WO2017133138A1 - 图像采集系统、图像采集处理系统和图像采集处理方法 - Google Patents

图像采集系统、图像采集处理系统和图像采集处理方法 Download PDF

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Publication number
WO2017133138A1
WO2017133138A1 PCT/CN2016/082721 CN2016082721W WO2017133138A1 WO 2017133138 A1 WO2017133138 A1 WO 2017133138A1 CN 2016082721 W CN2016082721 W CN 2016082721W WO 2017133138 A1 WO2017133138 A1 WO 2017133138A1
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WIPO (PCT)
Prior art keywords
image
sub
camera
polarizing
imaging device
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PCT/CN2016/082721
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English (en)
French (fr)
Inventor
李新国
王漪
张兴
武延兵
Original Assignee
京东方科技集团股份有限公司
北京大学
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Application filed by 京东方科技集团股份有限公司, 北京大学 filed Critical 京东方科技集团股份有限公司
Priority to EP16843250.8A priority Critical patent/EP3416365A4/en
Priority to US15/511,813 priority patent/US10244154B2/en
Publication of WO2017133138A1 publication Critical patent/WO2017133138A1/zh

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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/28—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 for polarising
    • G02B27/283—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 for polarising used for beam splitting or combining
    • G—PHYSICS
    • G02—OPTICS
    • G02F—OPTICAL DEVICES OR ARRANGEMENTS FOR THE CONTROL OF LIGHT BY MODIFICATION OF THE OPTICAL PROPERTIES OF THE MEDIA OF THE ELEMENTS INVOLVED THEREIN; NON-LINEAR OPTICS; FREQUENCY-CHANGING OF LIGHT; OPTICAL LOGIC ELEMENTS; OPTICAL ANALOGUE/DIGITAL CONVERTERS
    • G02F1/00—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics
    • G02F1/01—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour 
    • G02F1/0136—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour  for the control of polarisation, e.g. state of polarisation [SOP] control, polarisation scrambling, TE-TM mode conversion or separation
    • G—PHYSICS
    • G02—OPTICS
    • G02F—OPTICAL DEVICES OR ARRANGEMENTS FOR THE CONTROL OF LIGHT BY MODIFICATION OF THE OPTICAL PROPERTIES OF THE MEDIA OF THE ELEMENTS INVOLVED THEREIN; NON-LINEAR OPTICS; FREQUENCY-CHANGING OF LIGHT; OPTICAL LOGIC ELEMENTS; OPTICAL ANALOGUE/DIGITAL CONVERTERS
    • G02F1/00—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics
    • G02F1/01—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour 
    • G02F1/13—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour  based on liquid crystals, e.g. single liquid crystal display cells
    • G02F1/133—Constructional arrangements; Operation of liquid crystal cells; Circuit arrangements
    • G02F1/1333—Constructional arrangements; Manufacturing methods
    • G02F1/1335—Structural association of cells with optical devices, e.g. polarisers or reflectors
    • G—PHYSICS
    • G02—OPTICS
    • G02F—OPTICAL DEVICES OR ARRANGEMENTS FOR THE CONTROL OF LIGHT BY MODIFICATION OF THE OPTICAL PROPERTIES OF THE MEDIA OF THE ELEMENTS INVOLVED THEREIN; NON-LINEAR OPTICS; FREQUENCY-CHANGING OF LIGHT; OPTICAL LOGIC ELEMENTS; OPTICAL ANALOGUE/DIGITAL CONVERTERS
    • G02F1/00—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics
    • G02F1/01—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour 
    • G02F1/13—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour  based on liquid crystals, e.g. single liquid crystal display cells
    • G02F1/133—Constructional arrangements; Operation of liquid crystal cells; Circuit arrangements
    • G02F1/1333—Constructional arrangements; Manufacturing methods
    • G02F1/1335—Structural association of cells with optical devices, e.g. polarisers or reflectors
    • G02F1/133528—Polarisers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/147—Details of sensors, e.g. sensor lenses
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
    • 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
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images

Definitions

  • Embodiments of the present invention relate to an image acquisition system, an image acquisition and processing system, and an image acquisition and processing method.
  • Embodiments of the present invention provide an image acquisition system, an image acquisition processing system, and an image acquisition processing method to reduce the amount of information processed by an image and improve the accuracy of image processing.
  • At least one embodiment of the present invention provides an image acquisition system including: an image pickup device configured to acquire a first image and a second image of a target scene; and a polarization device configured to acquire the image at the camera device And the second image is overlapped with an incident optical path of the second image corresponding to the imaging device, and configured to cause the first incident light for forming the first image to enter the imaging device and to form the The second incident light of the second image has a different polarization state.
  • At least one embodiment of the present invention also provides an image acquisition processing system comprising: the image acquisition system described above; and an image processing device configured to generate a target image based on the first image and the second image .
  • At least one embodiment of the present invention further provides an image acquisition processing method, comprising: acquiring a first image of a target scene by using an imaging device; acquiring a second image of the target scene by using a polarization device and the imaging device, where In the step, the polarizing device overlaps with an incident optical path of the second image corresponding to the imaging device when the imaging device acquires the second image, and causes the first imaging device to enter the first image a first incident light of the image is different from a polarization state of the second incident light used to form the second image; and a target image is generated from the first image and the second image.
  • FIG. 1 is a top plan view of an image acquisition system according to at least one embodiment of the present invention.
  • FIG. 2 is a top plan view of an image acquisition system including a light splitting device according to at least one embodiment of the present invention
  • FIG. 3 is a side view of an image acquisition system including a carrier substrate according to at least one embodiment of the present invention
  • FIG. 4 is a top plan view of an image acquisition system including another polarization device according to at least one embodiment of the present invention.
  • 5a is a schematic structural diagram of a polarization switching device in an image acquisition system according to at least one embodiment of the present invention
  • FIG. 5b is a schematic structural diagram of a polarization switching device in an image acquisition system according to at least one embodiment of the present invention.
  • FIG. 6 is a top plan view of a rotating device included in an image acquisition system according to at least one embodiment of the present invention.
  • Figure 7a is a top plan view of an image acquisition system according to at least one embodiment of the present invention when acquiring a second image
  • Figure 7b is a top plan view of an image acquisition system according to at least one embodiment of the present invention when acquiring a first image
  • FIG. 8 is a structural block diagram of an image collection and processing system according to at least one embodiment of the present invention.
  • FIG. 9 is a flowchart of an image collection processing method according to at least one embodiment of the present invention.
  • rainwater can reflect at least part of the light from the target scene, resulting in a target scene and being incident on the image acquisition processing system for formation.
