WO2018176534A1 - 一种光度立体三维重建方法及分光式光度立体相机 - Google Patents

一种光度立体三维重建方法及分光式光度立体相机 Download PDF

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Publication number
WO2018176534A1
WO2018176534A1 PCT/CN2017/081612 CN2017081612W WO2018176534A1 WO 2018176534 A1 WO2018176534 A1 WO 2018176534A1 CN 2017081612 W CN2017081612 W CN 2017081612W WO 2018176534 A1 WO2018176534 A1 WO 2018176534A1
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light source
wavelength
infrared light
optical signal
infrared
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PCT/CN2017/081612
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English (en)
French (fr)
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晁志超
周剑
龙学军
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成都通甲优博科技有限责任公司
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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B35/00—Stereoscopic photography
    • G03B35/08—Stereoscopic photography by simultaneous recording
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/02—Illuminating scene
    • G03B15/03—Combinations of cameras with lighting apparatus; Flash units
    • G03B15/05—Combinations of cameras with electronic flash apparatus; Electronic flash units
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10048—Infrared image

Definitions

  • the present invention relates to the field of computer vision technology, and in particular, to a photometric stereoscopic three-dimensional reconstruction method and a spectroscopic photometric stereo camera.
  • people In the existing photometric stereoscopic three-dimensional reconstruction technology, people generally adopt the following methods to perform three-dimensional reconstruction on a target object: firstly, the first light source is turned on at a certain moment to acquire an image of the target object corresponding to the first light source, and then at another moment. Turning on the second light source to collect the image of the target object corresponding to the second light source, and then turning on the third light source at the next moment to collect the image of the target object corresponding to the third light source, and finally using the three images collected at the above three moments The image of the target object completes the three-dimensional reconstruction of the target object.
  • an object of the present invention is to provide a photometric stereoscopic three-dimensional reconstruction method and a spectroscopic photometric stereo camera, which can improve the accuracy of three-dimensional reconstruction.
  • the specific plan is as follows:
  • a photometric stereoscopic three-dimensional reconstruction method comprising:
  • Infrared light generated by each of the first infrared light source, the second infrared light source, and the third infrared light source is simultaneously projected to the target object; wherein wavelengths of the first infrared light source, the second infrared light source, and the third infrared light source Are different from each other;
  • the first infrared image data, the second infrared image data, and the third infrared image data to perform a photometric stereoscopic three-dimensional reconstruction operation on the target object to obtain three-dimensional reconstruction data of the target object.
  • the process of extracting optical signals related to the first infrared light source, the second infrared light source, and the third infrared light source from the source optical path respectively includes:
  • the first narrowband filter is a filter that allows only optical signals having a wavelength consistent with the wavelength of the first infrared source
  • the second narrowband filter is only allowed to have a wavelength and the first a filter through which an optical signal having a uniform wavelength of the infrared light source passes
  • the third narrow band filter is a filter that allows only an optical signal having a wavelength consistent with the wavelength of the third infrared light source to pass.
  • the process of extracting optical signals related to the first infrared light source, the second infrared light source, and the third infrared light source from the source optical path respectively includes:
  • the cutoff wavelength of the first short pass filter is between the wavelength of the first infrared light source and the wavelength of the second infrared light source, and the cutoff wavelength of the second short pass filter is located in the Between the wavelength of the second infrared light source and the wavelength of the third infrared light source, the narrow band filter is a filter that allows only an optical signal having a wavelength consistent with the wavelength of the third infrared light source to pass, and The wavelength of the first infrared light source is greater than the wavelength of the second infrared light source, and the wavelength of the second infrared light source is greater than the wavelength of the third infrared light source.
  • the process of extracting optical signals related to the first infrared light source, the second infrared light source, and the third infrared light source from the source optical path respectively includes:
  • the cutoff wavelength of the first long pass filter is between the wavelength of the first infrared source and the wavelength of the second infrared source, and the cutoff wavelength of the second long pass filter is at the Between the wavelength of the second infrared light source and the wavelength of the third infrared light source, the narrow band filter is a filter that allows only an optical signal having a wavelength consistent with the wavelength of the third infrared light source to pass, and The wavelength of the first infrared light source is greater than the wavelength of the second infrared light source, and the wavelength of the second infrared light source is greater than the wavelength of the third infrared light source.
  • the photometric stereoscopic three-dimensional reconstruction method further includes:
  • the color information and the texture information in the color image data are mapped to the three-dimensional reconstruction data to obtain optimized three-dimensional reconstruction data.
  • the invention also correspondingly discloses a spectrophotometric stereo camera, comprising: a first infrared light source, a second infrared light source, a third infrared light source, a lens, an optical signal extraction system, a signal conversion system and a three-dimensional reconstruction system; wherein
  • the first infrared light source, the second infrared light source, and the third infrared light source are configured to simultaneously project respective generated infrared light to a target object; wherein the first infrared light source and the second infrared light source are And the wavelength of the third infrared light source are different from each other;
  • the lens is configured to collect light reflected by the target object to obtain a source optical path
  • the optical signal extraction system is configured to extract optical signals respectively associated with the first infrared light source, the second infrared light source, and the third infrared light source from the source optical path to obtain a first road light a signal, a second optical signal, and a third optical signal;
  • the signal conversion system is configured to respectively convert the first optical signal, the second optical signal, and the third optical signal into corresponding infrared image data to obtain first infrared image data, and second Infrared image data and third infrared image data;
  • the three-dimensional reconstruction system is configured to perform a luminosity stereoscopic three-dimensional reconstruction operation on the target object by using the first infrared image data, the second infrared image data, and the third infrared image data to obtain three-dimensional reconstruction data of the target object. .
  • the optical signal extraction system includes:
  • a spectroscopic mirror system for performing spectroscopic processing on the source optical path by using a beam splitter to obtain a first optical path, a second optical path, and a third optical path, respectively;
  • a first optical signal extraction module configured to extract, by using the first narrowband filter, an optical signal associated with the first infrared light source from the first optical path to obtain the first optical signal
  • a second optical signal extraction module configured to extract, by using the second narrowband filter, an optical signal associated with the second infrared light source from the second optical path to obtain the second optical signal
  • a third optical signal extraction module configured to extract, by using a third narrowband filter, an optical signal associated with the third infrared light source from the third optical path to obtain the third optical signal
  • the first narrowband filter is a filter that allows only optical signals having a wavelength consistent with the wavelength of the first infrared source
  • the second narrowband filter is only allowed to have a wavelength and the first a filter through which an optical signal having a uniform wavelength of the infrared light source passes
  • the third narrow band filter is a filter that allows only an optical signal having a wavelength consistent with the wavelength of the third infrared light source to pass.
  • the optical signal extraction system includes:
  • a first separating module configured to perform light separation processing on the source optical path by using a first short pass filter, correspondingly obtaining first reflected light and first transmitted light, and determining the first reflected light as the First optical signal;
  • a second separating module configured to perform light separation processing on the first transmitted light by using a second short pass filter, correspondingly obtaining second reflected light and second transmitted light, and determining the second reflected light as The second optical signal;
  • a first extracting unit configured to extract, by using a narrowband filter, an optical signal related to the third infrared light source from the second transmitted light to obtain the third optical signal
  • the cutoff wavelength of the first short pass filter is between the wavelength of the first infrared light source and the wavelength of the second infrared light source, and the cutoff wavelength of the second short pass filter is located in the Between the wavelength of the second infrared light source and the wavelength of the third infrared light source, the narrow band filter is a filter that allows only an optical signal having a wavelength consistent with the wavelength of the third infrared light source to pass, and The wavelength of the first infrared light source is greater than the wavelength of the second infrared light source, and the wavelength of the second infrared light source is greater than the wavelength of the third infrared light source.
  • the optical signal extraction system includes:
  • a third separating module configured to perform light separation processing on the source optical path by using a first long pass filter, correspondingly obtaining first reflected light and first transmitted light, and determining the first transmitted light as the First optical signal;
  • a fourth separating module configured to perform light separation processing on the first reflected light by using a second long pass filter, correspondingly obtaining second reflected light and second transmitted light, and determining the second transmitted light as The second optical signal;
  • a second extracting unit configured to extract, by using a narrowband filter, an optical signal related to the third infrared light source from the second reflected light to obtain the third optical signal
  • the cutoff wavelength of the first long pass filter is between the wavelength of the first infrared source and the wavelength of the second infrared source, and the cutoff wavelength of the second long pass filter is at the Between the wavelength of the second infrared light source and the wavelength of the third infrared light source, the narrow band filter is a filter that allows only an optical signal having a wavelength consistent with the wavelength of the third infrared light source to pass, and The wavelength of the first infrared light source is greater than the wavelength of the second infrared light source, and the wavelength of the second infrared light source is greater than the wavelength of the third infrared light source.
  • the spectroscopic stereo camera further includes:
  • a fourth optical signal extraction module configured to extract an optical signal related to visible light in the environment from the source optical path to obtain a fourth optical signal
  • a color image sensor for converting the fourth optical signal into corresponding color image data
  • a three-dimensional reconstruction data optimization module configured to map color information and texture information in the color image data to the three-dimensional reconstruction data to obtain optimized three-dimensional reconstruction data.
