2131c, and the image acquisition module 320 can be parallel to the image acquisition module 320.
Optionally, with continued reference to fig. 2 or 4, the light splitting assembly 210 further includes an infrared filter 2132 disposed between the second right angle side 2111b and the third right angle side 2131c and between the third right angle side 2121a and the third right angle side 2131 c.
Specifically, an infrared filter 2132 is provided between the first spectroscopic unit 211 and the third spectroscopic unit 213 and between the second spectroscopic unit 212 and the third spectroscopic unit 213, that is, the infrared filter 2132 is located between the second right angle side 2111b and the third oblique side 2131c and between the third right angle side 2121a and the third oblique side 2131 c. The infrared filter 2132 may be an infrared antireflection film, and can increase the transmittance of infrared light. It will be appreciated that, when the infrared light passes through the second right-angle side 2111b and the third inclined side 2131c, the infrared light reflected by the surfaces of the second right-angle side 2111b and the third inclined side 2131c can be reduced, so that the infrared light can be conducted into the third spectroscopic unit 213 as much as possible, the use ratio of the infrared light can be improved, the same infrared filter 2132 is also located between the third right-angle side 2121a and the third inclined side 2131c, and further, when the infrared light is emitted to the second spectroscopic unit 212, the use ratio of the infrared light can be improved, and the accuracy of the infrared light processing unit 320 for obtaining the infrared image of the imaging target can be improved.
Further, infrared filter 2132 includes a 930nm infrared filter. The thickness of the 930nm infrared filter is 232.5nm or 697.5nm.
Specifically, fig. 5 is a schematic diagram of an optical path of air incident on an optical dense medium according to an embodiment of the present invention, as shown in fig. 5, the optical paths from S point to Q point and from W point to Q point are the same, so that the main difference of the optical paths is between a straight line IW and a broken line IKS. And thenThe method comprises the steps of carrying out a first treatment on the surface of the Ik=ks=d/cosr; optical path difference
According toThe method can obtain: />。
Substituting the available optical path difference intoThe formula of the interference constructive is +.>. Where i is the incident angle, r is the refraction angle, delta is the optical path difference, n 1 Refractive index of air, n 2 The refractive index of the optical density medium is d, the thickness of the optical density medium is d, k is a positive integer coefficient, and lambda is the wavelength. Furthermore, when λ=930 nm is substituted into the formula of interference constructive, the thickness of the infrared filter is h=δ/2 when the wavelength of the infrared filter is 930nm, and a plurality of corresponding thicknesses can be obtained through programming. In the actual film coating process, the thickness of the common film layer is about 300nm, the thicknesses of the 930nm infrared filter can be further selected to be 232.5nm and 697.5nm, and the proper thickness is further selected according to the wavelength of the infrared filter, so that the transmittance of the infrared filter at the corresponding wavelength is increased, and the accuracy of the infrared ray processing unit for acquiring the infrared image of the imaging target is improved.
Optionally, fig. 6 is a schematic structural diagram of an image acquisition module according to an embodiment of the present invention, referring to fig. 6, the visible light processing unit 310 includes a plurality of red filtering subunits R, a plurality of blue filtering subunits B, and a plurality of green filtering subunits G; the number of green filter subunits G is greater than the number of red filter subunits R and blue filter subunits G. The infrared light processing unit 320 includes a plurality of infrared filtering subunits N, and a red filtering subunit R, a blue filtering subunit B, a green filtering subunit G, and an infrared filtering subunit N are arranged in an array and are disposed at intervals.