  • the light of the image includes the light reflected by the rainwater, which causes the image acquired by the image acquisition processing system to be insufficiently accurate and accurate, and the commonly used image acquisition processing system usually needs to perform all the pixels in the collected initial image. Analysis and processing to generate a target image results in a large amount of image information processing and a long processing time.
  • An embodiment of the present invention provides an image acquisition system, an image acquisition and processing system, and an image acquisition and processing method.
  • the image acquisition system includes an image capture device and a polarization device, and the image capture device is configured to acquire a first image and a second image of a target scene.
  • the polarizing device is disposed in the incident optical path of the corresponding second image of the imaging device when the imaging device acquires the second image, so that the first incident light for forming the first image entering the imaging device and the forming portion can be made The polarization state of the second incident light of the two images is different.
  • the embodiment of the present invention can remove at least partially polarized light in the light reflected by the rainwater by providing a polarizing device in the image capturing system, thereby reducing the influence of rainwater on the light from the target scene and incident on the image capturing device; In one aspect, the embodiment of the present invention can reduce the information processing amount and processing time of the image and improve the accuracy of the image processing by using the first image and the second image acquired by the image acquisition system to generate the target image.
  • At least one embodiment of the present invention provides an image acquisition system that acquires a first image and a second image of the same target scene at the same time or at different times using two imaging devices.
  • At least one embodiment of the present invention provides an image acquisition system 100 that includes an imaging device 130 and a polarization device 152.
  • the camera device 130 is configured to acquire a first image and a second image of the target scene; the camera device 130 includes a first sub-camera 131 and a second sub-camera 132, and the first sub-camera 131 is configured to acquire a first image of the target scene The second sub-camera 132 is configured to acquire a second image of the target scene.
  • the polarizing device 152 overlaps with the incident optical path of the corresponding second image of the imaging device 130 when the second image is acquired by the imaging device 130, that is, when the second sub-camera 132 acquires the second image and the second sub-camera 132
  • the incident light paths overlap to remove a portion of the polarized light from the target scene and incident on the polarizing device 152, and the first incident light 110 entering the first sub-imaging device 131 to form the first image is unpolarized light. Therefore, the polarizing means 152 can make the polarization state of the first incident light 110 for forming the first image entering the imaging device 130 and the second incident light 120 for forming the second image different.
  • the imaging device 152 can be an imaging sensor such as a CCD (charge-coupled device) or a CMOS (complementary metal oxide semiconductor).
  • CCD charge-coupled device
  • CMOS complementary metal oxide semiconductor
  • the polarizing device may be a multi-layer polarizer such as an absorption polarizer such as a metal wire grid polarizer or a slide stack (a laminated structure of a plurality of glass sheets) or a prismatic polarizing element such as a Nicol prism.
  • an absorption polarizer such as a metal wire grid polarizer or a slide stack (a laminated structure of a plurality of glass sheets) or a prismatic polarizing element such as a Nicol prism.
  • the image pickup device 130 may further include a light splitting device 133 configured to divide the light 140 from the target scene and incident on the light splitting device 133 into the first for the first sub-photographing device 131.
  • the optical path 141 and the second optical path 142 for the second sub-camera 132 are disposed in the second optical path 142 when the second sub-camera 132 acquires the second image.
  • This example facilitates the same information about the target scene included in the first optical path 141 and the second optical path 142 by using the spectroscopic device 133, thereby facilitating the acquisition of the first image and the second image only with the first sub-camera 131.
  • the first incident light 110 is related to the polarization state of the second incident light 120 of the second sub-camera 132 to improve the accuracy of the target image.
  • the spectroscopic device may be a beam splitter such as a Beam Splitter or a half mirror.
  • the image acquisition system 100 can further include a carrier substrate 160 having a carrier surface 161 that carries the camera device 130 .
  • the polarization direction of the polarization device 152 can be substantially perpendicular to the carrier surface 161 . Since the information in the horizontal direction is more important to the driver during the running of the automobile, the polarization direction of the polarizing device 152 is set to be substantially perpendicular to the bearing surface 161 of the carrier substrate 160 (the bearing surface 161 is driven by the vehicle) The process can be roughly along The horizontal direction) facilitates that the second incident light 120 does not include horizontally polarized light in the rain reflected light, such that the second image formed by the second incident light 120 includes more accurate horizontal direction information of the target scene.
  • the polarizing means 152 is disposed perpendicular to the bearing surface 161, and its polarization direction (shown by an arrow in FIG. 3) is perpendicular to the bearing surface 161.
  • the carrier substrate 160 may be any substrate having a load carrying capability such as a plastic substrate, a glass substrate, or a wood substrate.
  • the first sub-camera 131 and the second sub-camera 132 may be sequentially disposed in a direction substantially perpendicular to the carrying surface 161. This is advantageous in reducing the horizontal parallax between the first image acquired by the first sub-camera 131 and the second image acquired by the second sub-camera 132 to provide more accurate horizontal direction information.
  • the carrier substrate 160 may be provided with a bracket including a vertical portion 162 for supporting the horizontal portion 163, and a horizontal portion 163 for carrying a sub-camera that is farther from the bearing surface 161 ( For example, the first sub-camera 131 in FIG. 3).
  • the first imaging device 131 can be disposed on a side of the second imaging device 132 away from the carrier substrate 160, as shown in FIG. 3; or the first imaging device 131 can also be disposed on the second imaging device 132 near the carrier substrate 160. One side.
  • the image acquisition system 100 may further include another polarization device 151 that overlaps with the incident light path of the first sub-camera 131 when the first sub-camera 131 acquires the first image.
  • the polarization direction of the other polarizing means 151 is different from the polarization direction of the polarizing means 152.
  • the other polarizing device 151 can reduce the influence of rain on the first image; by making the polarizing directions of the two polarizing devices different, it is advantageous to make the first image and the second image include different target scene information, thereby facilitating improvement The accuracy of the target image.
  • the polarization direction of the other polarizing means 151 may be perpendicular to the polarization direction of the polarizing means 152. This is advantageous to reduce the impact of rain on the accuracy of the target image to a greater extent.
  • the transmittance of the other polarizing device 151 and the polarizing device 152 described above may be the same.
  • the step of adjusting the brightness of the first image and the second image can be omitted in the process of generating the target image using the first image and the second image.
  • the image acquisition system provided by at least one embodiment of the present invention may further include a polarization switching device 170 configured to move the polarization device 152 to the imaging device (not shown in FIGS. 5a and 5b). Out) or in the incident light path when acquiring the second image 152 is removed from the incident optical path.
  • a polarization switching device 170 configured to move the polarization device 152 to the imaging device (not shown in FIGS. 5a and 5b). Out) or in the incident light path when acquiring the second image 152 is removed from the incident optical path.
