CN1414420A - Method and device of 3D digital imaging with dynamic multiple resolution ratio - Google Patents
Method and device of 3D digital imaging with dynamic multiple resolution ratio Download PDFInfo
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- CN1414420A CN1414420A CN 02131096 CN02131096A CN1414420A CN 1414420 A CN1414420 A CN 1414420A CN 02131096 CN02131096 CN 02131096 CN 02131096 A CN02131096 A CN 02131096A CN 1414420 A CN1414420 A CN 1414420A
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Abstract
A 3-D digital imaging device includes a double acousto-optical illumination emitter, an image-sensing receiver and an image processor. The said illumination emitter generates the structured light sequence with different space cycle or the frequency as well as the different phase migration. The said sequence is projected onto the digitized scenery according to the time sequence. Thus, the depth information of the scenery is encoded in the space-time sequence. The image-sensing receiver captures the digital image of the structure light encoded in space-time sequence. The image processor decodes the encoded structured light image so as to obtain the 3-D depth information with multiple resolutions of the scenery, i.e. 3-D digital image.
Description
Technical field
The present invention relates to a kind of method and device of 3 D digital imaging of dynamic multiple resolution ratio, belong to the 3 D digital imaging technology.
Background technology
Can obtain the high density depth data of scenery non-contactly based on the three-dimensional imaging technology of active laser triangulation, comprise the three-dimensional imaging technology of laser spots scanning triangulation and laser sheet scanning triangulation, for example CYBERWARE (
Www.cyberware.com) and DIGIBOT (
Www.digibotics.com) 3D digitizer of company, said method and apparatus all needs machinery or optical scanning mechanism, so the speed of three-dimensional imaging is very limited.Three-dimensional imaging technology based on fringe projection and phase measurement need not any machinery or optical scanning mechanism, and not only have the characteristics of noncontact, high density depth data but also possess the feature of whole audience Depth Information Acquistion, thereby by extensive studies and development.
The 3 D digital imaging based on fringe projection and phase measurement that proposes roughly comprises two classes at present: laser interferencefringes projection and white light optical grating projection.Striped or grating project on the scenery as the spatial carrier of single-frequency, scenery is coded in depth information among the spatial carrier of modulation, imaging device and photodetector obtain single width or several space encoder carrier wave images, by said coding carrier wave image being carried out the depth data of optics or digital decoding acquisition scenery.One of effective ways of the spatial carrier image of decode modulated are by " phase shift algorithm ", and this need produce the above phase shifts space encoder carrier wave figure of three width of cloth.Said method can only produce the striped or the grating of fixing and single spatial frequency (or cycle) mostly, being difficult to fast, (as video rate) produces phase shifts, can not be applied to the occasion of dynamic 3 D sensing, three-dimensional imaging to arbitrary shape scenery object does not have universality, and for example said method all lost efficacy when the very big variation of gradient appears in scenery.The technical literature that can contrast has down with four pieces: [1] patent of invention: application number 98102408[2] patent of invention: application number 98111691.[3]M.Rioux，“Three?dimensional?imaging?method?and?device”.US?Patent?4,627,734[4]M.Halioua?and?V.Srinivasan，“Method?and?apparatus?for?surface?profilometry”.US?Patent4,641,972
Summary of the invention
The object of the present invention is to provide a kind of method and device of 3 D digital imaging of dynamic multiple resolution ratio.This technology is applied to dynamic 3 D sensing occasion with the illumination of the sine space carrier wave sequence of real-time generation spatial variable frequency and phase shift, and the three-dimensional imaging of the scenery object of arbitrary shape is all had universality.
For achieving the above object, the present invention is realized by following technical proposals.Employing comprises the device that alliteration optical illumination transmitter, image sensing receiver and image processor constitute, and implements the three-dimension digital imaging method to the scenery dynamic multiple resolution ratio.It is characterized in that alliteration optical modulation illumination transmitter and image sensing receiver form a fixed angle in same plane, space, they and illuminated scenery constitute a triangle; The line of transmitter and receiver relative position is a baseline, the illumination transmitter is with the spatial variable frequency of real-time generation and the sine space carrier wave sequence illumination scenery of phase shifts, and scenery is carried out the room and time sequential coding of the degree of depth, obtain the structured light of the phase shift sinusoidal carrier of room and time sequential coding, obtain multiresolution three-dimensional depth information to scenery, i.e. 3-dimensional digital picture through decoding again.