Specifically, the visible light processing unit 310 and the infrared light processing unit 320 are disposed in the same area, where the visible light processing unit 310 includes a plurality of red filtering subunits R, a plurality of blue filtering subunits B and a plurality of green filtering subunits G, and since the human eye is most sensitive to green, the number of green filtering subunits G may be twice the sum of the number of red filtering subunits R and the number of blue filtering subunits B, and further the visible light is identified by the plurality of red filtering subunits R, the plurality of blue filtering subunits B and the plurality of green filtering subunits G, so as to obtain the color plane image of the imaging target. The infrared light processing unit 320 includes a plurality of infrared filtering subunits N, and further, the infrared light is identified by the plurality of infrared filtering subunits N, so as to obtain an infrared image of the imaging target. The red filtering subunit R, the blue filtering subunit B, the green filtering subunit G and the infrared filtering subunit N are arranged in an array and are arranged at intervals, that is, the two green filtering subunits G, the red filtering subunit R and the infrared filtering subunit N form a minimum repeating unit, or the two green filtering subunits G, the blue filtering subunit B and the infrared filtering subunit N form a minimum repeating unit, and the plurality of minimum repeating units are arranged in an array, so that the image acquisition module 30 not only ensures the accuracy of infrared ray imaging, but also can image visible rays, and meanwhile, the registration accuracy of the color plane image and the infrared image is improved.
It should be noted that, after the infrared light is screened out and the infrared image is obtained, the processing module may obtain the depth information of the imaging target through the triangulation method. Fig. 7 is a schematic diagram of a triangle ranging method according to an embodiment of the present invention, and as shown in fig. 7, the depth information of the infrared image is calculated by comparing the captured actual image with the reference image. As can be seen from fig. 7, the coordinates O (0, 0), a (b, 0), let oe=x 0 Then C (x) 0， z 0 ). From the following componentsThe method can obtain:i.e. +.>Can get +.>It is possible to obtain M point coordinates +.>Let the linear OM point function be y=kx, substituting the M point coordinates to obtain +.>I.e. +.>The method comprises the steps of carrying out a first treatment on the surface of the Let y=z 0 Substitution can get +.>The method comprises the steps of carrying out a first treatment on the surface of the Further, the coordinates of the T point can be obtained as。
From the following componentsCan get->Substituting to obtain:
can be obtained by simplificationWherein the depth information of each light spot in the actual image of the infrared light is obtained; z is Z 0 Distance between the reference image and the color imaging component; b is the distance between the center line of the light emitting module and the center line of the image acquisition module; f is the effective focal length; l is the pixel value between the position of the infrared filtering subunit of the same infrared light when the actual image is shot and the position of the infrared filtering subunit when the reference image is shot. By calculating pixel values between the positions of the IR filter sub-units when capturing the actual image and the positions of the IR filter sub-units when capturing the reference image Thus, the actual depth of each light spot can be calculated, and the depth information of the imaging target can be obtained.
Optionally, with continued reference to fig. 1, the light receiving module 20 further includes a first optical train 220, where the first optical train 220 is disposed in an optical path between the imaging target and the light splitting component 210, the first optical train 220 includes a first lens 221, a second lens 222, a third lens 223, and a fourth lens 224 sequentially disposed along an object plane side to an image plane side, an object plane side surface of the first lens 221 is an aspheric convex surface, an image plane side surface is a plane, an object plane side surface of the second lens 222 is an aspheric convex surface, an image plane side surface is a plane, an object plane side surface of the third lens 223 is an aspheric convex surface, an image plane side surface of the fourth lens 224 is a plane, and an object plane side surface of the fourth lens 224 is an aspheric convex surface.
Specifically, the light receiving module 20 further includes a first optical train 220, where the first optical train 220 is disposed in an optical path between the imaging target and the light splitting component 210, so as to receive the visible light and the infrared light reflected by the imaging target through the first optical train 220. The first optical train 220 includes a first lens 221, a second lens 222, a third lens 223, and a fourth lens 224 sequentially disposed along an object plane side to an image plane side, that is, along a direction in which an imaging target is directed to the optical splitter 210, where the first optical train 220 includes the first lens 221, the second lens 222, the third lens 223, and the fourth lens 224 sequentially, an object plane side surface of the first lens 221 is an aspheric convex surface, an image plane side surface is a plane, an object plane side surface of the second lens 222 is an aspheric convex surface, an image plane side surface of the third lens 223 is an aspheric convex surface, an image plane side surface of the fourth lens 224 is a plane, an image plane side surface is an aspheric convex surface, which can be understood as a surface of the lens facing the object plane side, and a phase plane side can be understood as a surface of the lens facing the image plane side.