  • the example shown in Fig. 5a adopts a translation mode to implement switching
  • the example shown in Fig. 5b adopts a rotation mode to implement switching.
  • the polarization switching device 170 includes a slide rail 171 and a slider 172 slidable on the slide rail 171; a polarizing device 152 is disposed on the slider 172 so that polarization can be controlled by controlling the movement of the slider 172 Device 152 moves into or out of the incident optical path of the second sub-camera.
  • the polarization switching device 170 includes a rotating portion 173 and a connecting portion 174 for connecting the polarizing device 152 and the rotating portion; the rotating portion 173 rotates the connecting portion 174 by its own rotation, and the connecting portion 174 can drive The polarizing device 152 performs a rotational motion to move the polarizing device 152 out of the incident optical path of the second sub-imaging device.
  • 5a and 5b are for illustration only, and embodiments of the invention include but are not limited thereto.
  • the polarization switching device 170 by providing the polarization switching device 170, it is possible to achieve no use of a polarizing device in a rainy day but a polarizing device in a rainy day to improve the accuracy of a target image.
  • the polarizing device 152 can be moved in by the polarization switching device 170 as shown in Figure 5a or Figure 5b.
  • the incident path of the second sub-camera 132 is incident.
  • the polarizing device 152 can be moved out of the incident optical path of the second sub-camera 132.
  • an image acquisition system 100 provided by at least one embodiment of the present invention can further include a rotating device 180 configured to rotate the polarizing device 152 to change the polarization direction of the polarizing device 152.
  • a rotating device 180 configured to rotate the polarizing device 152 to change the polarization direction of the polarizing device 152.
  • the rotating device 180 By providing the rotating device 180, the polarization direction of the polarizing device 152 can be adjusted according to actual needs, so that the polarizing device 152 has the required ability to absorb reflected light of rainwater.
  • the rotating device 180 is rotatable about its center, for example, by means of a transmission or the like, the rotating device 180 can be rotated counterclockwise (as shown in FIG. 6) or clockwise, thereby rotating
  • the device 180 can drive the polarizing device 152 to rotate to change the polarization direction of the polarizing device 152.
  • Embodiments of the invention include but are not limited thereto.
  • the first sub-camera and the second sub-camera may have the same specifications to reduce the difference between the first sub-camera and the second sub-camera, thereby improving generation according to the first image and the second image.
  • the accuracy of the target image may be used.
  • the image acquisition system provided by at least one embodiment of the present invention can acquire the first image and the second image at different times by using the same camera device to avoid between the first image and the second image. Generate parallax.
  • At least one embodiment of the present invention provides an image acquisition system 100 including an imaging device 130 and a polarization device 152; the imaging device 130 is configured to acquire first and second images of a target scene at different times.
  • the polarization device 152 overlaps with the incident optical path of the corresponding second image of the imaging device 130 when the imaging device 130 acquires the second image.
  • the polarizing device when the first image is acquired by the camera 130, the polarizing device (not shown in FIG. 7b) may be located outside the incident light path of the corresponding first image of the camera 130 to enter the camera 130.
  • the first incident light 110 for forming the first image is different from the polarization state of the second incident light 120 (shown in FIG. 7a) for forming the second image.
  • a polarization switching device as shown in FIGS. 5a and 5b may be employed to cause the polarization device 152 to be located outside the incident optical path of the corresponding first image of the imaging device when the imaging device 130 acquires the first image, and to acquire the second The image is located in the incident light path corresponding to the second image.
  • the polarizing means 152 can also change the polarization direction by the rotating means 180 as shown in FIG. 6, so that the polarization states of the first incident ray 110 and the second incident ray 120 are different.
  • At least one embodiment of the present invention provides an image acquisition processing system.
  • the image acquisition processing system 10 includes an image processing apparatus and the image acquisition system 100 provided by any of the above embodiments, the image acquisition system 100 and image processing. Device signal connection.
  • the image processing apparatus is configured to generate a target image according to the first image and the second image acquired by the image acquisition system 100, which may be implemented, for example, using a general-purpose computing device (such as a CPU), a dedicated computing device (such as a DSP), etc., which is not detailed here. Said.
  • a general-purpose computing device such as a CPU
  • a dedicated computing device such as a DSP
  • Any type of wired or wireless connection may be employed between the image acquisition system 100 and the image processing device as long as the first image and the second image acquired by the image acquisition system 100 can be transmitted to the image processing device.
  • the image acquisition processing system may further include a display device, as shown in FIG. 8, to display a target image output by the image processing device.
  • the image acquisition system and the image acquisition processing device provided by the embodiments of the present invention can be applied to the automobile field to reduce the influence of rain on the image acquired by the image acquisition system on rainy days.
  • At least one embodiment of the present invention provides an image acquisition processing method, as shown in FIG.
  • the method includes the following steps S41 to S43.
  • Step S41 Acquire a first image of the target scene by using the imaging device.
  • Step S42 acquiring a second image of the target scene by using the polarization device and the imaging device.
  • the polarization device overlaps with the incident optical path of the corresponding second image of the imaging device when the imaging device acquires the second image and makes the imaging device enter the imaging device.
  • the first incident light used to form the first image is different from the polarization state of the second incident light used to form the second image.
  • the image capturing system including the first sub-camera and the second sub-camera provided by any of the above embodiments may acquire the first image and the second image, that is, as shown in FIG. 1 , the camera 130 may include the first A sub-camera 131 and a second sub-camera 132.
  • the above step S41 may include acquiring the first image of the target scene by using the first sub-camera 131; the step S42 may include: acquiring the second image of the target scene by using the second sub-camera 132, in the second When the sub-camera 132 acquires the second image, the polarizing device 152 overlaps with the incident optical path of the second sub-camera 132.
  • the above steps S41 and S42 may be performed simultaneously, that is, the first sub-camera 131 and the second sub-camera 132 may photograph the target scene at the same time to acquire the first image and the second image.
  • the above steps S41 and S42 can also be performed separately at different times, and the order can be interchanged.
  • the target scene may be captured by the other polarization device 151 and the first sub-camera 131 as shown in FIG. 4 to acquire the first image; the first image is acquired by the first sub-camera 131.
  • the other polarizing means 151 overlaps the incident optical path of the first sub-imaging device 131, and the polarizing direction of the other device is different from the polarizing direction of the polarizing means 152.
  • the other polarizing device 151 can reduce the influence of rain on the first image; by making the polarizing directions of the two polarizing devices different, it is advantageous to make the first image and the second image include different target scene information, thereby facilitating improvement The accuracy of the target image.