Above-mentioned carries out the room and time sequential coding of the degree of depth to scenery, is respectively with ξ
1, ξ
2=x ξ
1... ξ
M=x ξ
M-1(wherein x is a positive integer) different frequency and same frequency are moved (δ with out of phase
1, δ
2δ
N) the striated structure light scenery that throws light on successively, obtain the fringe intensity distribution plan of M * N coding respectively, utilize " phase shift algorithm " to calculate the phase diagram Φ of each fringe intensity distribution plan
1, Φ
2, Φ
3Φ
M, in each phase diagram, eliminate 2 π uncertainties, thereby scenery obtained the degree of depth picture that resolution is gone forward one by one successively.
According to above-mentioned method, realize the device of the 3 D digital imaging of dynamic multiple resolution ratio, mainly comprise alliteration optical modulation illumination transmitter, image sensing receiver and image processor, said image sensing receiver comprises that optical imaging lens and photodetector constitute, optical imaging lens can be imaging len or the lens combination that focuses distance or varifocal, the binary optical imaging system, diffraction element imaging system, micro imaging system; Said photoelectric detector can be a charge-coupled image sensor, liquid crystal device, spatial light modulation device or by digital camera; Described image processor is the combination of digital signal processor and programmable asic, also can be that general image transaction card and computer combined constitute, it is characterized in that, alliteration optical modulation illumination transmitter, it is to be made of coherent source, beam splitter, alliteration photomodulator and radio-frequency (RF) driver circuit, directional trim device, spatial filter, beam separation transducer (wedge), condenser lens, microcobjective; Its driving radiofrequency signal is that frequency is identical and have the drive signal of 0～2 π controllable phase difference and a real-time change frequency.
The invention has the advantages that: (1) total system adopts structure of whole solid state, does not have any mechanical motion, and therefore stability and repeated performance are fine; (2) " light path altogether " or " aplanatism " symmetrical structure are adopted in the design of alliteration optical modulation illumination transmitter, influence that therefore can the make-up air disturbance; (3) the striated structure light sequence of different azimuth be can obtain by plural alliteration optical modulation illumination transmitter and the various combination of image sensing receiver on the locus, the precision and the dirigibility of 3 D digital imaging increased thus greatly.
Description of drawings:
Fig. 1 is the principle of work synoptic diagram of the inventive method
Fig. 2 is the structured flowchart of alliteration light (AOM) modulation illumination transmitter
Fig. 3 is that synoptic diagram is put in the position when adopting an alliteration optical modulation illumination transmitter and two image sensing receivers to scenery irradiation imaging.
Fig. 4 is the vertical view of Fig. 3 device when same plane and straight line is put.
Fig. 5 is Fig. 3 device at the vertical view that same plane is triangular in shape when putting.
Fig. 6 adopts an image sensing receiver and two alliteration optical modulation illumination transmitters that scenery irradiation image space is put synoptic diagram.
Fig. 7 is the vertical view of Fig. 6 device when same plane and straight line is put.
Fig. 8 is Fig. 6 device at the vertical view that same plane is triangular in shape when putting.
101 is alliteration optical modulation illumination transmitters among the figure, the 102nd, image sensing receiver, the 103rd, image processor, the 104th, scenery, the 201st, coherent source, the 202nd, beam splitter, 203 and 204 is acousto-optic modulators, 205 and 206 is directional trim device (wedges), the 207th, the double space wave filter, the 208th, bundling device, the 209th, condenser lens, the 210th, microcobjective.
Embodiment
Below in conjunction with accompanying drawing embodiments of the present invention are done and to be explained.