Optionally, with continued reference to fig. 1, the light emitting module 10 includes a lattice laser array 110, a second optical train 120, and a diffractive optical element 130, the second optical train 120 being located in an optical path between the lattice laser array 110 and the diffractive optical element 130, the lattice laser array 110 being configured to emit infrared light, the second optical train 120 being configured to collimate the infrared light, and the diffractive optical element 130 being configured to diffract the infrared light to form a plurality of infrared light bundles.
Specifically, the light emitting module 10 includes a lattice laser array 110, a second optical train 120, and a diffractive optical element 130, where the second optical train 120 is located in the optical path between the lattice laser array 110 and the diffractive optical element 130. The lattice laser array 110 is configured to emit infrared light arranged in an array, the second optical train 120 includes a fifth lens 121, a sixth lens 122 and a seventh lens 123, and the fifth lens 121, the sixth lens 122 and the seventh lens 123 are sequentially arranged along a direction in which the diffractive optical element 130 points to the lattice laser array 110, and as a divergence angle of the infrared light emitted by the lattice laser array 110 is larger, beam waist collimation is required to be performed on the infrared light by the second optical train 120, so that a beam passing through the second optical train 120 is similar to parallel light. The diffractive optical element 130 is configured to diffract the infrared light to form a plurality of infrared light beams, for example, the infrared light emitted by the lattice laser array 110 can be diffracted to form 5×13 equal parts of infrared light beams, so as to increase the number of infrared light beams, and further facilitate the identification of the infrared image of the imaging target.
Based on the same inventive concept, the embodiment of the invention also provides an image processing method of the color imaging assembly, which is applied to the color imaging assembly. Fig. 8 is a flowchart of an image processing method according to an embodiment of the present invention, referring to fig. 8, the image processing method includes:
s110, acquiring an infrared image and a color plane image of an imaging target.
Specifically, the color imaging assembly comprises a light emitting module, a light receiving module and an image acquisition module. The light receiving module comprises a light splitting component, after the light receiving module receives visible light rays and infrared light rays reflected by an imaging target, the light splitting component screens out the infrared light rays reflected by the imaging target, and then the infrared light rays and the visible light rays reflected by the imaging target are separated, and after passing through different light propagation paths, the infrared light rays and the visible light rays are converged and are commonly incident to the image acquisition module. The image acquisition module comprises a visible light processing unit and an infrared light processing unit, wherein the visible light processing unit and the infrared light processing unit are located in the same area of the image acquisition module, and then after the infrared light and the visible light are converged, the visible light and the infrared light are jointly incident into the same area of the image acquisition module, so that the infrared light is incident into the infrared light processing unit in the same area, and after the infrared light is received by the infrared light processing unit, an infrared image of an imaging target is acquired according to the infrared light. After the visible light processing unit receives the visible light, a color plane image of the imaging target is generated according to the visible light, and then the processing module acquires the color plane image of the imaging target.
S120, generating depth information of the imaging target according to the infrared image.
After the infrared light processing unit generates an infrared image of the imaging target according to the infrared light, the processing module acquires the infrared image of the imaging target and processes the infrared image to generate depth information of the imaging target, for example, a triangular ranging algorithm is arranged in the processing module, after the infrared image of the imaging target is obtained, the captured actual image is compared with a reference image, and the depth information of the infrared image is obtained through calculation. The processing module may be located in the color imaging component, or may be located in another component matched with the color imaging component, which is not limited by the embodiment of the present invention.
S130, generating a color stereoscopic image of the imaging target according to the depth information and the color plane image.