  • the image capturing system with one camera device may also acquire the first image and the second image, that is, the above step S41 may include using the camera device 130 as shown in FIG. 7b at the first moment.
  • the target scene is photographed to acquire a first image; the above step S42 may include photographing the target scene at a second time using the imaging device 130 and the polarizing device 152 as shown in FIG. 7a to acquire a second image.
  • the order of step S41 and step S42 can also be interchanged.
  • step S43 is performed, that is, the target image is generated from the first image and the second image.
  • the first image and the second image may be compared to obtain a target image.
  • the target image is compared to obtain the target image, and the first image and the second image can be more accurately known by comparing the manner in which the target image is obtained.
  • the information of which locations is more realistic and which locations need to be processed, thereby improving the accuracy of image processing and reducing the amount of image information processing and processing time.
  • the target image may be generated by comparing image information of corresponding pixels in the first image and the second image.
  • step S43 may include: determining a first pixel in the first image representing the same object point of the target scene and a second pixel in the second image, and determining the first pixel in the first image The point is compared with the image information of the second pixel in the second image; when the comparison result is that the difference between the image information of the first pixel of the first image and the second pixel of the second image is less than or equal to the first The threshold image, or greater than the second threshold, generates a target image using the second pixel of the second image.
  • first image and the second image are respectively represented by an array X and an array Y, wherein
  • A11, ..., AMN in the array X represents position information and image information of the pixel points of the first image
  • B11, ..., BMN in the array Y represents position information and image information of the pixel points of the second image
  • You can get the value of the array Z, the number Zij Xij-Yij in the array Z (i is an integer from 1 to M, and j is an integer from 1 to N).
  • the first type of value i.e., the absolute value of Zij
  • the first type of value is in the range [0, ⁇ ], indicating that the difference between Aij of the first image and Bij of the second image is small. This may be because there is no rain at the object point of the target scene corresponding to Bij of the second image, or it may be because the rainwater at the object point is too much for the polarizing device to eliminate the influence of rain. Therefore, in this case, the position information of Bij and the image information can be used to generate the target image, that is, when the difference between the first pixel point and the second pixel point is less than or equal to the first threshold value ⁇ , A target image is generated using the second pixel of the second image. It should be noted that the first pixel point may be represented by one or more digits in the array X, and the second pixel point in the second image may also be similarly set.
  • the third type of value that is, the absolute value of Zij is ( ⁇ , ⁇ ) and 0 ⁇ ⁇ ⁇ ⁇ , indicating that the first image and the second image are greatly different, indicating that the polarizing device reduces the influence of rain. Therefore, in this case, the position information of the Bij and the image information can be used to generate the target image, that is, when the difference between the first pixel point and the second pixel point is greater than the second threshold ⁇ , the first The second pixel of the two images generates a target image.
  • the information of the position of the second type of value can be processed in a manner commonly used in the art, and then filled in the corresponding position of the target image.
  • the first threshold and the second threshold may be set according to actual needs.
  • the analysis and processing methods of the first type of value and the third type of value can be simplified, compared with the method of analyzing and processing all the data of the image in the commonly used image acquisition and processing system. Can reduce the amount of information processing and processing time.
  • the image acquisition processing method provided by at least one embodiment of the present invention may further include: before performing step S43, according to the transmittance of the polarizing device and the initial brightness of the second image (ie, the camera device)
  • the brightness of the second image directly acquired is adjusted for the brightness of the second image.
  • the initial brightness of the second image may be divided by the transmittance of the polarizing device to restore the brightness of the first image and the second image to the same level.
  • the initial brightness of the second image can be divided.
  • the transmittance of the polarizing device 152 is divided and the initial luminance of the first image is divided by the transmittance of the other polarizing device 151 to make the luminances of the first image and the second image coincide; when the polarizing device 152 and the other polarizing device 151 When the transmittance is the same, the step of adjusting the brightness of the image can be omitted.
  • the image acquisition processing method provided by at least one embodiment of the present invention further The method may include processing at least one of the first image and the second image to cause no parallax between the first image and the second image before performing step S43.
  • the position of the number in the above X array can be translated to match the number in the X array with the position information of the number in the Y number. This can reduce the misjudgment caused by the parallax of the two imaging devices.
  • the parallax between the first image and the second image may be eliminated by using a parallax processing method of an image commonly used in the art, which will not be described herein.
  • the image acquisition processing method provided by the embodiment of the present invention can be used in the image collection and processing system provided by any of the above embodiments.
  • the image acquisition processing method provided by the embodiment of the invention can reduce the influence of rainwater on the target image by using the polarization device, and can reduce the first image and the second image by comparing the first image and the second image to generate the target image.
  • the image acquisition system, the image processing system, and the image acquisition processing method provided by the embodiments of the present invention are all described by taking two images (ie, the first image and the second image) of the same target scene as an example.