  • the photometric stereoscopic three-dimensional reconstruction method includes: simultaneously projecting infrared light generated by each of the first infrared light source, the second infrared light source, and the third infrared light source to the target object; wherein, the first infrared light source and the second infrared light source and The wavelengths of the third infrared light source are different from each other; the light reflected from the target object is collected through a lens to obtain a source light path; and the optical signals respectively associated with the first infrared light source, the second infrared light source and the third infrared light source are The source optical path is extracted to obtain a first optical signal, a second optical signal, and a third optical signal; and the first optical signal, the second optical signal, and the third optical signal are respectively converted into corresponding infrared images.
  • the infrared light generated by the three infrared light sources is simultaneously projected onto the target object, the light reflected by the target is collected by a lens to obtain the source light path, and then the three light paths associated with the three infrared light sources are obtained.
  • the signals are extracted from the source optical path and converted into corresponding infrared image data to obtain three infrared image data. Since the optical signals corresponding to the three infrared image data are all from the source light path, the three infrared rays are used.
  • the image data corresponds to the same state of the target object, thereby improving the accuracy of the subsequent three-dimensional reconstruction, and the number of lenses in the present invention is only one, which can avoid the difficulty caused by the multi-lens synchronization adjustment, and is convenient for the actual application operation of the user.
  • FIG. 1 is a flowchart of a photometric stereoscopic three-dimensional reconstruction method according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a specific optical path corresponding to a photometric stereoscopic three-dimensional reconstruction process according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a specific optical path corresponding to a photometric stereoscopic three-dimensional reconstruction process according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a specific optical path corresponding to a photometric stereoscopic three-dimensional reconstruction process according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of a specific optical path corresponding to a photometric stereoscopic three-dimensional reconstruction process according to an embodiment of the present invention
  • FIG. 6 is a schematic diagram of a specific optical path corresponding to a photometric stereoscopic three-dimensional reconstruction process according to an embodiment of the present invention
  • FIG. 7 is a schematic diagram of a specific optical path corresponding to a photometric stereoscopic three-dimensional reconstruction process according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a spectroscopic stereo camera according to an embodiment of the present invention.
  • the embodiment of the invention discloses a photometric stereoscopic three-dimensional reconstruction method. Referring to FIG. 1, the method includes:
  • Step S11 simultaneously projecting infrared light generated by each of the first infrared light source, the second infrared light source, and the third infrared light source to the target object; wherein, the wavelengths of the first infrared light source, the second infrared light source, and the third infrared light source are not mutually the same;
  • Step S12 collecting light reflected by the target object through a lens to obtain a source optical path
  • Step S13 extracting optical signals respectively associated with the first infrared light source, the second infrared light source, and the third infrared light source from the source optical path to obtain a first optical signal, a second optical signal, and a first optical signal.
  • Step S14 converting the first optical signal, the second optical signal, and the third optical signal into corresponding infrared image data, respectively, to obtain first infrared image data, second infrared image data, and third infrared image data;
  • Step S15 Using the first infrared image data, the second infrared image data, and the third infrared image data to perform a luminosity stereoscopic three-dimensional reconstruction operation on the target object to obtain three-dimensional reconstruction data of the target object.
  • each of the above-mentioned light sources in the present invention may be three or four or more. Regardless of the number of infrared light sources, the corresponding three-dimensional reconstruction process is similar to the process disclosed in the above steps, and details are not repeated herein.
  • each of the above-mentioned light sources is preferentially an infrared light source.
  • the non-infrared light source may be used in this embodiment.
  • the infrared light generated by the three infrared light sources is simultaneously projected to the target object, the light reflected by the target is collected by a lens to obtain the source light path, and then the three infrared light sources are associated with the three infrared light sources.
  • the road light signal is extracted from the source light path and converted into corresponding infrared image data to obtain three infrared image data.
  • the above three The infrared image data corresponds to the same state of the target object, thereby improving the accuracy of the subsequent three-dimensional reconstruction, and the number of lenses in the embodiment of the present invention is only one, which can avoid the difficulty caused by the multi-lens synchronization adjustment, and is convenient for the user. Application operation.
  • the embodiment of the invention discloses a specific photometric stereoscopic three-dimensional reconstruction method, which comprises the following steps:
  • Step S21 simultaneously projecting infrared light generated by each of the first infrared light source, the second infrared light source, and the third infrared light source to the target object; wherein, the wavelengths of the first infrared light source, the second infrared light source, and the third infrared light source are not mutually exclusive the same.
  • Step S22 collecting light reflected by the target object through a lens to obtain a source optical path.
  • Step S23 performing spectroscopic processing on the source optical path by using a beam splitter to obtain a first optical path, a second optical path, and a third optical path, respectively, and then using the first narrow band filter to be associated with the first infrared light source.
  • the optical signal is extracted from the first optical path to obtain a first optical signal
  • the second narrowband filter is used to extract the optical signal associated with the second infrared light source from the second optical path to obtain a second optical signal.
  • the third narrowband filter is used to extract the optical signal associated with the third infrared light source from the third optical path to obtain a third optical signal.
  • the first narrowband filter is a filter that allows only optical signals having a wavelength consistent with the wavelength of the first infrared source
  • the second narrowband filter is only allowed to have a wavelength consistent with the wavelength of the second infrared source.
  • the filter through which the optical signal passes, and the third narrowband filter is a filter that allows only optical signals having a wavelength consistent with the wavelength of the third infrared source to pass.
  • Step S24 Converting the first optical signal, the second optical signal, and the third optical signal into corresponding infrared image data, respectively, to obtain first infrared image data, second infrared image data, and third infrared image data.
  • Step S25 Using the first infrared image data, the second infrared image data, and the third infrared image data to perform a luminosity stereoscopic three-dimensional reconstruction operation on the target object to obtain three-dimensional reconstruction data of the target object.
  • O1 is a target object
  • A1, B1, and C1 are respectively a first infrared light source, a second infrared light source, and a third infrared light source as described in step S21, wherein A1, B1, and C1 are three.
  • the wavelengths of the light sources are different, D1 is the lens as described in step S22, E1 and F1 are both beamsplitters, G1 is a mirror, and P1, I1, J1 are respectively the first narrow band filter disclosed above, and the second a narrow band filter and a third narrow band filter, wherein the pass band of the filter P1 corresponds to the wavelength of the light source A1, the pass band of the filter I1 corresponds to the wavelength of the light source B1, and the pass band of the filter J1 is Corresponding to the wavelength of the light source C1, Q1, L1, M1 are infrared CCD/CMOS image sensors for converting the received corresponding optical signals into infrared images, and Z1 is a photometric stereoscopic reconstruction processor for performing a three-dimensional reconstruction operation.
  • the wavelength ⁇ source A1 1, the wavelength ⁇ light B1 2, the wavelength ⁇ light C1 3 is simultaneously irradiated on the target object O1; optical target object O1 diffuse reflection will enter the lens D1, Forming the source light path, the beam splitter E1 is located behind the lens D1, and splits the light path from the lens D1 into two paths; the beam splitter F1 is located on an optical path split by the beam splitter E1 for splitting the light on the light path again. , thereby obtaining three optical paths; Q1, L1, and M1 are respectively infrared CCD/CMOS image sensors for respectively imaging the target object O1 under the illumination of the light sources A1, B1, and C1; the filters P1, I1, and J1 are narrow bands.
  • the mirror G1 is an optional device for adjusting the direction of the light path So that all optical path directions are perpendicular to the infrared CCD/CMOS image sensor;
  • the photometric stereo reconstruction processor Z1 is used for synchronizing, exposing, data transmitting, and controlling the infrared CCD/CMOS image sensors Q1, L1, and M1, and acquiring all image data.
  • the luminosity stereoscopic three-dimensional reconstruction algorithm performs a corresponding three-dimensional reconstruction operation on the target object, thereby obtaining three-dimensional reconstruction data of the target object.
  • the embodiment of the invention discloses a specific photometric stereoscopic three-dimensional reconstruction method, which comprises the following steps:
  • Step S31 simultaneously projecting the infrared light generated by the first infrared light source, the second infrared light source and the third infrared light source to the target object; wherein the wavelengths of the first infrared light source, the second infrared light source and the third infrared light source are not mutually exclusive the same.
  • Step S32 collecting light reflected from the target object through a lens to obtain a source optical path.
  • Step S33 performing light separation processing on the source optical path by using the first short pass filter, correspondingly obtaining the first reflected light and the first transmitted light, and determining the first reflected light as the first path optical signal; using the second short wave Passing the light filter to perform light separation processing on the first transmitted light, correspondingly obtaining the second reflected light and the second transmitted light, and determining the second reflected light as the second optical signal; using the narrow band filter, The optical signal related to the three infrared light sources is extracted from the second transmitted light to obtain a third optical signal.
  • the cutoff wavelength of the first short pass filter is between the wavelength of the first infrared source and the wavelength of the second infrared source, and the cutoff wavelength of the second short pass filter is located at the wavelength of the second infrared source and Between the wavelengths of the three infrared light sources, the narrow band filter is a filter that allows only an optical signal having a wavelength consistent with the wavelength of the third infrared light source, and, in the embodiment, the wavelength of the first infrared light source is greater than The wavelength of the second infrared source, the wavelength of the second infrared source being greater than the wavelength of the third infrared source.
  • Step S34 Convert the first optical signal, the second optical signal, and the third optical signal into corresponding infrared image data, respectively, to obtain first infrared image data, second infrared image data, and third infrared image data.
  • Step S35 using the first infrared image data, the second infrared image data, and the third infrared image
  • the photographic stereoscopic three-dimensional reconstruction operation is performed on the target object, and the three-dimensional reconstruction data of the target object is obtained.