As shown in Figure 1: same plane forms a fixing angle in the space for alliteration optical modulation illumination transmitter and image sensing receiver, and the relative position of the optical axis of luminaire and imaging optical axis and illumination transmitter and image sensing receiver constitutes a triangle.The frequency of the radio-frequency (RF) driving signal of alliteration optical modulation illumination transmitter and phase place are by computing machine or the digital signal processor and the D/A conversion and control of image processor.Line between illumination transmitter and the image sensing receiver relative position is defined as baseline, and alliteration optical modulation illumination transmitter and image sensing receiver together are placed on the place ahead of scenery to be measured.Alliteration optical modulation illumination transmitter produces the Space Time striated structure light sequence of spatial variable frequency and different phase-shift phases, and project on the scenery, scene depth information carries out phase encode and the result is sent to image processor the Space Time striated structure light sequence of spatial variable frequency and different phase-shift phases.Following steps are adopted in concrete operations: (1) uses space low-limit frequency ξ
1(ξ for example
1Be the inverse in a spatial fringe cycle) and out of phase move (δ
1, δ
2..., δ
N, N 〉=3) the striated structure light tested scenery that throws light on successively, obtain the fringe intensity distribution plan of the space encoding of each width of cloth phase shifts by imaging system and image sensing receiver sequential, utilize " phase shift algorithm " to calculate the phase diagram φ that fringe intensity distributes
1(not having 2 π uncertainties) can calculate definite non-integer fringe order by said phase diagram according to above-mentioned said triangle relation, further obtains the rough profile of scenery thus; (2) spatial frequency is adjusted to ξ
2=X ξ
1, wherein X is a positive integer, uses frequency ξ
2The tested scenery of striated structure optical illumination with out of phase is moved calculates second phase diagram φ according to above-mentioned said method
2, can eliminate 2 π uncertainties with the phase retrieval algorithm, the phase diagram that obtains will make φ
2Resolution compare φ
1Resolution improve X doubly because the preceding ξ that once uses
1The uncertain result of 2 π who has told can inherit and use ξ
2In the process of measuring; (3) in case use ξ
2It is uncertain to tell 2 π, then can proceed to the 3rd measurement of differentiating level, so repeats, and can improve constantly the resolution of scenery profile three-dimensional imaging.
Fig. 2 is a specific embodiment of alliteration light (AOM) modulation illumination transmitter 101.The light beam that coherent source 201 produces forms two bundle directional lights through Amici prism 202 backs, incide the input end of two acousto-optic modulators 203 and 204 respectively with the Bragg angle, output terminal at two acousto-optic modulators (AOM) takes out positive first-order diffraction light respectively, readjusting through two wedges 205 and 206 is two bundle directional lights, enter bundling device 208 through spatial filter again and change its spacing, obtain the microstructure of interference field then through condenser lens 209, the sine streak that obtains amplifying through micro-amplifying unit 210 distributes again.The frequency of the radio-frequency (RF) driving signal by two acousto-optic modulators of computer control (AOM) can two AOM of sequence change first-order diffraction diffraction of light angle, control the phase shifts that first-order diffraction light that the phase differential of the radio-frequency (RF) driving signal of two acousto-optic modulators (AOM) can two AOM of sequence change produces each other, thereby produce the Space Time striated structure light sequence of spatial variable frequency and different phase-shift phases.Fringe spatial frequency and phase shift momentum all can change by the bandwidth that changes radiofrequency signal, the delay that changes sonic propagation can realize that therefore the Space Time frequency conversion bar graph illumination that produces with said method can be much higher than video rate (about 40 milliseconds of every frame) in the millisecond magnitude.
Fig. 3 is another embodiment of the present invention, and it is to adopt an alliteration optical modulation photograph transmitter and two image sensing receivers that scenery is shone imaging device location arrangements synoptic diagram, and Fig. 4 is the vertical view of two kinds of different layouts in space of Fig. 3 with Fig. 5.Use an alliteration light (AOM) modulation illumination transmitter 101 and two image sensing receivers 102 in this embodiment, produce the Space Time striated structure light sequence of also projecting space frequency conversion and different phase-shift phases by said alliteration light (AOM) modulation illumination transmitter, fringe spatial frequency and phase shift momentum all can change by the bandwidth that changes radiofrequency signal, obtain the light intensity distributions of the Space Time sequence bar graph after the process scene depth information is encoded respectively successively or simultaneously from both sides by said two image sensing receivers, and the result is sent to image processor the light intensity distributions of said coding Space Time sequence bar graph is carried out phase decoding, computing machine with two groups of phase decoding data fusion of said two receivers of correspondence together result to the end.Use two image sensing receivers can avoid since the scenery degree of depth produce block phenomenon, increased the field range of three-dimensional sensing.