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Abstract

本发明实施例提供一种图像采集系统、图像采集处理系统以及图像采集处理方法，该图像采集系统(100)包括摄像装置(130)和偏振装置(152)，该摄像装置(130)用于获取目标场景的第一图像和第二图像，该偏振装置(152)在该摄像装置(130)获取第二图像时设置于该摄像装置(130)的对应第二图像的入射光路中，使进入该摄像装置(130)的用于形成第一图像的第一入射光(110)和用于形成第二图像的第二入射光(120)的偏振状态不同。本发明实施例可以降低图像处理的信息量、提升图像处理的精确度。

Description

图像采集系统、图像采集处理系统和图像采集处理方法 技术领域
本发明实施例涉及一种图像采集系统、图像采集处理系统以及图像采集处理方法。
背景技术
当车辆在雨天的情况下行驶时，尤其是在大雨倾盆的情况下行驶时，可能出现大量的雨水留在前挡风玻璃上的情形，这会对司机的视线造成严重影响。
发明内容
本发明实施例提供一种图像采集系统、图像采集处理系统以及图像采集处理方法，以降低图像处理的信息量、提升图像处理的精确度。
本发明的至少一个实施例提供一种图像采集系统，其包括：摄像装置，其配置为获取目标场景的第一图像和第二图像；以及偏振装置，其配置为在所述摄像装置获取所述第二图像时与所述摄像装置的对应所述第二图像的入射光路重叠，并且配置为使进入所述摄像装置的用于形成所述第一图像的第一入射光与用于形成所述第二图像的第二入射光的偏振状态不同。
本发明的至少一个实施例还提供一种图像采集处理系统，其包括：以上所述的图像采集系统；以及图像处理装置，其配置为根据所述第一图像和所述第二图像生成目标图像。
本发明的至少一个实施例还提供一种图像采集处理方法，其包括：利用摄像装置获取目标场景的第一图像；利用偏振装置和所述摄像装置获取所述目标场景的第二图像，在该步骤中，所述偏振装置在所述摄像装置获取所述第二图像时与所述摄像装置的对应所述第二图像的入射光路重叠并且使进入所述摄像装置的用于形成所述第一图像的第一入射光与用于形成所述第二图像的第二入射光的偏振状态不同；以及根据所述第一图像和所述第二图像生成目标图像。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例的附图作简单地介绍，显而易见地，下面描述中的附图仅仅涉及本发明的一些实施例，而非对本发明的限制。
图1为本发明至少一个实施例提供的一种图像采集系统的俯视示意图；
图2为本发明至少一个实施例提供的一种包括分光装置的图像采集系统的俯视示意图；
图3为本发明至少一个实施例提供的一种包括承载基板的图像采集系统的侧视示意图；
图4为本发明至少一个实施例提供的一种包括另一偏振装置的图像采集系统的俯视示意图；
图5a为本发明至少一个实施例提供的图像采集系统中的偏振切换装置的结构示意图；
图5b为本发明至少一个实施例提供的图像采集系统中的偏振切换装置的结构示意图；
图6为本发明至少一个实施例提供的图像采集系统包括的旋转装置的俯视示意图；
图7a本发明至少一个实施例提供的图像采集系统在获取第二图像时的俯视示意图；
图7b为本发明至少一个实施例提供的图像采集系统在获取第一图像时的俯视示意图；
图8为本发明至少一个实施例提供的图像采集处理系统的结构框图；
图9为本发明至少一个实施例提供的图像采集处理方法的流程图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例的附图，对本发明实施例的技术方案进行清楚、完整地描述。显然，所描述的实施例是本发明的一部分实施例，而不是全部的实施例。基于所描述的本发明的实施例，本领域普通技术人员在无需创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
除非另外定义，本公开使用的技术术语或者科学术语应当为本发明所属领域内具有一般技能的人士所理解的通常意义。本公开中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。“包括”或者“包含”等类似的词语意指出现该词前面的元件或者物件涵盖出现在该词后面列举的元件或者物件及其等同，而不排除其他元件或者物件。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而是可以包括电性的连接，不管是直接的还是间接的。“上”、“下”、“左”、“右”等仅用于表示相对位置关系，当被描述对象的绝对位置改变后，则该相对位置关系也可能相应地改变。
在研究中，本申请的发明人注意到，对于目前常用的图像采集处理系统来说，雨水可以反射至少部分来自目标场景中的光线，导致来自目标场景且入射至图像采集处理系统中用于形成图像的光线包括被雨水反射的光线，这会造成图像采集处理系统获取的图像的信息不足且精确度不够高，而且目前常用的图像采集处理系统通常需要对采集到的初始图像中的全部像素进行分析和处理以生成目标图像，导致图像信息处理量较大且处理时间也较长。
本发明实施例提供一种图像采集系统、图像采集处理系统以及图像采集处理方法，该图像采集系统包括摄像装置和偏振装置，该摄像装置用于获取目标场景的第一图像和第二图像，该偏振装置在该摄像装置获取第二图像时设置于该摄像装置的对应第二图像的入射光路中，从而可以使进入该摄像装置的用于形成第一图像的第一入射光和用于形成第二图像的第二入射光的偏振状态不同。
一方面，本发明实施例通过在图像采集系统中设置偏振装置，可以去除被雨水反射的光线中的至少部分偏振光，从而减小雨水对来自目标场景且入射至摄像装置的光线的影响；另一方面，本发明实施例通过利用图像采集系统获取的第一图像和第二图像生成目标图像，可以减少图像的信息处理量和处理时间并提升图像处理的精确度。
本发明至少一个实施例提供一种图像采集系统，其利用两个摄像装置在同一时刻或不同时刻分别获取同一目标场景的第一图像和第二图像。
如图1所示，本发明至少一个实施例提供一种图像采集系统100，其包括摄像装置130和偏振装置152。
摄像装置130配置为获取目标场景的第一图像和第二图像；摄像装置130包括第一子摄像装置131和第二子摄像装置132，第一子摄像装置131配置为获取目标场景的第一图像，第二子摄像装置132配置为获取目标场景的第二图像。
偏振装置152在摄像装置130获取第二图像时与摄像装置130的对应第二图像的入射光路重叠，即偏振装置152在第二子摄像装置132获取第二图像时与第二子摄像装置132的入射光路重叠，以去除来自目标场景且入射至偏振装置152的光140中的一部分偏振光，此时进入第一子摄像装置131以形成第一图像的第一入射光110为非偏振光。因此，偏振装置152可使进入摄像装置130的用于形成第一图像的第一入射光110与用于形成第二图像的第二入射光120的偏振状态不同。