  • O2 is a target object
  • A2, B2, and C2 are respectively a first infrared light source, a second infrared light source, and a third infrared light source as described in step S31, and the wavelengths are ⁇ 1 and ⁇ 2 , respectively.
  • D2 is the above lens
  • E2 is the first short pass filter
  • the cutoff wavelength is between ⁇ 1 and ⁇ 2
  • F2 is the second short pass filter
  • the cutoff wavelength is between ⁇ 2 and ⁇ 3
  • G 2 is the narrow band filter disclosed in the above step S33
  • the pass band of the filter G2 corresponds to the wavelength of the third infrared light source C
  • H2 and K2 are mirrors.
  • Q2, L2, and M2 are infrared CCD/CMOS image sensors
  • Z2 is a photometric stereo reconstruction processor.
  • the wavelength ⁇ light A2 1, the wavelength ⁇ source B2 2, the wavelength ⁇ light C2 3 is simultaneously irradiated on the target object O2; optical target object O2 diffusely reflected into the lens D2, the first A short pass filter E2 is located behind the lens D2, and its cutoff wavelength is between ⁇ 1 and ⁇ 2 , thereby dividing the optical path from the lens D2 into two paths, and the reflected optical path is the illumination target from the light source A2 having the wavelength ⁇ 1 .
  • the optical path is subsequently received by the infrared CCD/CMOS image sensor M2, and the transmitted optical path is irradiated onto the second short pass filter F2, and the cutoff wavelength is between ⁇ 2 and ⁇ 3 , thereby
  • the optical path is divided into two paths, and the reflected optical path is an optical path obtained by reflecting the target object after the light source B2 has a wavelength of ⁇ 2 , and the optical path is then received by the infrared CCD/CMOS image sensor Q2, and the transmitted light path is irradiated to the narrow band filter.
  • the pass band corresponds to the wavelength of the third infrared light source C2, and only the light corresponding to the third infrared light source C2 is allowed to pass, and the light passing through the narrow band filter G2 is subsequently subjected to the infrared CCD/CMOS image sensor L.
  • mirrors H2, K2 are optional devices for adjusting the optical path direction so that all optical paths are perpendicular to the CCD/CMOS image sensor;
  • photometric stereo reconstruction processor Z2 is used for infrared CCD/CMOS image sensors Q2, L2 M2 performs synchronization, exposure, data transmission, control, acquires all image data, and uses the photometric stereoscopic three-dimensional reconstruction algorithm to perform corresponding three-dimensional reconstruction operations on the target object, thereby obtaining three-dimensional reconstruction data of the target object.
  • the embodiment of the invention discloses a specific photometric stereoscopic three-dimensional reconstruction method, which comprises the following steps:
  • Step S41 simultaneously projecting infrared light generated by each of the first infrared light source, the second infrared light source, and the third infrared light source to the target object; wherein, the first infrared light source, the second infrared light source, and the first The wavelengths of the three infrared sources are different from each other.
  • Step S42 collecting light reflected by the target object through a lens to obtain a source optical path.
  • Step S43 performing light separation processing on the source optical path by using the first long pass filter, correspondingly obtaining the first reflected light and the first transmitted light, and determining the first transmitted light as the first path optical signal; using the second long wave Passing the light filter to perform light separation processing on the first reflected light, correspondingly obtaining the second reflected light and the second transmitted light, and determining the second transmitted light as the second optical signal; using the narrow band filter, The optical signal related to the three infrared light sources is extracted from the second reflected light to obtain a third optical signal.
  • the cutoff wavelength of the first long pass filter is between the wavelength of the first infrared source and the wavelength of the second infrared source, and the cutoff wavelength of the second long pass filter is located at the wavelength of the second infrared source and Between the wavelengths of the three infrared light sources, the narrow band filter is a filter that allows only optical signals having a wavelength consistent with the wavelength of the third infrared light source, and the wavelength of the first infrared light source is greater than the wavelength of the second infrared light source. The wavelength of the second infrared source is greater than the wavelength of the third infrared source.
  • Step S44 Converting the first optical signal, the second optical signal, and the third optical signal into corresponding infrared image data, respectively, to obtain first infrared image data, second infrared image data, and third infrared image data.
  • Step S45 Using the first infrared image data, the second infrared image data, and the third infrared image data to perform a luminosity stereoscopic three-dimensional reconstruction operation on the target object to obtain three-dimensional reconstruction data of the target object.
  • O3 is a target object
  • A3, B3, and C3 are respectively a first infrared light source, a second infrared light source, and a third infrared light source as described in step S41, and the wavelengths are ⁇ 1 and ⁇ 2 , respectively.
  • D3 is the above lens
  • E3 is the first long pass filter
  • the cutoff wavelength is between ⁇ 1 and ⁇ 2
  • F3 is the second long pass filter
  • the cutoff wavelength is between ⁇ 2 and ⁇ 3
  • H3 is the above narrow band filter
  • the pass band of the filter G corresponds to the wavelength of the third infrared light source C
  • G3 is a mirror
  • Q3, L3, M3 are infrared CCD/CMOS image sensor
  • Z3 is a photometric stereo reconstruction processor.
  • the optical path is divided into two paths, and the transmitted optical path is an optical path obtained by transmitting the target object from the light source B3 at a wavelength of ⁇ 2 , and the optical path is then received by the infrared CCD/CMOS image sensor L3, and the reflected optical path is irradiated to the narrow band.
  • the pass band corresponds to the wavelength of the third infrared light source C3, and only the light corresponding to the third infrared light source C3 is allowed to pass, and the light path is subsequently received by the infrared CCD/CMOS image sensor Q3, the mirror G3
  • the embodiment of the present invention may further include: extracting an optical signal related to visible light in the environment from the source optical path to obtain a fourth optical signal, and fourth The road light signal is converted into corresponding color image data, and then the color information and the texture information in the color image data are mapped to the above three-dimensional reconstruction data to obtain optimized three-dimensional reconstruction data. It can be seen that the embodiment of the present invention can obtain a more realistic three-dimensional image corresponding to the target object by mapping the information in the color image data to the three-dimensional reconstruction data constructed based on the three-way infrared light signal.
  • FIG. 5 is based on the technical solution disclosed in FIG. 2 above, adding a beam splitter H1, a mirror K1, a color image sensor N1, and a processor Y1 for performing color and texture mapping processing on the above-described three-dimensional reconstruction data.
  • the original three optical paths become four optical paths, through which the color image data of the target image can be acquired, and then the color image data is mapped to the above-mentioned three
  • the three-dimensional reconstruction data obtained by the infrared light signal of the road is obtained to obtain the optimized three-dimensional reconstruction data.
  • FIG. 6 adds a third short pass filter S2, a mirror P2, a color image sensor N2, and color and texture for the above three-dimensional reconstruction data, based on the technical solution disclosed in FIG.
  • the processing processor Y2 wherein the cutoff wavelength of the third short pass filter S2 is between ⁇ 3 and visible light, and under the action of the third short pass filter S2, the second short pass filter can be
  • the transmitted optical path is split into two optical paths, which are respectively a reflected optical path and a transmitted optical path, wherein the reflected optical path is an optical path obtained by reflecting the target object after the light source C2 has a wavelength of ⁇ 3 , and is irradiated to the color in the transmitted optical path.
  • the image sensor N2 is configured to image the target object O2 under ambient light illumination, and then map the color image data to the three-dimensional reconstruction data obtained based on the three-way infrared light signal, thereby obtaining optimized three-dimensional reconstruction data.
  • FIG. 7 increases the third long pass filter S3, the mirror K3, the color image sensor N3, and the color and texture for the above three-dimensional reconstruction data, based on the technical solution disclosed in FIG. 4 above.
  • the processor Y3 of the mapping process wherein the cutoff wavelength of the third long pass filter S3 is between ⁇ 3 and visible light, and the second long pass filter can be applied by the third long pass filter S3
  • the reflected light path is split into two optical paths, which are respectively a reflected light path and a transmitted light path, wherein the transmitted light path is an optical path obtained by reflecting the target object after the light source C3 has a wavelength of ⁇ 3 , and the color image is irradiated in the reflected light path.
  • the sensor N3 is configured to image the target object O3 under ambient light illumination, and then map the color image data to the three-dimensional reconstruction data obtained based on the three-way infrared light signal, thereby obtaining optimized three-dimensional reconstruction data.
  • an embodiment of the present invention further discloses a spectrophotometric stereo camera.
  • the camera includes: a first infrared light source 11 , a second infrared light source 12 , a third infrared light source 13 , and a lens 14 .
  • An optical signal extraction system (not shown), a signal conversion system (not shown), and a three-dimensional reconstruction system (not shown); wherein
  • a first infrared light source 11, a second infrared light source 12, and a third infrared light source 13 for simultaneously projecting respective generated infrared light to a target object; wherein wavelengths of the first infrared light source, the second infrared light source, and the third infrared light source Are different from each other;
  • the lens 14 is configured to collect light reflected by the target object to obtain a source optical path
  • An optical signal extraction system is configured to extract optical signals respectively associated with the first infrared light source 11, the second infrared light source 12, and the third infrared light source 13 from the source optical path to obtain a first optical signal and a second optical signal. And the third optical signal;
  • a signal conversion system configured to respectively convert the first optical signal, the second optical signal, and the third optical signal into corresponding infrared image data, to obtain first infrared image data, second infrared image data, and third infrared image data;
  • the three-dimensional reconstruction system is configured to develop a luminosity stereoscopic three-dimensional reconstruction operation on the target object by using the first infrared image data, the second infrared image data, and the third infrared image data, to obtain three-dimensional reconstruction data of the target object.