Specifically, the processing module fuses the depth information and the color plane image information after acquiring the depth information and the color plane image of the imaging target, and generates a color stereoscopic image. The color stereoscopic image is equivalent to a three-dimensional color model of an imaging target, namely, a user can acquire image information of the imaging target in different directions by rotating the three-dimensional color model, and as the visible light ray processing unit and the infrared light ray processing unit are located in the same area of the image acquisition module, namely, the last screened infrared light ray and the visible light ray are converged and are commonly incident to the visible light ray processing unit and the infrared light ray processing unit located in the same area, the registration precision of the color plane image and the infrared image is improved, the acquired color stereoscopic image is ensured to be closer to the imaging target, and the use experience of the user is improved.
In summary, the image processing method provided by the embodiment of the invention includes the steps of acquiring an infrared image of an imaging target, generating depth information of the imaging target according to the infrared image, acquiring a color plane image of the imaging target, and generating a color stereoscopic image of the imaging target according to the depth information and the color plane image, wherein the infrared image and the color plane image acquired by a processing module are respectively from a visible ray processing unit and an infrared ray processing unit in the same area in an image acquisition module, and further, infrared rays screened by a light splitting assembly are converged with the visible rays and are commonly incident to the visible ray processing unit and the infrared ray processing unit in the same area, so that the registration precision of the color plane image and the infrared image is improved, the acquired color stereoscopic image is ensured to be closer to the imaging target, and the use experience of a user is improved.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims (10)

1. A color imaging component, which is characterized by comprising a light emitting module, a light receiving module and an image acquisition module;
the light ray emission module is used for emitting infrared light rays to an imaging target;
the light receiving module comprises a light splitting component, and the light splitting component is used for separating visible light rays and infrared light rays reflected by the imaging target and then respectively transmitting the separated visible light rays and infrared light rays to the image acquisition module;
the image acquisition module comprises a visible light ray processing unit and an infrared light ray processing unit, and the visible light ray processing unit and the infrared light ray processing unit are positioned in the same area of the image acquisition module; the visible ray processing unit is used for acquiring a color plane image of the imaging target according to the visible rays; the infrared ray processing unit is used for acquiring an infrared image of the imaging target according to the infrared rays, wherein depth information of the imaging target is obtained after the infrared image is processed;
the light splitting assembly comprises a first light splitting unit, a second light splitting unit and a third light splitting unit;
the visible light is transmitted by the first light splitting unit and the second light splitting unit in sequence and then enters the image acquisition module;
The infrared light is reflected by the first light splitting unit, the third light splitting unit and the second light splitting unit in sequence and then enters the image acquisition module; the propagation path of the infrared light after being reflected by the second light splitting unit is not coincident with the propagation path of the visible light after being transmitted by the second light splitting unit;
the visible ray processing unit comprises a plurality of red filtering subunits, a plurality of blue filtering subunits and a plurality of green filtering subunits; the number of the green filter subunits is greater than the number of the red filter subunits and the blue filter subunits;
the infrared ray processing unit comprises a plurality of infrared filtering subunits;
the red filtering subunit, the blue filtering subunit, the green filtering subunit and the infrared filtering subunit are arranged in an array and are arranged at intervals.
2. The color imaging assembly of claim 1 wherein the first light splitting unit comprises a first isosceles right triangle and a first infrared cut filter, the first isosceles right triangle comprising a first right side, a second right side, and a first hypotenuse; the second light splitting unit comprises a second isosceles right-angle triangular prism and a second infrared cut-off filter, and the second isosceles right-angle triangular prism comprises a third right-angle side, a fourth right-angle side and a second oblique side; the third light splitting unit comprises a third isosceles right triangular prism, and the third isosceles right triangular prism comprises a fifth right angle side, a sixth right angle side and a third hypotenuse;
The first infrared cut filter is arranged on the surface of the first inclined edge; the second infrared cut filter is arranged on the surface of the second inclined edge;
the visible light is transmitted by the first right-angle side, the first infrared cut-off filter, the second infrared cut-off filter and the fourth right-angle side in sequence and then is incident to the image acquisition module;
the infrared light is sequentially transmitted through the first right-angle side, the first infrared cut-off filter, the second right-angle side, the fifth right-angle side, the sixth right-angle side, the third right-angle side, the second infrared cut-off filter and the fourth right-angle side, and then is incident to the image acquisition module.