摄像装置152可以采用CCD(charge-coupled device)、CMOS(complementary metal oxide semiconductor)等成像传感器。
例如，偏振装置可以采用金属线栅偏光片等吸收型偏光片、玻片堆(多个玻璃片的叠层结构)等多膜层偏光片或者尼科尔棱镜等棱镜偏光元件。
例如，如图2所示，摄像装置130还可以包括分光装置133，分光装置133配置为将来自目标场景且入射至分光装置133的光140，分为用于第一子摄像装置131的第一光路141和用于第二子摄像装置132的第二光路142，偏振装置152在第二子摄像装置132获取第二图像时设置在第二光路142中。该示例通过采用分光装置133，有利于使第一光路141和第二光路142包括的关于目标场景的信息相同，从而有利于使获取的第一图像和第二图像只与第一子摄像装置131的第一入射光110和第二子摄像装置132的第二入射光120的偏振状态有关，以提高目标图像的精确度。
在本发明的实施例中，例如，分光装置可以采用分束镜(Beam Splitter)、半透半反镜等分光装置。
继续参见图2，例如，图像采集系统100还可以包括承载基板160，承载基板160具有承载摄像装置130的承载面161，偏振装置152的偏振化方向可以大致垂直于承载面161。由于在汽车行驶的过程中，水平方向的信息对于司机来说更重要，因此，通过将偏振装置152的偏振化方向设置为大致垂直于承载基板160的承载面161(该承载面161在汽车行驶过程中可大致沿 水平方向)，有利于使第二入射光120不包括雨水反射光中的水平方向偏振光，从而使第二入射光120形成的第二图像包括更准确的目标场景的水平方向信息。例如，如图3所示，偏振装置152垂直于承载面161设置，并且其偏振化方向(如图3中的箭头所示)垂直于承载面161。
例如，承载基板160可以为塑料基板、玻璃基板、木质基板等任意具有承载能力的基板。
例如，如图3所示，在图像采集系统100中，在大致垂直于承载面161的方向上，第一子摄像装置131和第二子摄像装置132可以依次设置。这样有利于减小第一子摄像装置131获取的第一图像和第二子摄像装置132获取的第二图像之间的水平视差，以提供更准确的水平方向信息。
例如，承载基板160上可以设置有包括竖直部162和水平部163的支架，竖直部162用于支撑水平部163，水平部163可以用于承载距离承载面161较远的子摄像装置(例如图3中的第一子摄像装置131所示)。
第一摄像装置131可以设置于第二摄像装置132的远离承载基板160的一侧，如图3所示；或者，第一摄像装置131也可以设置于第二摄像装置132的靠近承载基板160的一侧。
例如，如图4所示，图像采集系统100还可以包括另一偏振装置151，该另一偏振装置151在第一子摄像装置131获取第一图像时与第一子摄像装置131的入射光路重叠，并且该另一偏振装置151的偏振化方向与偏振装置152的偏振化方向不同。该另一偏振装置151可以降低雨水对第一图像的影响；通过使这两个偏振装置的偏振化方向不同，有利于使第一图像和第二图像包括不同的目标场景信息，从而有利于提高目标图像的精确度。
例如，上述另一偏振装置151的偏振化方向与偏振装置152的偏振化方向可以垂直。这样有利于更大限度地降低雨水对目标图像的精确度的影响。
例如，上述另一偏振装置151与偏振装置152的透过率可以相同。这样，在利用第一图像和第二图像生成目标图像的过程中可以省去调整第一图像和第二图像的亮度的步骤。
例如，如图5a和图5b所示，本发明至少一个实施例提供的图像采集系统还可以包括偏振切换装置170，其配置为将偏振装置152移动到摄像装置(图5a和图5b中未示出)在获取第二图像时的入射光路之中或将偏振装置 152从该入射光路中移出。如图5a所示的示例采用的是平移方式来实现切换，如图5b所示的示例采用的是旋转方式来实现切换。
例如，如图5a所示，偏振切换装置170包括滑轨171和可在滑轨171上滑动的滑块172；偏振装置152设置于滑块172上，从而通过控制滑块172的运动可以将偏振装置152移入或移出第二子摄像装置的入射光路。
例如，如图5b所示，偏振切换装置170包括转动部173和用于连接偏振装置152和转动部的连接部174；转动部173通过其自身的旋转带动连接部174旋转，连接部174可以带动偏振装置152做旋转运动，以将偏振装置152移出第二子摄像装置的入射光路。
图5a和图5b仅用于举例说明，本发明实施例包括但不限于此。
例如，通过设置偏振切换装置170，可以实现在非雨天中不使用偏振装置但在雨天中使用偏振装置以提高目标图像的准确性。
例如，对于图1-4中任一个所示的示例，在第二子摄像装置132获取第二图像的过程中，可以通过如图5a或图5b所示的偏振切换装置170将偏振装置152移入第二子摄像装置132的入射光路中。在获取到第二图像之后，可以将偏振装置152移出第二子摄像装置132的入射光路。
例如，如图6所示，本发明至少一个实施例提供的图像采集系统100还可以包括旋转装置180，其配置为可旋转偏振装置152以改变偏振装置152的偏振化方向。通过设置旋转装置180，可以根据实际需要对偏振装置152的偏振化方向进行调整，以使偏振装置152具有需要的吸收雨水的反射光的能力。
在图6所示的示例中，旋转装置180可绕其中心旋转，例如可通过传动件等设备实现旋转装置180可沿逆时针(如图6所示)或顺时针的方向旋转，从而使旋转装置180可带动偏振装置152旋转，以改变偏振装置152的偏振化方向。本发明实施例包括但不限于此。
例如，第一子摄像装置和第二子摄像装置可以具有相同的规格，以减小第一子摄像装置和第二子摄像装置之间的差异性，从而提高根据第一图像和第二图像生成的目标图像的准确性。
例如，本发明至少一个实施例提供的图像采集系统可以利用同一个摄像装置在不同时刻获取第一图像和第二图像，以避免第一图像和第二图像之间 产生视差。
如图7a所示，本发明至少一个实施例提供一种图像采集系统100，其包括摄像装置130和偏振装置152；摄像装置130配置为在不同的时刻获取目标场景的第一图像和第二图像，偏振装置152在摄像装置130获取第二图像时与摄像装置130的对应第二图像的入射光路重叠。
例如，如图7b所示，在摄像装置130获取第一图像时，偏振装置(图7b中未示出)可以位于摄像装置130的对应第一图像的入射光路之外，以使进入摄像装置130的用于形成第一图像的第一入射光110与用于形成第二图像的第二入射光120(如图7a所示)的偏振状态不同。例如，可以采用如图5a和图5b所示的偏振切换装置，以使偏振装置152在摄像装置130获取第一图像时位于摄像装置的对应第一图像的入射光路之外，并且在获取第二图像时位于对应第二图像的入射光路之中。
例如，偏振装置152也可以通过如图6所示的旋转装置180改变偏振化方向，以使第一入射光线110与第二入射光线120的偏振状态不同。
偏振装置152的偏振化方向等可以参照以上任一实施例中的设置方式，重复之处不再赘述。