  • the spectrophotometric stereo camera in this embodiment also needs to include the control shutter 15.
  • the optical signal extraction system includes: a spectroscopic mirror system, configured to perform spectroscopic processing on the source optical path by using a beam splitter to obtain a first optical path, a second optical path, and a third optical path, respectively;
  • the optical signal extraction module is configured to extract, by using the first narrowband filter, the optical signal associated with the first infrared light source from the first optical path to obtain a first optical signal; and the second optical signal extraction module is configured to utilize a second narrowband filter, the optical signal associated with the second infrared light source is extracted from the second optical path to obtain a second optical signal; and the third optical signal extraction module is configured to utilize the third narrowband filter
  • the optical signal associated with the third infrared light source is extracted from the third optical path to obtain a third optical signal; wherein the first narrowband filter is an optical signal that allows only wavelengths consistent with the wavelength of the first infrared source to pass.
  • the filter, the second narrowband filter is a filter that allows only optical signals having a wavelength consistent with the wavelength of the second infrared source, and the third narrowband filter is only allowed to have a wavelength and a third infrared.
  • the wavelength of the source optical signal coincides pass filter.
  • the optical signal extraction system includes: a first separation module, configured to perform light separation processing on the source optical path by using the first short pass filter, and correspondingly obtain the first reflected light and the first Transmitting light and determining the first reflected light as the first optical signal; and the second separating module is configured to perform light separation processing on the first transmitted light by using the second short pass filter, and correspondingly obtain the second reflected light And the second transmitted light, and the second reflected light is determined as the second optical signal; the first extracting unit is configured to extract the optical signal related to the third infrared light source from the second transmitted light by using the narrow band filter And obtaining a third optical signal; wherein, the cutoff wavelength of the first short pass filter is between the wavelength of the first infrared source and the wavelength of the second infrared source, and the cutoff wavelength of the second short pass filter is at The wavelength of the two infrared light sources and the wavelength of the third infrared light source
  • the narrow band filter is a filter that allows only an optical signal having
  • the optical signal extraction system includes: a third separation module, configured to perform light separation processing on the source optical path by using the first long pass filter, and correspondingly obtain the first reflected light and the first Transmitting the light and determining the first transmitted light as the first optical signal; the fourth separating module is configured to perform the light separating process on the first reflected light by using the second long pass filter, and correspondingly obtain the second reflected light and The second transmitted light and the second transmitted light is determined as the second optical signal; the second extracting unit is configured to extract the optical signal related to the third infrared light source from the second reflected light by using the narrow band filter Obtaining a third optical signal; wherein a cutoff wavelength of the first long pass filter is between a wavelength of the first infrared source and a wavelength of the second infrared source, and a cutoff wavelength of the second long pass filter is at a second Between the wavelength of the infrared light source and the wavelength of the third infrared light source, the narrow band filter is a filter that
  • the spectroscopic stereo camera of the embodiment may further include a fourth optical signal extraction module, a color image sensor, and a three-dimensional reconstruction data optimization module;
  • a fourth optical signal extraction module configured to extract an optical signal related to visible light in the environment from the source optical path to obtain a fourth optical signal
  • a color image sensor for converting a fourth optical signal into corresponding color image data
