KR20020030943A - The imaging system using off-axis incident beam - Google Patents

Abstract

PURPOSE: A device for processing video information of off-axis incident beam is provided to collect the off-axis incident beam incident through one light collecting unit, so as to acquire off-axis incident beam videos through the arrangement of optical/electric signal conversion units at a light collecting position, that is, a focal plane. Accordingly, the device obtains a distance of an object and solid information. CONSTITUTION: One light collecting unit and optical/electric signal conversion units such as a CCD(Charge Coupled Device) are arranged at a focal plane, and off-axis incident beam videos are acquired and digitalized(401). A position on the CCD of an object and a refracting angle of incident beam are searched from the acquired video signals, using a unit of acquiring off-axis incident light video signals(406). Incident beam corresponding to the object and an incident angle of ray passing a center of a lens system are estimated, to calculate a distance between the object and the light collecting unit(407), and the video signals are compared(402). Videos having an identical video acquiring time are searched from the off-axis incident beam video signals acquired in the 401 step(403). Off-axis incident beam videos of an identical position are searched from the videos searched(404). Solid information such as angle information and depth information of the videos acquired from each off-axis incident beam video signals is extracted, compressed, stored, encoded, or output(405).

Description

The imaging system using off-axis incident beam

The present invention receives an off-axis incident beam incident through one light receiving device, and receives an off-axis incident light image through an array of optical / electrical signal converters at a light receiving position (focal plane). A non-incident incident light image information processing apparatus for acquiring and obtaining distance and stereoscopic information of an object therefrom.

3D stereoscopic image refers to the reconstruction of the depth information of the image from the image and displacement information of the object to visual information. 3D stereoscopic image has been developed and developed so far, and its application is mainly used. Because it can provide more realistic and richer image quality than dimensional images, it is being studied a lot in the field of measurement that requires precise image data such as aeronautical and satellite remote sensing, medical, surveying and automation.

The technique of acquiring 3D stereoscopic image is to acquire the image and displacement information of the object, and the method of obtaining 3D coordinates by mechanically contacting each point of the object sequentially with a contact probe (Probe). As a more advanced technology, similar to the human visual structure, images are acquired with natural objects placed under natural lighting conditions, and displacements of coincidence points are obtained from the acquired left and right images, and then simple triangulation is used. Stereo vision method for acquiring depth information, point light source scanning method for obtaining stereoscopic information by scanning a laser or point light source, and a slit for generating stereoscopic light source using a lens or mirror to obtain stereoscopic information in line units ( Light scanning method, pattern light scanning that obtains stereoscopic information by analyzing the shape change of the object surface by projecting a specific reference pattern on the object Expression and the like have been developed in various forms.

The present invention simply measures the distance without a separate device such as a light source, and acquires image information of objects at different positions with time difference, such as aviation and satellite exploration and automatic measurement equipment of industrial sites, or changes shape of objects over time. In order to provide a means for acquiring a stereoscopic image in the case of being negligible, the non-axis incident light incident through the one light receiving device is received, and through the optical / electric signal conversion device arrangement of the light receiving position (focal plane), It is to obtain the incident light image and to obtain stereoscopic information such as distance and displacement of the object from it.

The non-incident incident light image acquisition device of the present invention is configured by setting one light receiving device and arranging optical / electrical signal conversion devices at a distance away from the optical axis in order to be usefully used in various optical measurement and remote sensing fields. And acquiring non-incident incident light image signals, and comparing the time signals and the time information at the time of acquisition with the acquisition position information from the non-incident incident light signals thus obtained, thereby simply finding stereoscopic information. There is a characteristic.

1 is a conceptual diagram of a general image acquisition device

2 is an optical system analysis conceptual diagram

3 is a conceptual diagram of acquiring non-incident light image signal of the present invention;

4 is a flowchart illustrating a method for processing non-incident light image signals according to the present invention.

5 is a schematic view of a non-incident light image processing apparatus of the present invention;

6 is an explanatory diagram illustrating a concept of non-incident incident light image information processing according to the present invention;

7 is an embodiment of the present invention

[Explanation of symbols on the main parts of the drawings]

101: light receiving device (lens system) 102: optical / electric signal conversion device

103: analog / digital (A / D) signal conversion device 104: signal processing device

301: non-incident light-receiving unit 309: focal plane

502: optical / electric signal conversion and analog / digital (A / D) signal conversion unit

506: non-incident light receiving device function control unit

720: non-incident incident light image information processing unit

1 is a general conceptual view of a conventional image capturing apparatus, and includes a light receiving device 101 including a zoom, a lens, a barrel, a prism, a mirror, and an aperture, and a charge charging device (CCD). Optical / electrical signal converting device 102 for converting a signal into a digital signal, an A / D converting device 103 for converting an analog signal of a charge charging device into a digital signal, and storing, compressing, interpreting, restoring / displaying a digital video signal. It is characterized by a signal processing device 104 configured so that.