本发明至少一个实施例提供一种图像采集处理系统，如图8所示，该图像采集处理系统10包括图像处理装置以及以上任一实施例提供的图像采集系统100，图像采集系统100与图像处理装置信号连接。
图像处理装置配置为根据图像采集系统100获取的第一图像和第二图像生成目标图像，其例如可以使用通用计算装置(例如CPU)、专用计算装置(例如DSP)等来实现，这里不再详述。
图像采集系统100与图像处理装置之间可以采用任意类型的有线或无线连接，只要可以实现将图像采集系统100获取的第一图像和第二图像发送到图像处理装置即可。
例如，本发明至少一个实施例提供的图像采集处理系统还可以包括显示装置，如图8所示，以对图像处理装置输出的目标图像进行显示。
本发明的实施例提供的图像采集系统和图像采集处理装置可以应用于汽车领域中，以在雨天时降低雨水对图像采集系统获取的图像的影响。
本发明的至少一个实施例提供一种图像采集处理方法，如图9所示，该 方法包括以下步骤S41至步骤S43。
步骤S41：利用摄像装置获取目标场景的第一图像。
步骤S42：利用偏振装置和摄像装置获取目标场景的第二图像，在该步骤中，偏振装置在摄像装置获取第二图像时与摄像装置的对应第二图像的入射光路重叠并且使进入摄像装置的用于形成第一图像的第一入射光与用于形成第二图像的第二入射光的偏振状态不同。
例如，可以采用以上任一实施例提供的包括第一子摄像装置和第二子摄像装置的图像采集系统获取第一图像和第二图像，即，如图1所示，摄像装置130可以包括第一子摄像装置131和第二子摄像装置132。在这种情况下，上述步骤S41可以包括利用第一子摄像装置131获取目标场景的第一图像；上述步骤S42可以包括：利用第二子摄像装置132获取目标场景的第二图像，在第二子摄像装置132获取第二图像时，偏振装置152与第二子摄像装置132的入射光路重叠。
例如，上述步骤S41和步骤S42可以同步进行，即第一子摄像装置131和第二子摄像装置132可以在同一时刻对目标场景进行拍摄以获取第一图像和第二图像。当然，上述步骤S41和步骤S42也可以在不同时刻分别进行，并且顺序可以互换。
例如，在上述步骤S41中，可以利用如图4所示的另一偏振装置151和第一子摄像装置131对目标场景进行拍摄以获取第一图像；在第一子摄像装置131获取第一图像时，另一偏振装置151与第一子摄像装置131的入射光路重叠，并且另一装置的偏振化方向与偏振装置152的偏振化方向不同。该另一偏振装置151可以降低雨水对第一图像的影响；通过使这两个偏振装置的偏振化方向不同，有利于使第一图像和第二图像包括不同的目标场景信息，从而有利于提高目标图像的精确度。
例如，也可以采用以上任一实施例提供的具有一个摄像装置的图像采集系统获取第一图像和第二图像，即：上述步骤S41可以包括利用如图7b所示的摄像装置130在第一时刻对目标场景进行拍摄以获取第一图像；上述步骤S42可以包括利用如图7a所示的摄像装置130和偏振装置152在第二时刻对目标场景进行拍摄以获取第二图像。当然，步骤S41和步骤S42的顺序也可以互换。
在本发明实施例提供的方法中，偏振装置和摄像装置的其它设置可参照以上实施例中的相关描述，这里不再赘述。
在完成步骤S41和步骤S42之后，进行步骤S43，即：根据第一图像和第二图像生成目标图像。
在步骤S43中，可以对第一图像与第二图像进行比较以得到目标图像。与本领域常用的图像采集处理系统获取初始图像之后对该初始图像进行分析处理后以得到目标图像的方式相比，通过比较得到目标图像的方式可以更准确地知道第一图像和第二图像的哪些位置的信息是更真实的、哪些位置需要处理，从而可以提升图像处理的精确度并减少图像信息处理量和处理时间。
例如，可以通过比较第一图像和第二图像中对应像素点的图像信息来生成目标图像。在这种情况下，步骤S43可以包括：确定表示目标场景的同一物点的第一图像中的第一像素点与第二图像中的第二像素点，以及将第一图像中的第一像素点与第二图像中的第二像素点的图像信息进行比较；当比较结果为第一图像的第一像素点与第二图像的第二像素点的图像信息之间的差别小于或等于第一阈值、或者大于第二阈值时，利用第二图像的第二像素点生成目标图像。
下面以将第一图像和第二图像分别以数组X和数组Y表示为例进行说明，其中，
Figure PCTCN2016082721-appb-000001
数组X中的A11,……,AMN表示第一图像的像素点的位置信息和图像信息；数组Y中B11,……,BMN表示第二图像的像素点的位置信息和图像信息；通过计算X-Y可以得到数组Z，数组Z中的数字Zij＝Xij-Yij(i为从1到M的整数，j为从1到N的整数)的数值可能出现以下情况：第一类数值是Zij的绝对值在[0,β]范围内；第二类数值是Zij的绝对值在[β,θ]范围内,第三类数值是Zij的绝对值在(θ,∞)且0<β<θ。
第一类数值，即Zij的绝对值在[0,β]范围内，表示第一图像的Aij和第二图像的Bij之间的差别较小。这可能是因为第二图像的Bij对应的目标场景的物点处没有雨水，也可能是因为在该物点处的雨水太多以至于偏振装置也无法消除雨水的影响。因此，在这种情况下，可以采用Bij的位置信息和图像信息来生成目标图像，也就是说，当第一像素点和第二像素点之间的差别小于或等于第一阈值β时，可以利用第二图像的第二像素点生成目标图像。需要说明的是，可以用数组X中的一个或多个数字表示第一像素点，第二图像中的第二像素点也可以类似设置。
第三类数值，即Zij的绝对值在(θ,∞)且0<β<θ，表示第一图像和第二图像有很大差别，说明偏振装置减小了雨水的影响。因此，在这种情况下，可以采用Bij的位置信息和图像信息来生成目标图像，也就是说，当第一像素点和第二像素点之间的差别大于第二阈值θ时，可以采用第二图像的第二像素点生成目标图像。
对于介于第一类数值和第三类数值之间的第二类数值，可以采用本领域常用的方式针对第二类数值所在位置的信息进行处理，然后填充在目标图像的相应位置。
第一阈值和第二阈值可以根据实际需要设置。
通过对第一图像和第二图像进行比较，可以简化上述第一类数值和第三类数值的分析处理方式，与常用的图像采集处理系统中对图像的全部数据进行分析处理的方式相比，可以减少信息处理量和处理时间。
例如，为了提高目标图像的准确性，本发明至少一个实施例提供的图像采集处理方法还可以包括：在进行步骤S43之前，根据偏振装置的透过率和第二图像的初始亮度(即摄像装置直接获取的第二图像的亮度)对第二图像的亮度进行调整。例如，可以将第二图像的初始亮度除以偏振装置的透过率，以将第一图像和第二图像的亮度恢复到同一水平。
在采用如图4所示的图像采集系统获取第一图像和第二图像的情况下，当偏振装置152与另一偏振装置151的透过率不相同时，可以将第二图像的初始亮度除以偏振装置152的透过率并且将第一图像的初始亮度除以另一偏振装置151的透过率以使第一图像和第二图像的亮度一致；当偏振装置152与另一偏振装置151的透过率相同时，可以省去调整图像亮度的步骤。