  • the three-dimensional reconstruction data optimization module is configured to map the color information and the texture information in the color image data to the three-dimensional reconstruction data to obtain the optimized three-dimensional reconstruction data.
  • the light reflected by the target is collected by a lens to obtain the source light path.
  • the three optical signals associated with the three infrared light sources are extracted from the source optical path and converted into corresponding infrared image data to obtain three infrared image data, because the light corresponding to the three infrared image data
  • the signals are all from the source optical path, so the above three infrared image data correspond to the same state of the target object, thereby improving the accuracy of the subsequent three-dimensional reconstruction, and the number of lenses in the embodiment of the present invention is only one, and multiple lenses can be avoided.
  • the difficulty of synchronous adjustment is convenient for the user's actual application operation.

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Abstract

一种光度立体三维重建方法及分光式光度立体相机，该方法包括：将三个红外光源各自产生的红外光同时投射至目标物体；通过一个镜头，采集由目标物体反射回来的光线，得到源光路；将分别与三个红外光源相关的光信号从源光路中提取出来，得到三路光信号；分别将三路光信号转换成相应的红外图像数据，得到三组红外图像数据；利用三组红外图像数据，对目标物体展开三维重建操作，得到目标物体的三维重建数据。可提升后续的三维重建精度，并且镜头数量仅为一个，可以避免多镜头同步调整所带来的难度，便于用户实际的应用操作。

Description

一种光度立体三维重建方法及分光式光度立体相机
本申请要求于2017年03月28日提交中国专利局、申请号为201710192400.0、发明名称为“一种光度立体三维重建方法及分光式光度立体相机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及计算机视觉技术领域，特别涉及一种光度立体三维重建方法及分光式光度立体相机。
背景技术
目前，越来越多的领域需要对空间目标进行三维重建，以获取空间目标的三维立体模型信息，现有三维重建技术已经广泛地应用于3D打印、逆向工程、文物保护、医学整形、三维人脸识别、虚拟穿戴、娱乐等众多领域，极大地方便了人们的日常工作和生活。
现有的光度立体三维重建技术中，人们通常采用如下方式来对目标物体进行三维重建：先在某一时刻开启第一光源，以便采集与第一光源对应的目标物体图像，然后在另一时刻开启第二光源，以便采集与第二光源对应的目标物体图像，接着在下一时刻开启第三光源，以便采集与第三光源对应的目标物体图像，最后利用上述三个时刻下采集到的三张目标物体图像，完成对目标物体的三维重建。
然而，在上述三维重建过程中，由于不同的时刻下所采集到的目标物体图像并非是同一个物体状态下的图像，从而降低了后续的三维重建精度。
综上所述可以看出，如何提升三维重建精度是目前亟需解决的问题。
发明内容
有鉴于此，本发明的目的在于提供一种光度立体三维重建方法及分光式光度立体相机，能够提升三维重建精度。其具体方案如下：
一种光度立体三维重建方法，包括：
将第一红外光源、第二红外光源和第三红外光源各自产生的红外光同时投射至目标物体；其中，所述第一红外光源、所述第二红外光源和所述第三红外光源的波长均互不相同；
通过一个镜头，采集由所述目标物体反射回来的光线，得到源光路；
将分别与所述第一红外光源、所述第二红外光源和所述第三红外光源相关的光信号从所述源光路中提取出来，得到第一路光信号、第二路光信号和第三路光信号；
分别将所述第一路光信号、所述第二路光信号以及所述第三路光信号转换成相应的红外图像数据，得到第一红外图像数据、第二红外图像数据和第三红外图像数据；
利用所述第一红外图像数据、第二红外图像数据和第三红外图像数据，对所述目标物体展开光度立体三维重建操作，得到所述目标物体的三维重建数据。
可选的，所述将分别与所述第一红外光源、所述第二红外光源和所述第三红外光源相关的光信号从所述源光路中提取出来的过程，包括：
利用分光镜，对所述源光路进行分光处理，分别得到第一光路、第二光路和第三光路；
利用第一窄带滤光片，将与所述第一红外光源相关的光信号从所述第一光路中提取出来，得到所述第一路光信号；
利用第二窄带滤光片，将与所述第二红外光源相关的光信号从所述第二光路中提取出来，得到所述第二路光信号；
利用第三窄带滤光片，将与所述第三红外光源相关的光信号从所述第三光路中提取出来，得到所述第三路光信号；
其中，所述第一窄带滤光片为只允许波长与所述第一红外光源的波长相一致的光信号通过的滤光片，所述第二窄带滤光片为只允许波长与所述第二红外光源的波长相一致的光信号通过的滤光片，所述第三窄带滤光片为只允许波长与所述第三红外光源的波长相一致的光信号通过的滤光片。
可选的，所述将分别与所述第一红外光源、所述第二红外光源和所述第三红外光源相关的光信号从所述源光路中提取出来的过程，包括：
利用第一短波通滤光片对所述源光路进行光线分离处理，相应地得到第一反射光和第一透射光，并将所述第一反射光确定为所述第一路光信号；
利用第二短波通滤光片对所述第一透射光进行光线分离处理，相应地得到第二反射光和第二透射光，并将所述第二反射光确定为所述第二路光 信号；
利用窄带滤光片，将与所述第三红外光源相关的光信号从所述第二透射光中提取出来，得到所述第三路光信号；
其中，所述第一短波通滤光片的截止波长位于所述第一红外光源的波长与所述第二红外光源的波长之间，所述第二短波通滤光片的截止波长位于所述第二红外光源的波长与所述第三红外光源的波长之间，所述窄带滤光片为只允许波长与所述第三红外光源的波长相一致的光信号通过的滤光片，并且，所述第一红外光源的波长大于所述第二红外光源的波长，所述第二红外光源的波长大于所述第三红外光源的波长。
可选的，所述将分别与所述第一红外光源、所述第二红外光源和所述第三红外光源相关的光信号从所述源光路中提取出来的过程，包括：
利用第一长波通滤光片对所述源光路进行光线分离处理，相应地得到第一反射光和第一透射光，并将所述第一透射光确定为所述第一路光信号；
利用第二长波通滤光片对所述第一反射光进行光线分离处理，相应地得到第二反射光和第二透射光，并将所述第二透射光确定为所述第二路光信号；
利用窄带滤光片，将与所述第三红外光源相关的光信号从所述第二反射光中提取出来，得到所述第三路光信号；
其中，所述第一长波通滤光片的截止波长位于所述第一红外光源的波长与所述第二红外光源的波长之间，所述第二长波通滤光片的截止波长位于所述第二红外光源的波长与所述第三红外光源的波长之间，所述窄带滤光片为只允许波长与所述第三红外光源的波长相一致的光信号通过的滤光片，并且，所述第一红外光源的波长大于所述第二红外光源的波长，所述第二红外光源的波长大于所述第三红外光源的波长。
可选的，所述光度立体三维重建方法，还包括：
将与环境中可见光相关的光信号从所述源光路中提取出来，得到第四路光信号；
将所述第四路光信号转换成相应的彩色图像数据；
将所述彩色图像数据中的色彩信息以及纹理信息映射至所述三维重建数据，得到优化后的三维重建数据。
本发明还相应公开了一种分光式光度立体相机，包括：第一红外光源、第二红外光源、第三红外光源、一个镜头、光信号提取系统、信号转换系统以及三维重建系统；其中，
所述第一红外光源、所述第二红外光源以及所述第三红外光源，用于将各自产生的红外光同时投射至目标物体；其中，所述第一红外光源、所述第二红外光源和所述第三红外光源的波长均互不相同；
所述镜头，用于采集由所述目标物体反射回来的光线，得到源光路；
所述光信号提取系统，用于将分别与所述第一红外光源、所述第二红外光源和所述第三红外光源相关的光信号从所述源光路中提取出来，得到第一路光信号、第二路光信号和第三路光信号；
所述信号转换系统，用于分别将所述第一路光信号、所述第二路光信号以及所述第三路光信号转换成相应的红外图像数据，得到第一红外图像数据、第二红外图像数据和第三红外图像数据；
所述三维重建系统，用于利用所述第一红外图像数据、第二红外图像数据和第三红外图像数据，对所述目标物体展开光度立体三维重建操作，得到所述目标物体的三维重建数据。
可选的，所述光信号提取系统，包括：
分光镜子系统，用于利用分光镜，对所述源光路进行分光处理，分别得到第一光路、第二光路和第三光路；
第一光信号提取模块，用于利用第一窄带滤光片，将与所述第一红外光源相关的光信号从所述第一光路中提取出来，得到所述第一路光信号；
第二光信号提取模块，用于利用第二窄带滤光片，将与所述第二红外光源相关的光信号从所述第二光路中提取出来，得到所述第二路光信号；
第三光信号提取模块，用于利用第三窄带滤光片，将与所述第三红外光源相关的光信号从所述第三光路中提取出来，得到所述第三路光信号；
其中，所述第一窄带滤光片为只允许波长与所述第一红外光源的波长相一致的光信号通过的滤光片，所述第二窄带滤光片为只允许波长与所述第二红外光源的波长相一致的光信号通过的滤光片，所述第三窄带滤光片为只允许波长与所述第三红外光源的波长相一致的光信号通过的滤光片。
可选的，所述光信号提取系统，包括：
第一分离模块，用于利用第一短波通滤光片对所述源光路进行光线分离处理，相应地得到第一反射光和第一透射光，并将所述第一反射光确定为所述第一路光信号；
第二分离模块，用于利用第二短波通滤光片对所述第一透射光进行光线分离处理，相应地得到第二反射光和第二透射光，并将所述第二反射光确定为所述第二路光信号；