FIG. 2 illustrates the concept of a lens system using a convex lens as an example to explain the light receiving device of the present invention, wherein an image of an arbitrary object object 202 existing at a specific position 203 on an optical axis 215 is a lens. The optical path 201 is described as an example of the process of forming the light source 201 through the system 101 as an optical beam 201. The light beam 208 incident in parallel with the optical axis is refracted past the lens system 101 and then the optical axis The light beam 210 passing through the second focal point 207 of the image and passing through the first focal point 206 on the optical axis is refracted by the lens system 101 in parallel with the optical axis to proceed 213. The light ray 209 incident to the center of 101 is introduced to the principle of going straight 212 without changing the direction. The actual position tracking can be traced by taking any two of the above-described three ray paths, and non-incident light is an integral ray of light incident on the optical axis at an angle not parallel to the optical axis. To 210), and the charge charging element is generally located at the light receiving portion focal point 205.

3 is a schematic diagram of a light receiving device and an array of charge charging elements of a non-incident incident light image processing apparatus of the present invention, each of which is located on the light receiving unit 301 and the light receiving unit focal plane 309 formed of a lens, respectively, on an optical axis 307. Two charge charge elements 305 to 306 arranged in positions spaced apart by 302 and B ° are illustrated. Here, A and B are each illustrated to have a value greater than zero and the sum of the values is C ° 304, and each of the illustrated charge charging elements 305 to 306 has a specific non-incident incident light incident off the optical axis. One component of the non-incidentally incident light image processing apparatus of the present invention, which is characterized in that signals 308 are arranged.

4 is a flowchart of a non-incident light image signal processing method of the present invention, which is obtained by using the non-incident light receiving apparatus and the optical / electrical signal converting device arrangement (FIG. 3) of the present invention, and then the image signal of each digitized non-incident light incident light. (401, hereinafter referred to as 'non-axis incident image signal'), find the position on the charge charging element of the object and the angle of refraction of the incident light (406), from which the non-incident incident light corresponding to the object and the ray passing through the center of the lens system The distance between the object and the light receiving unit is calculated by estimating the angle of incidence (407), the image signals are compared for other image processing (408), and the front and rear images having the same image acquisition time are targeted to reduce the image processing time. 403, the function of finding the exact same position of the image 404, compression and storage, stereoscopic information extraction, stereoscopic image restoration and output such as image acquisition angle and depth information (405) Performing is characterized to include steps ever.

5 is a schematic view of a non-incident incident light image processing apparatus to which the non-incident incident image signal processing method of the present invention is applied, and includes a non-incident incident light receiving apparatus 501 of the present invention described above with reference to FIG. 3, a charge charging element array, and a digital image conversion apparatus. A non-incident incident light optical / electrical conversion device 502, and performing the non-incident incident light image signal processing method of the present invention described above with reference to FIG. 4 (504). The non-incident light image processing apparatus of the present invention is described in which the measurement range to be outputted is selected (503), and the corresponding information is selectively processed (505) and then output together with the image signal (104).

The non-incident light image signal processing method of the present invention includes a procedure for using the output information 505 such as distance of a target object, photographing time, whether or not the same object, and precision is used to adjust (506) the performance of the non-incident light receiving device.

FIG. 6 is an embodiment of the present invention for obtaining distance information by using a non-incident light image processing apparatus. In the illustrated charge charging elements 615 to 616, images 604 to 603 of different objects are formed in an optical path. Are shown together with the light-receiving unit 301 and the charge-charging elements 615 to 616 at positions spaced apart by an angle of 614 (> 0 °), for example, at a position 601 from the optical axis 618. The optical signal of the 'object 603' passes through the optical paths 606, 607, 608 through 609 to the charge charging device 616, and the optical signal of the 'object 604' located at a 602 angle passes through the optical paths 610, 611, 612, and 613. It is shown that an image is formed on the charge charger 615.