例如，采用以上任一实施例所述的包括第一子摄像装置和第二子摄像装置的图像采集系统获取第一图像和第二图像时，本发明至少一个实施例提供的图像采集处理方法还可以包括：在进行步骤S43之前，对第一图像和第二图像中的至少一个进行处理以使第一图像和第二图像之间不存在视差。例如，可以将上述X数组中的数字的位置进行平移以使X数组中的数字与Y数字中的数字的位置信息一致。这样可以减小因两个摄像装置的视差带来的误判。可以采用本领域常用的图像的视差处理方法消除第一图像和第二图像之间的视差，这里不做赘述。
本发明实施例提供的图像采集处理方法可以用于上述任一实施例提供的图像采集处理系统中。本发明实施例提供的图像采集处理方法，通过偏振装置可以减小雨水对目标图像的影响，通过对第一图像和第二图像进行比较以生成目标图像，可以减少第一图像和第二图像的信息处理量和处理时间并提升图像处理的精确度。
本发明实施例提供的图像采集系统、图像处理系统以及图像采集处理方法都以获取同一目标场景的两个图像(即第一图像和第二图像)为例进行说明。当然，也可以利用本发明实施例获取更多的图像(例如第三图像、第四图像等等)，从而获取多个目标图像。
以上所述仅是本发明的示范性实施方式，而非用于限制本发明的保护范围，本发明的保护范围由所附的权利要求确定。
本申请要求于2016年2月5日递交的中国专利申请第201610082147.9号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。

Claims (20)

  1. 一种图像采集系统，包括：
    摄像装置，配置为获取目标场景的第一图像和第二图像；以及
    偏振装置，配置为在所述摄像装置获取所述第二图像时与所述摄像装置的对应所述第二图像的入射光路重叠，并且配置为使进入所述摄像装置的用于形成所述第一图像的第一入射光与用于形成所述第二图像的第二入射光的偏振状态不同。
  2. 根据权利要求1所述的图像采集系统，其中，
    所述摄像装置包括第一子摄像装置和第二子摄像装置，所述第一子摄像装置配置为获取所述目标场景的所述第一图像，所述第二子摄像装置配置为获取所述目标场景的所述第二图像；
    所述偏振装置在所述第二子摄像装置获取所述第二图像时与所述第二子摄像装置的入射光路重叠。
  3. 根据权利要求2所述的图像采集系统，其中，
    所述摄像装置包括分光装置，所述分光装置配置为将来自所述目标场景且入射至所述分光装置的光分为用于所述第一子摄像装置的第一光路和用于所述第二子摄像装置的第二光路，所述偏振装置在所述第二子摄像装置获取所述第二图像时设置在所述第二光路中。
  4. 根据权利要求2或3所述的图像采集系统，还包括承载基板，其中，所述承载基板具有承载面，所述第一子摄像装置和所述第二子摄像装置沿垂直于所述承载面的方向依次设置。
  5. 根据权利要求1-3中任一项所述的图像采集系统，还包括承载基板，其中，所述承载基板具有承载所述摄像装置的承载面，所述偏振装置的偏振化方向垂直于所述承载面。
  6. 根据权利要求1-5中任一项所述的图像采集系统，还包括：
    另一偏振装置，配置为在所述摄像装置获取所述第一图像时位于所述摄像装置的对应所述第一图像的入射光路中，
    其中，所述另一偏振装置的偏振化方向与所述偏振装置的偏振化方向不同。
  7. 根据权利要求6所述的图像采集系统，其中，所述另一偏振装置的所述偏振化方向与所述偏振装置的所述偏振化方向垂直。
  8. 根据权利要求6或7所述的图像采集系统，其中，所述另一偏振装置与所述偏振装置的透过率相同。
  9. 根据权利要求1-8中任一项所述的图像采集系统，还包括：偏振切换装置，配置为可将所述偏振装置移动到所述摄像装置在获取所述第二图像时的所述入射光路之中或将所述偏振装置从所述入射光路中移出。
  10. 根据权利要求1-9中任一项所述的图像采集系统，还包括：旋转装置，配置为可旋转所述偏振装置以改变所述偏振装置的偏振化方向。
  11. 一种图像采集处理系统，包括权利要求1-10中任一项所述的图像采集系统；以及
    图像处理装置，配置为根据所述第一图像和所述第二图像生成目标图像。
  12. 根据权利要求11所述的图像采集处理系统，还包括：
    显示装置，配置为对图像处理装置输出的目标图像进行显示。
  13. 一种图像采集处理方法，包括：
    利用摄像装置获取目标场景的第一图像；
    利用偏振装置和所述摄像装置获取所述目标场景的第二图像，其中，所述偏振装置在所述摄像装置获取所述第二图像时与所述摄像装置的对应所述第二图像的入射光路重叠并且使进入所述摄像装置的用于形成所述第一图像的第一入射光与用于形成所述第二图像的第二入射光的偏振状态不同；以及
    根据所述第一图像和所述第二图像生成目标图像。
  14. 根据权利要求13所述的图像采集处理方法，其中，
    确定表示所述目标场景的同一物点的所述第一图像中的第一像素点与所述第二图像中的第二像素点；
    将所述第一像素点与所述第二像素点的图像信息进行比较，其中，当比较结果为所述第一像素点与所述第二像素点的图像信息之间的差别小于或等于第一阈值、或者大于第二阈值时，利用所述第二图像的所述第二像素点生成所述目标图像。
  15. 根据权利要求13或14所述的图像采集处理方法，其中，所述摄像装置包括第一子摄像装置和第二子摄像装置；
    所述方法包括：
    利用所述第一子摄像装置获取所述目标场景的所述第一图像；以及
    利用所述第二子摄像装置获取所述目标场景的所述第二图像，其中，在所述第二子摄像装置获取所述第二图像时，所述偏振装置与所述第二子摄像装置的入射光路重叠。
  16. 根据权利要求15所述的图像采集处理方法，其中，所述第一子摄像装置和所述第二子摄像装置在同一时刻对所述目标场景进行拍摄以获取所述第一图像和所述第二图像。
  17. 根据权利要求15或16所述的图像采集处理方法，还包括：
    对所述第一图像和所述第二图像中的至少一个进行处理以使所述第一图像和所述第二图像之间不存在视差。
  18. 根据权利要求15-17中任一项所述的图像采集处理方法，还包括：
    利用另一偏振装置和所述第一子摄像装置对所述目标场景进行拍摄以获取所述第一图像，
    其中，在所述第一子摄像装置获取所述第一图像时，所述另一偏振装置与所述第一子摄像装置的入射光路重叠，并且所述另一装置的偏振化方向与所述偏振装置的偏振化方向不同。
  19. 根据权利要求13或14所述的图像采集处理方法，其中，
    利用所述摄像装置在第一时刻对所述目标场景进行拍摄以获取所述第一图像；
    利用所述摄像装置和所述偏振装置在第二时刻对所述目标场景进行拍摄以获取所述第二图像。
  20. 根据权利要求13-19中任一项所述的图像采集处理方法，还包括：
    根据所述偏振装置的透过率和所述第二图像的初始亮度对所述第二图像的亮度进行调整。
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