第一提取单元，用于利用窄带滤光片，将与所述第三红外光源相关的光信号从所述第二透射光中提取出来，得到所述第三路光信号；
其中，所述第一短波通滤光片的截止波长位于所述第一红外光源的波长与所述第二红外光源的波长之间，所述第二短波通滤光片的截止波长位于所述第二红外光源的波长与所述第三红外光源的波长之间，所述窄带滤光片为只允许波长与所述第三红外光源的波长相一致的光信号通过的滤光片，并且，所述第一红外光源的波长大于所述第二红外光源的波长，所述第二红外光源的波长大于所述第三红外光源的波长。
可选的，所述光信号提取系统，包括：
第三分离模块，用于利用第一长波通滤光片对所述源光路进行光线分离处理，相应地得到第一反射光和第一透射光，并将所述第一透射光确定为所述第一路光信号；
第四分离模块，用于利用第二长波通滤光片对所述第一反射光进行光线分离处理，相应地得到第二反射光和第二透射光，并将所述第二透射光确定为所述第二路光信号；
第二提取单元，用于利用窄带滤光片，将与所述第三红外光源相关的光信号从所述第二反射光中提取出来，得到所述第三路光信号；
其中，所述第一长波通滤光片的截止波长位于所述第一红外光源的波长与所述第二红外光源的波长之间，所述第二长波通滤光片的截止波长位于所述第二红外光源的波长与所述第三红外光源的波长之间，所述窄带滤光片为只允许波长与所述第三红外光源的波长相一致的光信号通过的滤光片，并且，所述第一红外光源的波长大于所述第二红外光源的波长，所述第二红外光源的波长大于所述第三红外光源的波长。
可选的，所述分光式光度立体相机，还包括：
第四光信号提取模块，用于将与环境中可见光相关的光信号从所述源光路中提取出来，得到第四路光信号；
彩色图像传感器，用于将所述第四路光信号转换成相应的彩色图像数据；
三维重建数据优化模块，用于将所述彩色图像数据中的色彩信息以及纹理信息映射至所述三维重建数据，得到优化后的三维重建数据。
本发明中，光度立体三维重建方法，包括：将第一红外光源、第二红外光源和第三红外光源各自产生的红外光同时投射至目标物体；其中，第一红外光源、第二红外光源和第三红外光源的波长均互不相同；通过一个镜头，采集由目标物体反射回来的光线，得到源光路；将分别与第一红外光源、第二红外光源和第三红外光源相关的光信号从源光路中提取出来，得到第一路光信号、第二路光信号和第三路光信号；分别将第一路光信号、第二路光信号以及第三路光信号转换成相应的红外图像数据，得到第一红外图像数据、第二红外图像数据和第三红外图像数据；利用第一红外图像数据、第二红外图像数据和第三红外图像数据，对目标物体展开光度立体三维重建操作，得到目标物体的三维重建数据。
可见，本发明在将三个红外光源产生的红外光同时投射至目标物体之后，将会通过一个镜头采集目标反射回来的光线，得到源光路，然后将与上述三个红外光源相关的三路光信号从上述源光路中提取出来，并分别转换成相应的红外图像数据，得到三份红外图像数据，由于上述三份红外图像数据所对应的光信号均来自于上述源光路，所以上述三份红外图像数据均对应于目标物体的同一状态，由此可提升后续的三维重建精度，并且本发明中镜头数量仅为一个，可以避免多镜头同步调整所带来的难度，便于用户实际的应用操作。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1为本发明实施例公开的一种光度立体三维重建方法流程图；
图2为本发明实施例公开的一种具体的与光度立体三维重建过程对应的光路示意图；
图3为本发明实施例公开的一种具体的与光度立体三维重建过程对应的光路示意图；
图4为本发明实施例公开的一种具体的与光度立体三维重建过程对应的光路示意图；
图5为本发明实施例公开的一种具体的与光度立体三维重建过程对应的光路示意图；
图6为本发明实施例公开的一种具体的与光度立体三维重建过程对应的光路示意图；
图7为本发明实施例公开的一种具体的与光度立体三维重建过程对应的光路示意图；
图8为本发明实施例公开的一种分光式光度立体相机结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动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。
本发明实施例公开了一种光度立体三维重建方法，参见图1所示，该方法包括：
步骤S11：将第一红外光源、第二红外光源和第三红外光源各自产生的红外光同时投射至目标物体；其中，第一红外光源、第二红外光源和第三红外光源的波长均互不相同；
步骤S12：通过一个镜头，采集由目标物体反射回来的光线，得到源光路；
步骤S13：将分别与第一红外光源、第二红外光源和第三红外光源相关的光信号从源光路中提取出来，得到第一路光信号、第二路光信号和第 三路光信号；
步骤S14：分别将第一路光信号、第二路光信号以及第三路光信号转换成相应的红外图像数据，得到第一红外图像数据、第二红外图像数据和第三红外图像数据；
步骤S15：利用第一红外图像数据、第二红外图像数据和第三红外图像数据，对目标物体展开光度立体三维重建操作，得到目标物体的三维重建数据。
需要说明的是，本发明中上述红外光源的数量除了可以是三个，也可以是四个或更多。不论红外光源的数量是多少，相应的三维重建过程与上述步骤所公开的过程相类似，在此不再重复赘述。另外，本实施例中，为了减少环境中可见光的影响，上述各个光源优先为红外光源，当然，如果不考虑环境光的影响，本实施例也可以采用非红外光源。
可见，本发明实施例在将三个红外光源产生的红外光同时投射至目标物体之后，将会通过一个镜头采集目标反射回来的光线，得到源光路，然后将与上述三个红外光源相关的三路光信号从上述源光路中提取出来，并分别转换成相应的红外图像数据，得到三份红外图像数据，由于上述三份红外图像数据所对应的光信号均来自于上述源光路，所以上述三份红外图像数据均对应于目标物体的同一状态，由此可提升后续的三维重建精度，并且本发明实施例中镜头数量仅为一个，可以避免多镜头同步调整所带来的难度，便于用户实际的应用操作。
本发明实施例公开了一种具体的光度立体三维重建方法，包括如下步骤：
步骤S21：将第一红外光源、第二红外光源和第三红外光源各自产生的红外光同时投射至目标物体；其中，第一红外光源、第二红外光源和第三红外光源的波长均互不相同。
步骤S22：通过一个镜头，采集由目标物体反射回来的光线，得到源光路。
步骤S23：利用分光镜，对源光路进行分光处理，分别得到第一光路、第二光路和第三光路，然后利用第一窄带滤光片，将与第一红外光源相关 的光信号从第一光路中提取出来，得到第一路光信号，利用第二窄带滤光片，将与第二红外光源相关的光信号从第二光路中提取出来，得到第二路光信号，利用第三窄带滤光片，将与第三红外光源相关的光信号从第三光路中提取出来，得到第三路光信号。
其中，第一窄带滤光片为只允许波长与第一红外光源的波长相一致的光信号通过的滤光片，第二窄带滤光片为只允许波长与第二红外光源的波长相一致的光信号通过的滤光片，第三窄带滤光片为只允许波长与第三红外光源的波长相一致的光信号通过的滤光片。
步骤S24：分别将第一路光信号、第二路光信号以及第三路光信号转换成相应的红外图像数据，得到第一红外图像数据、第二红外图像数据和第三红外图像数据。
步骤S25：利用第一红外图像数据、第二红外图像数据和第三红外图像数据，对目标物体展开光度立体三维重建操作，得到目标物体的三维重建数据。
例如，如图2所示，O1为目标物体，A1、B1、C1分别为如步骤S21中所述的第一红外光源、第二红外光源和第三红外光源，其中A1、B1、C1三个光源的波长各不相同，D1为如步骤S22中所述的镜头，E1和F1均为分光镜，G1为反光镜，P1、I1、J1分别为上述公开的第一窄带滤光片、第二窄带滤光片和第三窄带滤光片，其中，滤光片P1的通带与光源A1的波长对应，滤光片I1的通带与光源B1的波长对应，滤光片J1的通带与光源C1的波长对应，Q1、L1、M1为用于将接收到的相应的光信号转换成红外图像的红外CCD/CMOS图像传感器，Z1为用于进行三维重建操作的光度立体重建处理器。
当相机的快门打开时，波长为λ1的光源A1、波长为λ2的光源B1、波长为λ3的光源C1同时照射在目标物体O1上；目标物体O1漫反射的光将进入镜头D1，形成上述源光路，分光镜E1位于镜头D1后面，将来自镜头D1的光路分为两路；分光镜F1位于分光镜E1所分出的一路光路上，用于对该光路上的光再次进行分光，从而得到三路光路；Q1、L1、M1分别为红外CCD/CMOS图像传感器，分别用来对光源A1、B1、C1照射下的目标物体O1进行成像；滤光片P1、I1、J1为窄带滤光片，它们的通带 分别与光源A1、B1、C1的波长λ1、λ2、λ3对应；仅允许对应的光源的光通过；反射镜G1为可选器件，用来调整光路方向，使得所有光路方向均垂直于红外CCD/CMOS图像传感器；光度立体重建处理器Z1用于对红外CCD/CMOS图像传感器Q1、L1、M1进行同步、曝光、数据传输、控制，获取所有图像数据，并利用光度立体三维重建算法，对目标物体展开相应的三维重建操作，从而得到目标物体的三维重建数据。
本发明实施例公开了一种具体的光度立体三维重建方法，包括如下步骤：
步骤S31：将第一红外光源、第二红外光源和第三红外光源各自产生的红外光同时投射至目标物体；其中，第一红外光源、第二红外光源和第三红外光源的波长均互不相同。
步骤S32：通过一个镜头，采集由目标物体反射回来的光线，得到源光路。
步骤S33：利用第一短波通滤光片对源光路进行光线分离处理，相应地得到第一反射光和第一透射光，并将第一反射光确定为第一路光信号；利用第二短波通滤光片对第一透射光进行光线分离处理，相应地得到第二反射光和第二透射光，并将第二反射光确定为第二路光信号；利用窄带滤光片，将与第三红外光源相关的光信号从第二透射光中提取出来，得到第三路光信号。
其中，上述第一短波通滤光片的截止波长位于第一红外光源的波长与第二红外光源的波长之间，上述第二短波通滤光片的截止波长位于第二红外光源的波长与第三红外光源的波长之间，上述窄带滤光片为只允许波长与第三红外光源的波长相一致的光信号通过的滤光片，并且，在本实施例中，第一红外光源的波长大于第二红外光源的波长，第二红外光源的波长大于第三红外光源的波长。
步骤S34：分别将第一路光信号、第二路光信号以及第三路光信号转换成相应的红外图像数据，得到第一红外图像数据、第二红外图像数据和第三红外图像数据。
步骤S35：利用第一红外图像数据、第二红外图像数据和第三红外图 像数据，对目标物体展开光度立体三维重建操作，得到目标物体的三维重建数据。
例如，如图3所示，O2为目标物体，A2、B2、C2分别为如步骤S31中所述的第一红外光源、第二红外光源和第三红外光源，波长分别为λ1、λ2、λ3，并且λ1＞λ2＞λ3，D2为上述镜头，E2为上述第一短波通滤光片，截止波长位于λ1与λ2之间，F2为上述第二短波通滤光片，截止波长位于λ2与λ3之间，G2为上述步骤S33中公开的窄带滤光片，滤光片G2的通带与第三红外光源C的波长对应，H2、K2为反射镜，Q2、L2、M2为红外CCD/CMOS图像传感器，Z2为光度立体重建处理器。