Fig. 6 is another embodiment of the present invention, and it is to adopt an image sensing receiver and two alliteration rayed transmitters that scenery is shone imaging device location arrangements synoptic diagram, and Fig. 7 and 8 is their vertical views two kinds of different layouts in space.Use two alliteration light (AOM) modulation illumination transmitter 101 and an image sensing receiver 102 in this embodiment, produce and throw the identical or different spatial variable frequency of two kinds of dimensional orientations and spatial frequency and the Space Time striated structure light sequence of phase shift from both sides by said two alliteration light (AOM) modulation illumination transmitter, fringe spatial frequency and phase shift momentum all can change by the bandwidth that changes radiofrequency signal, obtain successively or simultaneously through behind the scene depth information coding from a side by a said image sensing receiver, the light intensity distributions of the Space Time sequence bar graph of corresponding said two alliteration light (AOM) modulation illumination transmitter, and the result is sent to image processor the light intensity distributions of said coding Space Time sequence bar graph is carried out phase decoding successively or simultaneously, computing machine with two groups of phase decoding data fusion of corresponding two transmitters together result to the end.Use two alliteration light (AOM) modulation illumination transmitter can produce dimensional orientation and the identical or different sequence Space-Time Structured Illumination of frequency, can increase the sensitivity and the universality of 3 D digital imaging greatly.
Claims (3)
1, a kind of method of 3 D digital imaging of dynamic multiple resolution ratio, this method adopts the device that comprises that alliteration optical illumination transmitter, image sensing receiver and image processor constitute, enforcement is to the 3 D digital imaging of scenery dynamic multiple resolution ratio, it is characterized in that: alliteration optical modulation illumination transmitter and image sensing receiver form a fixed angle in same plane, space, and they and illuminated scenery constitute a triangle; The line of transmitter and receiver relative position is a baseline, the illumination transmitter is with the spatial variable frequency of real-time generation and the sine space carrier wave sequence illumination scenery of phase shifts, and scenery is carried out the room and time sequential coding of the degree of depth, obtain the structured light of the phase shift sinusoidal carrier of room and time sequential coding, obtain multiresolution three-dimensional depth information to scenery, i.e. 3-dimensional digital picture through decoding again.
2, press the method for the 3 D digital imaging of the described dynamic multiple resolution ratio of claim 1, it is characterized in that: scenery is carried out the room and time sequential coding of the degree of depth, is respectively with ξ
1, ξ
2=x ξ
1... ξ
M=x ξ
M-1(wherein x is a positive integer) different frequency and same frequency are moved (δ with out of phase
1, δ
2δ
N) the striated structure light scenery that throws light on successively, obtain the fringe intensity distribution plan of M * N coding respectively, utilize " phase shift algorithm " to calculate the phase diagram Φ of each fringe intensity distribution plan
1, Φ
2, Φ
3Φ
M, in each phase diagram, eliminate 2 π uncertainties, thereby scenery obtained the degree of depth picture that resolution is gone forward one by one successively.
3, in accordance with the method for claim 1 a kind of, realize the device of the 3 D digital imaging of dynamic multiple resolution ratio, this device comprises that mainly alliteration optical modulation illumination transmitter, image sensing receiver and image processor constitute, said image sensing receiver comprises that optical imaging lens and photodetector constitute, optical imaging lens can be imaging len or the lens combination that focuses distance or varifocal, the binary optical imaging system, diffraction element imaging system, micro imaging system; Said photoelectric detector can be a charge-coupled image sensor, liquid crystal device, spatial light modulation device or digital camera; Described image processor is the combination of digital signal processor and programmable asic, also can be that general image transaction card and computer combined constitute, it is characterized in that: alliteration optical modulation illumination transmitter, it is to be made of coherent source, beam splitter, alliteration photomodulator and radio-frequency (RF) driver circuit, directional trim device, spatial filter, beam separation transducer (wedge), condenser lens, microcobjective; Its driving radiofrequency signal is that frequency is identical and have the drive signal of 0～2 π controllable phase difference and a real-time change frequency.
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| CNB021310963A CN1176351C (en) | 2002-10-09 | 2002-10-09 | Method and device of 3D digital imaging with dynamic multiple resolution ratio |
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| CNB021310963A CN1176351C (en) | 2002-10-09 | 2002-10-09 | Method and device of 3D digital imaging with dynamic multiple resolution ratio |
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| CN1176351C CN1176351C (en) | 2004-11-17 |
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| US12066546B2 (en) | 2018-09-11 | 2024-08-20 | Nlight, Inc. | Electro-optic modulator and methods of using and manufacturing same for three-dimensional imaging |
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