The distance measurement between the object systems 603 to 604 of the lens system 301 is based on the distance between the charge charging element 309 and the light receiving portion 301 (linear distance from 301 to 309). Finds the angle of refraction information consisting of the lens system center line 301 and the light rays 608 to 609 passing through the lens system 301 from the position 616 of the image attached to the lens system 301, and from there the lens system center 301 and the lens system 301. It is measured by calculating the distance between the lens system 301 from the object 603 by calculating the angle of incidence of the light rays 606 to 607 which are incident toward (). The distance of another object 604 is made in the same way, consisting of the lens system centerline 301 and the light rays 612 to 613 passing through the lens system 301 from the position 615 of the image formed on the charge charging element 309. The distance between the lens system 301 from the target object 604 is calculated by finding the angle of refraction information and calculating the angle of incidence formed by the lens system center 301 and the light rays 610 to 611 incident toward the lens system 301. Calculate

FIG. 7 illustrates an embodiment of a method of obtaining a stereoscopic image of specific target objects 701 to 702 using the non-incident light image processing apparatus of the present invention. The non-incidentally incident light image acquisition devices 721 to 731 of the present invention each include a charge receiving element CCD A 716 arranged to form an image with respect to an incident signal of two light-receiving light and a light-receiving portion consisting of a lens 715 and The CCD B 718 compares the signals of the A / D converters 717 to 719 and the A / D converters 717 to 719 which convert the analog signals generated by the respective optical / electrical signal converters into digital signals, and finds a match point. The non-incident light image information processing apparatus of the present invention (FIG. 5) configured to include non-incident light image signal processing methods of the present invention such as finding stereoscopic information such as the depth of the feature (720), and has a specific speed (730). By moving to, the concept of obtaining images of different points 703, 704, 705 to 706 is shown. That is, at the initial stage of image acquisition by the arrangement of the optical / electrical signal converters 716 and 718, in the case of the image of 703 points, through the CCD B 715 through the optical paths 707, 708, 709 to 710, In the case of an image, a position of an image signal 705 to 710 obtained through the CCD A 716 via optical paths 711, 712, 713, and 714, and obtained after moving at a constant position by moving at a speed V (> 0) (730) If 706 is different, each of the corresponding optoelectronic devices via the optical paths 722, 723, 724 to 725 for the image at point 705, and the optical paths 726, 727, 728 and 729 for the image at point 706. By using the non-incident light image information processing apparatus of the present invention, the stereoscopic information of the image is obtained by finding the left and right images 704 to 705 corresponding to the spatially coincident points 702 by acquiring through 732 to 733. One embodiment of stereoscopic image acquisition.

The present invention is an image information processing method and apparatus designed to acquire distance information as well as image and displacement information of an object using non-incident incident light, and in particular, such as aviation and satellite exploration and automatic measurement equipment in industrial sites, It can be useful as a means for acquiring stereoscopic images in case of acquiring object image information of another location or ignoring the shape change of the object over time. Especially, the distance of the object can be measured without a separate light source. Since it is designed to reduce the power and weight increase factor of the rangefinder using a light source such as a laser, it is light and easy to carry, and according to the optical characteristics of the lens system, it is possible to acquire image information without distinguishing between day and night. Expect a wide range of applications in aviation, space, military, electronics, automotive, machinery The.

Claims (2)

In order to obtain distance and stereoscopic information by acquiring an image of optical signals incident on the off-axis from the optical axis, A light receiving unit 301 to 501 consisting of a zoom, a lens, a barrel, and a mirror, and an optical / electric signal converter such as a charge charging device (CCD) are arranged on the light receiving unit focal plane 309, and then a non-incident light image. A first step 401 including a function of acquiring and digitizing the data (502); From the image signals acquired by using the non-incident incident light image signal acquisition device including the first step function, the position on the charge charging element of the object to be measured and the refractive angle of the incident light corresponding thereto are found (406), A second step of performing a step (407) and an image signal comparison function (408) for estimating the distance between the target object and the light receiving unit by estimating the incident angle of the incident light corresponding to the target object and the light beam passing through the center of the lens system 402; A third step (403) of searching for before and after images in which the image acquisition time matches the non-incident incident image signals obtained in the first step to reduce the calculation time; A fourth step (404) of finding non-incident incident light images of the same position with respect to the images found in the third step; A fifth step of extracting stereoscopic information such as angular information and depth information of the acquired image from each non-axis incident light image signal found in the fourth step, or performing image restoration functions such as compression, storage, encoding, and image output; 405; A method of processing a non-incident incident light image signal characterized by including the video signal processing procedures of A non-incident incident light receiving device 501, a non-incident incident light optical / electrical converter 502 including a charge charger element array and a digital image conversion device, for selecting information to be output together with the acquired image signal output 104; A procedure 503, displaying the results 505 of each execution step for the selected item 104 on the external output screen 104, or adjusting the characteristics of the light receiving device 501 using these results 505 506. An image information processing apparatus characterized by including a procedure.