WO2023029344A1 - 一种互补单像素质心探测系统及方法 - Google Patents

一种互补单像素质心探测系统及方法 Download PDF

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WO2023029344A1
WO2023029344A1 PCT/CN2022/070605 CN2022070605W WO2023029344A1 WO 2023029344 A1 WO2023029344 A1 WO 2023029344A1 CN 2022070605 W CN2022070605 W CN 2022070605W WO 2023029344 A1 WO2023029344 A1 WO 2023029344A1
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pixel
dimensional
target object
pixel detector
light modulator
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时东锋
王英俭
黄见
陈亚峰
苑克娥
查林彬
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中国科学院合肥物质科学研究院
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Priority to US18/517,487 priority Critical patent/US11940348B1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/66—Analysis of geometric attributes of image moments or centre of gravity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/12—Static balancing; Determining position of centre of gravity
    • G01M1/122—Determining position of centre of gravity

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  • the invention belongs to the technical field of computational imaging and centroid detection, and in particular relates to a complementary single-pixel centroid detection system and method.
  • the traditional method is to first obtain the object image through the area array camera, and then calculate the centroid of the target object through the corresponding image processing algorithm.
  • the quality of the captured object image determines the accuracy of the detection centroid.
  • the quality of the image captured by the area array camera will be greatly affected, and some area array cameras in invisible bands (infrared, terahertz, etc.) are either expensive or cannot work effectively.
  • the range of use of traditional methods for detecting centroids is limited.
  • CCD Charge Coupled Device, Charge Coupled Device
  • CMOS Complementary Metal Oxide Semiconductor, Complementary Metal Oxide Semiconductor
  • single-pixel imaging technology uses The space-time transformed light illuminates the target object or modulates the image of the object, samples the physical information through a detector with only one pixel unit, and finally uses the corresponding algorithm to reconstruct the object information.
  • single-pixel imaging is mainly reflected in two aspects. Because single-pixel detectors have a wide spectral response range and high light sensitivity, single-pixel imaging can be applied to wave bands where array cameras cannot respond or are expensive and low-light imaging . Combining single-pixel imaging methods with centroid detection can work in low light and wide spectral response range, while freeing from the limitation of low imaging frame rate.
  • a centroid detection method based on a single-pixel detector in the prior art uses three pieces of two-dimensional modulation information to directly target the centroid of the object without imaging, which is relatively slow.
  • the present invention proposes a complementary single-pixel centroid detection system and method, and the specific scheme is as follows:
  • a complementary single-pixel centroid detection system including a lens group, a single-pixel detector assembly, a light modulator DMD, and an acquisition and processing unit;
  • the acquisition and processing unit generates a two-dimensional modulation matrix A and a two-dimensional modulation matrix B and loads them into the optical modulator DMD, so that the value of each column of the two-dimensional modulation matrix A is equal to the number of columns, and the value of each row of the two-dimensional modulation matrix B is equal to the number of rows ;
  • the lens group processes the light reflected or transmitted by the target object, so that the image of the target object is imaged on the light modulator DMD;
  • the light modulator DMD modulates the image signal of the target object according to two-dimensional modulation information
  • the single-pixel detector assembly includes a first single-pixel detector and a second single-pixel detector, respectively acquiring intensity values of light reflected in two complementary directions by the light modulator DMD;
  • the collection and processing unit is respectively connected to the data output terminals of the first single-pixel detector and the second single-pixel detector to calculate the centroid of the target object.
  • the light modulator DMD is composed of several micromirrors, and each micromirror can rotate back and forth between positive and negative angles, corresponding to the "0" and "1" states of the microelements of the light modulator DMD;
  • the light intensities of the light modulator DMD in the two reflection directions are complementary.
  • the model of the light modulator DMD is DLP7000, which is composed of 768x1024 micromirrors.
  • a light source is also included, and the light source is used to irradiate the target object.
  • the acquisition processing unit includes a connected computer and a data collector, the computer is connected to the light modulator DMD, and the data collector port is correspondingly connected to the first single-pixel detector and the second single-pixel detector .
  • a complementary single-pixel centroid detection method comprising the following steps:
  • the computer in the acquisition processing unit generates a two-dimensional modulation matrix A and a two-dimensional modulation matrix B, which are expressed by two-dimensional functions respectively;
  • the abscissa and ordinate directions of the coordinate system where the two-dimensional function is located correspond to the row and column directions of the two-dimensional modulation matrix respectively, and the two-dimensional function values correspond to the element values of the two-dimensional modulation matrix; the two-dimensional modulation matrix A and the two-dimensional modulation matrix B
  • the corresponding two-dimensional functions respectively satisfy the following relations:
  • the data collector uses the first single-pixel detector and the second single-pixel detector to obtain the intensity values of the reflected light in two complementary directions of the light modulator DMD;
  • step S1 further includes: converting the two-dimensional modulation matrix A and the two-dimensional modulation matrix B into a binary modulation matrix by means of spatial dithering
  • the modulation information in step S2 is a binary modulation matrix.
  • step S3 calculates the reflected light intensity value obtained by the first single-pixel detector (and the second single-pixel detector) as:
  • f(x, y) is the two-dimensional distribution function of the target object image