当相机的快门打开时，波长为λ1的光源A2、波长为λ2的光源B2、波长为λ3的光源C2同时照射在目标物体O2上；目标物体O2漫反射的光进入镜头D2，第一短波通滤光片E2位于镜头D2后面，其截止波长位于λ1与λ2之间，从而将来自镜头D2的光路分为两路，反射光路即为波长为λ1的来自光源A2照射目标物体后经过反射得到的光路，该光路随后被红外CCD/CMOS图像传感器M2接收，而透射光路则照射到第二短波通滤光片F2上，其截止波长位于λ2与λ3之间，从而将光路分为两路，反射光路即为波长为λ2的来自光源B2照射目标物体后经过反射得到的光路，该光路随后被红外CCD/CMOS图像传感器Q2接收，而透射光路则照射到窄带滤光片G2上，其通带与第三红外光源C2的波长对应，仅允许与第三红外光源C2对应的光通过，通过上述窄带滤光片G2的光线随后被红外CCD/CMOS图像传感器L2接收；反射镜H2、K2为可选器件，用来调整光路方向，使得所有光路方向均垂直于CCD/CMOS图像传感器；光度立体重建处理器Z2用于对红外CCD/CMOS图像传感器Q2、L2、M2进行同步、曝光、数据传输、控制，获取所有图像数据，并利用光度立体三维重建算法，对目标物体展开相应的三维重建操作，从而得到目标物体的三维重建数据。
本发明实施例公开了一种具体的光度立体三维重建方法，包括如下步骤：
步骤S41：将第一红外光源、第二红外光源和第三红外光源各自产生的红外光同时投射至目标物体；其中，第一红外光源、第二红外光源和第 三红外光源的波长均互不相同。
步骤S42：通过一个镜头，采集由目标物体反射回来的光线，得到源光路。
步骤S43：利用第一长波通滤光片对源光路进行光线分离处理，相应地得到第一反射光和第一透射光，并将第一透射光确定为第一路光信号；利用第二长波通滤光片对第一反射光进行光线分离处理，相应地得到第二反射光和第二透射光，并将第二透射光确定为第二路光信号；利用窄带滤光片，将与第三红外光源相关的光信号从第二反射光中提取出来，得到第三路光信号。
其中，上述第一长波通滤光片的截止波长位于第一红外光源的波长与第二红外光源的波长之间，上述第二长波通滤光片的截止波长位于第二红外光源的波长与第三红外光源的波长之间，上述窄带滤光片为只允许波长与第三红外光源的波长相一致的光信号通过的滤光片，并且，第一红外光源的波长大于第二红外光源的波长，第二红外光源的波长大于第三红外光源的波长。
步骤S44：分别将第一路光信号、第二路光信号以及第三路光信号转换成相应的红外图像数据，得到第一红外图像数据、第二红外图像数据和第三红外图像数据。
步骤S45：利用第一红外图像数据、第二红外图像数据和第三红外图像数据，对目标物体展开光度立体三维重建操作，得到目标物体的三维重建数据。
例如，参见图4所示，O3为目标物体，A3、B3、C3分别为如步骤S41中所述的第一红外光源、第二红外光源和第三红外光源，波长分别为λ1、λ2、λ3，并且λ1＞λ2＞λ3，D3为上述镜头，E3为上述第一长波通滤光片，截止波长位于λ1与λ2之间，F3为上述第二长波通滤光片，截止波长位于λ2与λ3之间，H3为上述窄带滤光片，滤光片G的通带与第三红外光源C的波长对应，G3为反射镜，Q3、L3、M3为红外CCD/CMOS图像传感器，Z3为光度立体重建处理器。
当相机的快门打开时，波长为λ1的光源A3、波长为λ2的光源B3、波长为λ3的光源C3同时照射在目标物体O3上；目标物体O3漫反射的光进 入镜头D3，第一长波通滤光片E3位于镜头D3后面，其截止波长位于λ1与λ2之间，从而将来自镜头D3的光路分为两路，透射光路即为波长为λ1的来自光源A3照射目标物体经过透射后得到的光路，该光路随后被红外CCD/CMOS图像传感器M3接收，而反射光路则照射到第二长波通滤光片F3上，其截止波长位于λ2与λ3之间，从而将光路分为两路，透射光路即为波长为λ2的来自光源B3照射目标物体经过透射后得到的光路，该光路随后被红外CCD/CMOS图像传感器L3接收，而反射光路则照射到上述窄带滤光片H3上，其通带与第三红外光源C3的波长对应，仅允许与第三红外光源C3对应的光通过，该光路随后被红外CCD/CMOS图像传感器Q3接收，反射镜G3为可选器件，用来调整光路方向，使得所有光路方向均垂直于CCD/CMOS图像传感器；光度立体重建处理器Z3用于对红外CCD/CMOS图像传感器Q3、L3、M3进行同步、曝光、数据传输、控制，获取所有图像数据，并利用光度立体三维重建算法，对目标物体展开相应的三维重建操作，从而得到目标物体的三维重建数据。
另外，在前述实施例公开的技术方案的基础上，本发明实施例还可以进一步包括：将与环境中可见光相关的光信号从上述源光路中提取出来，得到第四路光信号，将第四路光信号转换成相应的彩色图像数据，然后将彩色图像数据中的色彩信息以及纹理信息映射至上述三维重建数据，得到优化后的三维重建数据。可见，本发明实施例通过将彩色图像数据中的信息映射至上述基于三路红外光信号构建的三维重建数据，可以得到与目标物体对应的更加逼真的三维图像。
例如，图5通过在上述图2公开的技术方案的基础上，增加了分光镜H1、反射镜K1、彩色图像传感器N1以及用于对上述三维重建数据进行色彩和纹理的映射处理的处理器Y1，其中，在分光镜H1的作用下，原本的三条光路变成了四条光路，通过这条新增的光路，可以获取到目标图像的彩色图像数据，接着将该彩色图像数据映射至上述基于三路红外光信号得到的三维重建数据，从而得到优化后的三维重建数据。
又例如，图6通过在上述图3公开的技术方案的基础上，增加了第三短波通滤光片S2、反射镜P2、彩色图像传感器N2以及用于对上述三维重 建数据进行色彩和纹理的映射处理的处理器Y2，其中，第三短波通滤光片S2的截止波长位于λ3和可见光之间，在第三短波通滤光片S2的作用下，能够将第二短波通滤光片透射出来的光路拆分成两条光路，分别为反射光路和透射光路，其中反射光路即为波长为λ3的来自光源C2照射目标物体后经过反射得到的光路，而透射光路中则照射到彩色图像传感器N2上，用于对环境光照射下的目标物体O2进行成像，接着将该彩色图像数据映射至上述基于三路红外光信号得到的三维重建数据，从而得到优化后的三维重建数据。
再例如，图7通过在上述图4公开的技术方案的基础上，增加了第三长波通滤光片S3、反射镜K3、彩色图像传感器N3以及用于对上述三维重建数据进行色彩和纹理的映射处理的处理器Y3，其中，第三长波通滤光片S3的截止波长位于λ3和可见光之间，在第三长波通滤光片S3的作用下，能够将第二长波通滤光片反射的光路拆分成两条光路，分别为反射光路和透射光路，其中透射光路即为波长为λ3的来自光源C3照射目标物体后经过反射得到的光路，而反射光路中则照射到彩色图像传感器N3上，用于对环境光照射下的目标物体O3进行成像，接着将该彩色图像数据映射至上述基于三路红外光信号得到的三维重建数据，从而得到优化后的三维重建数据。
相应的，本发明实施例还公开了一种分光式光度立体相机，参见图8所示，该相机包括：第一红外光源11、第二红外光源12、第三红外光源13、一个镜头14、光信号提取系统(图中未示出)、信号转换系统(图中未示出)以及三维重建系统(图中未示出)；其中，
第一红外光源11、第二红外光源12以及第三红外光源13，用于将各自产生的红外光同时投射至目标物体；其中，第一红外光源、第二红外光源和第三红外光源的波长均互不相同；
镜头14，用于采集由目标物体反射回来的光线，得到源光路；
光信号提取系统，用于将分别与第一红外光源11、第二红外光源12和第三红外光源13相关的光信号从源光路中提取出来，得到第一路光信号、第二路光信号和第三路光信号；
信号转换系统，用于分别将第一路光信号、第二路光信号以及第三路光信号转换成相应的红外图像数据，得到第一红外图像数据、第二红外图像数据和第三红外图像数据；
三维重建系统，用于利用第一红外图像数据、第二红外图像数据和第三红外图像数据，对目标物体展开光度立体三维重建操作，得到目标物体的三维重建数据。
可以理解的是，本实施例中的分光式光度立体相机还需包括控制快门15。
在一种具体的实时方案中，上述光信号提取系统，包括：分光镜子系统，用于利用分光镜，对源光路进行分光处理，分别得到第一光路、第二光路和第三光路；第一光信号提取模块，用于利用第一窄带滤光片，将与第一红外光源相关的光信号从第一光路中提取出来，得到第一路光信号；第二光信号提取模块，用于利用第二窄带滤光片，将与第二红外光源相关的光信号从第二光路中提取出来，得到第二路光信号；第三光信号提取模块，用于利用第三窄带滤光片，将与第三红外光源相关的光信号从第三光路中提取出来，得到第三路光信号；其中，第一窄带滤光片为只允许波长与第一红外光源的波长相一致的光信号通过的滤光片，第二窄带滤光片为只允许波长与第二红外光源的波长相一致的光信号通过的滤光片，第三窄带滤光片为只允许波长与第三红外光源的波长相一致的光信号通过的滤光片。关于本实施方案的具体例子，可以参考图2中公开的相应内容以及前述实施例中关于图2的具体描述，在此不再进行赘述。
在另一种具体的实施方案中，上述光信号提取系统，包括：第一分离模块，用于利用第一短波通滤光片对源光路进行光线分离处理，相应地得到第一反射光和第一透射光，并将第一反射光确定为第一路光信号；第二分离模块，用于利用第二短波通滤光片对第一透射光进行光线分离处理，相应地得到第二反射光和第二透射光，并将第二反射光确定为第二路光信号；第一提取单元，用于利用窄带滤光片，将与第三红外光源相关的光信号从第二透射光中提取出来，得到第三路光信号；其中，第一短波通滤光片的截止波长位于第一红外光源的波长与第二红外光源的波长之间，第二短波通滤光片的截止波长位于第二红外光源的波长与第三红外光源的波长 之间，窄带滤光片为只允许波长与第三红外光源的波长相一致的光信号通过的滤光片，并且，第一红外光源的波长大于第二红外光源的波长，第二红外光源的波长大于第三红外光源的波长。关于本实施方案的具体例子，可以参考图3中公开的相应内容以及前述实施例中关于图3的具体描述，在此不再进行赘述。
在又一种具体实施方案中，上述光信号提取系统，包括：第三分离模块，用于利用第一长波通滤光片对源光路进行光线分离处理，相应地得到第一反射光和第一透射光，并将第一透射光确定为第一路光信号；第四分离模块，用于利用第二长波通滤光片对第一反射光进行光线分离处理，相应地得到第二反射光和第二透射光，并将第二透射光确定为第二路光信号；第二提取单元，用于利用窄带滤光片，将与第三红外光源相关的光信号从第二反射光中提取出来，得到第三路光信号；其中，第一长波通滤光片的截止波长位于第一红外光源的波长与第二红外光源的波长之间，第二长波通滤光片的截止波长位于第二红外光源的波长与第三红外光源的波长之间，窄带滤光片为只允许波长与第三红外光源的波长相一致的光信号通过的滤光片，并且，第一红外光源的波长大于第二红外光源的波长，第二红外光源的波长大于第三红外光源的波长。关于本实施方案的具体例子，可以参考图4中公开的相应内容以及前述实施例中关于图4的具体描述，在此不再进行赘述。