3. The color imaging assembly of claim 2 wherein the refractive index of both the first isosceles right triangular prism and the second isosceles right triangular prism is less than 1.414;
the refractive index of the third isosceles right triangular prism is greater than 1.414.
4. The color imaging assembly of claim 1 wherein the first light splitting unit comprises a first isosceles right triangle and a first infrared cut filter, the first isosceles right triangle comprising a first right side, a second right side, and a first hypotenuse; the second light splitting unit comprises a second isosceles right-angle triangular prism and a second infrared cut-off filter, and the second isosceles right-angle triangular prism comprises a third right-angle side, a fourth right-angle side and a second oblique side; the third light splitting unit comprises a third isosceles right triangular prism, a third infrared cut-off filter and a fourth infrared cut-off filter, and the third isosceles right triangular prism comprises a fifth right angle side, a sixth right angle side and a third hypotenuse;
The first infrared cut filter is arranged on the surface of the first inclined edge; the second infrared cut filter is arranged on the surface of the second inclined edge; the third infrared cut-off filter is arranged on the surface of the fifth right-angle side; the fourth infrared cut-off filter is arranged on the surface of the sixth right-angle side;
the visible light is transmitted by the first right-angle side, the first infrared cut-off filter, the second infrared cut-off filter and the fourth right-angle side in sequence and then is incident to the image acquisition module;
the infrared light is incident to the image acquisition module after passing through the first right-angle side transmission, the first infrared cut-off filter reflection, the second right-angle side transmission, the third infrared cut-off filter reflection, the fourth infrared cut-off filter reflection, the third right-angle side transmission, the second infrared cut-off filter reflection and the fourth right-angle side transmission in sequence.
5. The color imaging assembly of claim 2 or 4, wherein the first isosceles right triangular prism and the second isosceles right triangular prism are disposed opposite each other, and the first isosceles right triangular prism and the second isosceles right triangular prism are disposed on the third bevel surface; the first bevel edge is arranged in parallel with the fifth right-angle edge, and the second bevel edge is arranged in parallel with the sixth right-angle edge.
6. The color imaging assembly of claim 2 or 4, wherein the light splitting assembly further comprises an infrared filter disposed between the second right angle side and the third oblique side and between the third right angle side and the third oblique side.
7. The color imaging assembly of claim 6 wherein the infrared filter comprises a 930nm infrared filter.
8. The color imaging assembly of claim 7 wherein the 930nm infrared filter has a thickness of 232.5nm or 697.5nm.
9. The color imaging assembly of claim 1 wherein the light receiving module further comprises a first optical train disposed in an optical path between the imaging target and the light splitting assembly;
the first optical system comprises a first lens, a second lens, a third lens and a fourth lens which are sequentially arranged along the object plane side to the image plane side;
the object plane surface of the first lens is an aspheric convex surface, and the image plane surface is a plane;
the object plane surface of the second lens is an aspheric convex surface, and the image side surface is a plane;
the object-plane side surface of the third lens is an aspheric convex surface, and the image-plane side surface is a plane;
The object-plane surface of the fourth lens is a plane, and the image-plane surface of the fourth lens is an aspheric convex surface.
10. An image processing method of a color imaging assembly, the image processing method comprising:
acquiring an infrared image and a color plane image of an imaging target; the infrared image and the color plane image being output by the color imaging assembly of any one of claims 1-9;
generating depth information of the imaging target according to the infrared image;
and generating a color stereoscopic image of the imaging target according to the depth information and the color plane image.
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