  • the superscript values 0 and 1 correspond to the positive and negative angle states of the light modulator DMD respectively
  • the subscript values 1 and 2 represent the single The pixel detector and the single-pixel detector, where k is 1 and 2 respectively represent two two-dimensional modulation information of the light modulator DMD, and respectively represent two complementary modulation information under the kth modulation information.
  • centroid solution algorithm for solving the centroid (x c , y c ) is as follows:
  • the position parameter of the center of mass of the target object can be expressed as:
  • the present invention directly targets the center of mass of the target object without imaging, and the system utilizes the complementary structural characteristics of the digital micromirror array light modulator DMD to further reduce the amount of modulation information used and increase the speed of centroid detection.
  • the light source is set to irradiate the target object, which can make the target object image better.
  • step S1 the method of spatial dithering is used to convert the binary modulation matrix into a binary modulation matrix, which meets the requirement of high-speed modulation, and makes full use of the high-speed binary modulation performance of the optical modulator DMD.
  • Fig. 1 is the flowchart of complementary single-pixel centroid detection
  • Figure 2 is a structural diagram of a complementary single-pixel centroid detection system
  • Fig. 3 is a schematic diagram of micromirror structure in a light modulator (DMD, Digital Micromirror Device);
  • Figure 4 is the generated two modulation information diagrams.
  • a kind of complementary single-pixel centroid detection system includes lens group 3, single-pixel detector assembly 4, light modulator DMD5, acquisition and processing unit; optimized, can also include for lighting the target object light source 1.
  • the collection and processing unit includes a connected computer 6 and a data collector.
  • the computer generates a two-dimensional modulation matrix A and a two-dimensional modulation matrix B and loads them into the optical modulator DMD5, so that the value of each column of the two-dimensional modulation matrix A is equal to the number of columns, and the value of each row of the two-dimensional modulation matrix B is equal to the number of rows;
  • the lens group 3 processes the light reflected or transmitted by the target object 2, so that the image of the target object is imaged on the light modulator DMD5;
  • the light modulator DMD5 modulates the image signal of the target object according to the dimensional modulation information.
  • Figure 4 shows a schematic diagram of some of the micromirror structures.
  • each micromirror can rotate back and forth between positive and negative angles, corresponding to the "0" and "1" states of the light modulator DMD5 microunit.
  • the light intensities of the light modulator DMD5 in the two reflection directions are complementary, that is to say the sum of the intensities of the two beams of reflected light is equal to the intensity of the reflected light when the light modulator DMD5 acts as a plane mirror.
  • the model of the light modulator DMD5 is DLP7000, which is composed of 768x1024 micromirrors, and the positive and negative angles are ⁇ 12°.
  • the single-pixel detector assembly includes a first single-pixel detector 41 and a second single-pixel detector 42, which respectively acquire intensity values of light reflected in two complementary directions by the light modulator DMD5, and the first single-pixel detector 41 and the second single-pixel detector
  • the second single-pixel detectors 42 are all single-point photodetectors.
  • the data collector in the acquisition processing unit is respectively connected to the data output ends of the first single-pixel detector 41 and the second single-pixel detector 42, and the data collector uploads the collected data to the computer 6, and the computer 6 calculates the target object 2 centroids.
  • the mutual single-pixel centroid detection method based on the above system includes the following steps:
  • the computer in the acquisition and processing unit forms a two-dimensional modulation matrix A and a two-dimensional modulation matrix B, which are represented by two-dimensional functions respectively;
  • the abscissa and ordinate directions of the coordinate system where the two-dimensional function is located correspond to the row and column directions of the two-dimensional modulation matrix respectively, and the two-dimensional function values correspond to the element values of the two-dimensional modulation matrix; the two-dimensional modulation matrix A and the two-dimensional modulation matrix B
  • the corresponding two-dimensional functions respectively satisfy the following relations:
  • the spatial dithering method can be used to convert the two-dimensional modulation matrix A and the two-dimensional modulation matrix B into a binary modulation matrix by using a computer 6, as shown in Figure 4 As shown, the application of the spatial dithering method can make full use of the high-speed binary modulation frequency of the optical modulator DMD5.
  • the modulation information in FIG. 4 is corresponding to the two-dimensional modulation matrix A and the two-dimensional modulation matrix B function, when high-speed modulation is required, the modulation information is a binary modulation matrix.
  • the reflected light intensity values acquired by the first single-pixel detector 41 and the second single-pixel detector 42 are expressed as:
  • f(x, y) is the two-dimensional distribution function of the image of the target object (2)
  • the superscript values 0 and 1 correspond to the positive and negative angle states of the light modulator DMD (5), respectively
  • the subscript values 1 and 2 respectively represent a single-pixel detector (41) and a single-pixel detector (42)
  • k takes 1 and 2 to represent the two two-dimensional modulation information of the light modulator DMD (5), and respectively represent the kth modulation information The next complementary two modulation information.
  • the position parameter of the center of mass of the target object 2 can be expressed as:
  • the present invention combines the single-pixel imaging method with the centroid detection method, fully utilizes the structural characteristics of the light modulator DMD5, and directly obtains the centroid of the target object 2 with only two pieces of modulation information under the premise of no imaging.
  • this technology can achieve a frame rate of centroid detection above 11KHz, which can be applied in fields such as fast target object tracking.