另外，本实施例中的分光式光度立体相机，还可以进一步包括第四光信号提取模块、彩色图像传感器以及三维重建数据优化模块；其中，
第四光信号提取模块，用于将与环境中可见光相关的光信号从源光路中提取出来，得到第四路光信号；
彩色图像传感器，用于将第四路光信号转换成相应的彩色图像数据；
三维重建数据优化模块，用于将彩色图像数据中的色彩信息以及纹理信息映射至三维重建数据，得到优化后的三维重建数据。
其中，与上述三维重建数据的优化过程相关的光路设计可以参考图5、图6和图7中公开的具体实施方案，在此不再进行赘述。
可见，本发明实施例在将三个红外光源产生的红外光同时投射至目标物体之后，将会通过一个镜头采集目标反射回来的光线，得到源光路，然 后将与上述三个红外光源相关的三路光信号从上述源光路中提取出来，并分别转换成相应的红外图像数据，得到三份红外图像数据，由于上述三份红外图像数据所对应的光信号均来自于上述源光路，所以上述三份红外图像数据均对应于目标物体的同一状态，由此可提升后续的三维重建精度，并且本发明实施例中镜头数量仅为一个，可以避免多镜头同步调整所带来的难度，便于用户实际的应用操作。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明所提供的一种光度立体三维重建方法及分光式光度立体相机进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (10)

  1. 一种光度立体三维重建方法，其特征在于，包括：
    将第一红外光源、第二红外光源和第三红外光源各自产生的红外光同时投射至目标物体；其中，所述第一红外光源、所述第二红外光源和所述第三红外光源的波长均互不相同；
    通过一个镜头，采集由所述目标物体反射回来的光线，得到源光路；
    将分别与所述第一红外光源、所述第二红外光源和所述第三红外光源相关的光信号从所述源光路中提取出来，得到第一路光信号、第二路光信号和第三路光信号；
    分别将所述第一路光信号、所述第二路光信号以及所述第三路光信号转换成相应的红外图像数据，得到第一红外图像数据、第二红外图像数据和第三红外图像数据；
    利用所述第一红外图像数据、第二红外图像数据和第三红外图像数据，对所述目标物体展开光度立体三维重建操作，得到所述目标物体的三维重建数据。
  2. 根据权利要求1所述的光度立体三维重建方法，其特征在于，所述将分别与所述第一红外光源、所述第二红外光源和所述第三红外光源相关的光信号从所述源光路中提取出来的过程，包括：
    利用分光镜，对所述源光路进行分光处理，分别得到第一光路、第二光路和第三光路；
    利用第一窄带滤光片，将与所述第一红外光源相关的光信号从所述第一光路中提取出来，得到所述第一路光信号；
    利用第二窄带滤光片，将与所述第二红外光源相关的光信号从所述第二光路中提取出来，得到所述第二路光信号；
    利用第三窄带滤光片，将与所述第三红外光源相关的光信号从所述第三光路中提取出来，得到所述第三路光信号；
    其中，所述第一窄带滤光片为只允许波长与所述第一红外光源的波长相一致的光信号通过的滤光片，所述第二窄带滤光片为只允许波长与所述第二红外光源的波长相一致的光信号通过的滤光片，所述第三窄带滤光片 为只允许波长与所述第三红外光源的波长相一致的光信号通过的滤光片。
  3. 根据权利要求1所述的光度立体三维重建方法，其特征在于，所述将分别与所述第一红外光源、所述第二红外光源和所述第三红外光源相关的光信号从所述源光路中提取出来的过程，包括：
    利用第一短波通滤光片对所述源光路进行光线分离处理，相应地得到第一反射光和第一透射光，并将所述第一反射光确定为所述第一路光信号；
    利用第二短波通滤光片对所述第一透射光进行光线分离处理，相应地得到第二反射光和第二透射光，并将所述第二反射光确定为所述第二路光信号；
    利用窄带滤光片，将与所述第三红外光源相关的光信号从所述第二透射光中提取出来，得到所述第三路光信号；
    其中，所述第一短波通滤光片的截止波长位于所述第一红外光源的波长与所述第二红外光源的波长之间，所述第二短波通滤光片的截止波长位于所述第二红外光源的波长与所述第三红外光源的波长之间，所述窄带滤光片为只允许波长与所述第三红外光源的波长相一致的光信号通过的滤光片，并且，所述第一红外光源的波长大于所述第二红外光源的波长，所述第二红外光源的波长大于所述第三红外光源的波长。
  4. 根据权利要求1所述的光度立体三维重建方法，其特征在于，所述将分别与所述第一红外光源、所述第二红外光源和所述第三红外光源相关的光信号从所述源光路中提取出来的过程，包括：
    利用第一长波通滤光片对所述源光路进行光线分离处理，相应地得到第一反射光和第一透射光，并将所述第一透射光确定为所述第一路光信号；
    利用第二长波通滤光片对所述第一反射光进行光线分离处理，相应地得到第二反射光和第二透射光，并将所述第二透射光确定为所述第二路光信号；
    利用窄带滤光片，将与所述第三红外光源相关的光信号从所述第二反射光中提取出来，得到所述第三路光信号；
    其中，所述第一长波通滤光片的截止波长位于所述第一红外光源的波长与所述第二红外光源的波长之间，所述第二长波通滤光片的截止波长位于所述第二红外光源的波长与所述第三红外光源的波长之间，所述窄带滤 光片为只允许波长与所述第三红外光源的波长相一致的光信号通过的滤光片，并且，所述第一红外光源的波长大于所述第二红外光源的波长，所述第二红外光源的波长大于所述第三红外光源的波长。
  5. 根据权利要求1至4任一项所述的光度立体三维重建方法，其特征在于，还包括：
    将与环境中可见光相关的光信号从所述源光路中提取出来，得到第四路光信号；
    将所述第四路光信号转换成相应的彩色图像数据；
    将所述彩色图像数据中的色彩信息以及纹理信息映射至所述三维重建数据，得到优化后的三维重建数据。
  6. 一种分光式光度立体相机，其特征在于，包括：第一红外光源、第二红外光源、第三红外光源、一个镜头、光信号提取系统、信号转换系统以及三维重建系统；其中，
    所述第一红外光源、所述第二红外光源以及所述第三红外光源，用于将各自产生的红外光同时投射至目标物体；其中，所述第一红外光源、所述第二红外光源和所述第三红外光源的波长均互不相同；
    所述镜头，用于采集由所述目标物体反射回来的光线，得到源光路；
    所述光信号提取系统，用于将分别与所述第一红外光源、所述第二红外光源和所述第三红外光源相关的光信号从所述源光路中提取出来，得到第一路光信号、第二路光信号和第三路光信号；
    所述信号转换系统，用于分别将所述第一路光信号、所述第二路光信号以及所述第三路光信号转换成相应的红外图像数据，得到第一红外图像数据、第二红外图像数据和第三红外图像数据；
    所述三维重建系统，用于利用所述第一红外图像数据、第二红外图像数据和第三红外图像数据，对所述目标物体展开光度立体三维重建操作，得到所述目标物体的三维重建数据。
  7. 根据权利要求6所述的分光式光度立体相机，其特征在于，所述光信号提取系统，包括：
    分光镜子系统，用于利用分光镜，对所述源光路进行分光处理，分别得到第一光路、第二光路和第三光路；
    第一光信号提取模块，用于利用第一窄带滤光片，将与所述第一红外光源相关的光信号从所述第一光路中提取出来，得到所述第一路光信号；
    第二光信号提取模块，用于利用第二窄带滤光片，将与所述第二红外光源相关的光信号从所述第二光路中提取出来，得到所述第二路光信号；
    第三光信号提取模块，用于利用第三窄带滤光片，将与所述第三红外光源相关的光信号从所述第三光路中提取出来，得到所述第三路光信号；
    其中，所述第一窄带滤光片为只允许波长与所述第一红外光源的波长相一致的光信号通过的滤光片，所述第二窄带滤光片为只允许波长与所述第二红外光源的波长相一致的光信号通过的滤光片，所述第三窄带滤光片为只允许波长与所述第三红外光源的波长相一致的光信号通过的滤光片。
  8. 根据权利要求6所述的分光式光度立体相机，其特征在于，所述光信号提取系统，包括：
    第一分离模块，用于利用第一短波通滤光片对所述源光路进行光线分离处理，相应地得到第一反射光和第一透射光，并将所述第一反射光确定为所述第一路光信号；
    第二分离模块，用于利用第二短波通滤光片对所述第一透射光进行光线分离处理，相应地得到第二反射光和第二透射光，并将所述第二反射光确定为所述第二路光信号；
    第一提取单元，用于利用窄带滤光片，将与所述第三红外光源相关的光信号从所述第二透射光中提取出来，得到所述第三路光信号；
    其中，所述第一短波通滤光片的截止波长位于所述第一红外光源的波长与所述第二红外光源的波长之间，所述第二短波通滤光片的截止波长位于所述第二红外光源的波长与所述第三红外光源的波长之间，所述窄带滤光片为只允许波长与所述第三红外光源的波长相一致的光信号通过的滤光片，并且，所述第一红外光源的波长大于所述第二红外光源的波长，所述第二红外光源的波长大于所述第三红外光源的波长。
  9. 根据权利要求6所述的分光式光度立体相机，其特征在于，所述光信号提取系统，包括：
    第三分离模块，用于利用第一长波通滤光片对所述源光路进行光线分离处理，相应地得到第一反射光和第一透射光，并将所述第一透射光确定 为所述第一路光信号；
    第四分离模块，用于利用第二长波通滤光片对所述第一反射光进行光线分离处理，相应地得到第二反射光和第二透射光，并将所述第二透射光确定为所述第二路光信号；
    第二提取单元，用于利用窄带滤光片，将与所述第三红外光源相关的光信号从所述第二反射光中提取出来，得到所述第三路光信号；
    其中，所述第一长波通滤光片的截止波长位于所述第一红外光源的波长与所述第二红外光源的波长之间，所述第二长波通滤光片的截止波长位于所述第二红外光源的波长与所述第三红外光源的波长之间，所述窄带滤光片为只允许波长与所述第三红外光源的波长相一致的光信号通过的滤光片，并且，所述第一红外光源的波长大于所述第二红外光源的波长，所述第二红外光源的波长大于所述第三红外光源的波长。
  10. 根据权利要求6至9任一项所述的分光式光度立体相机，其特征在于，还包括：
    第四光信号提取模块，用于将与环境中可见光相关的光信号从所述源光路中提取出来，得到第四路光信号；
    彩色图像传感器，用于将所述第四路光信号转换成相应的彩色图像数据；
    三维重建数据优化模块，用于将所述彩色图像数据中的色彩信息以及纹理信息映射至所述三维重建数据，得到优化后的三维重建数据。
PCT/CN2017/081612 2017-03-28 2017-04-24 一种光度立体三维重建方法及分光式光度立体相机 WO2018176534A1 (zh)

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