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Abstract

一种互补单像素质心探测系统及方法，系统包括透镜组(3)、单像素探测器组件(4)、光调制器DMD(5)、采集处理单元(6)，采集处理单元(6)生成二维调制矩阵A和二维调制矩阵B并加载到光调制器DMD(5)中；透镜组(3)将目标物体(2)反射或透射光进行处理，使目标物体图像成像在光调制器DMD(5)上；采集处理单元(6)分别与两个单像素探测器(41,42)的数据输出端连接，计算出目标物体(2)的质心。光调制器DMD(5)对目标物体图像信号按照A和B调制信息进行调制；单像素探测器组件(4)包括第一单像素探测器(41)和第二单像素探测器(42),分别获取由光调制器DMD(5)两个互补方向上反射光的强度值。在不成像的前提下直接探测目标物体(2)质心，利用光调制器DMD(5)互补结构特点，进一步减少所用调制信息的数量，提高质心探测的速度。

Description

一种互补单像素质心探测系统及方法 技术领域
本发明属于计算成像和质心探测的技术领域，尤其涉及一种互补单像素质心探测系统及方法。
背景技术
在质心探测领域，传统的方法均是通过面阵相机先获取物体图像，再由图像经过相应图像处理算法计算出目标物体质心，捕获的物体图像质量决定了探测质心的准确度。
在低信噪比的情况下，面阵相机拍摄到图像的质量会受到较大影响，并且一些不可见波段(红外，太赫兹等)面阵相机要么造价昂贵要么无法有效工作。传统探测质心的方法使用范围受到限制。单像素成像技术与传统的CCD(Charge Coupled Device,电荷耦合元件)和CMOS(Complementary Metal Oxide Semiconductor,互补金属氧化物半导体)等面阵感光元件为核心的数字成像技术相比，单像素成像技术使用时空变换的光照射目标物体或者调制物体图像，通过只有一个像素单元的探测器来进行物理信息采样，最后利用相应算法重建物体信息。
单像素成像的优势主要体现在两个方面，由于单像素探测器具有较宽的光谱响应范围和较高的光敏感度，单像素成像可以应用在阵列相机无法响应或者造价昂贵的波段以及弱光成像。将单像素成像方法与质心探测结合可以在弱光和宽波谱响应范围进行工作，同时摆脱成像帧频不高的限制。
现有技术中一种基于单像素探测器的质心探测方法(申请号： 202010412816.0)在不成像的前提下使用三张二维调制信息直接目标物体的质心，这样速度较慢。
发明内容
为了提高质心探测的速度，为此，本发明提出了一种互补单像素质心探测系统及方法，具体方案如下：
一种互补单像素质心探测系统，包括透镜组、单像素探测器组件、光调制器DMD、采集处理单元；
采集处理单元生成二维调制矩阵A和二维调制矩阵B并加载到光调制器DMD中,令二维调制矩阵A每列元素值等于列数，二维调制矩阵B每行元素值等于行数；
透镜组将目标物体反射或透射后的光进行处理，使目标物体图像成像在光调制器DMD上；
光调制器DMD对目标物体图像信号按照二维调制信息进行调制；
单像素探测器组件包括第一单像素探测器和第二单像素探测器,分别获取由光调制器DMD两个互补方向上反射光的强度值；
采集处理单元分别与第一单像素探测器和第二单像素探测器的数据输出端连接，计算出目标物体的质心。
具体地说，所述光调制器DMD由若干个微镜组成，每个微镜均可在正负角度之间来回转动，对应着光调制器DMD微元的“0”和“1”状态；光调制器DMD在两个反射方向上的光强是互补。
具体地说，所述光调制器DMD的型号为DLP7000，由768x1024个微镜组成。
具体地说，还包括光源，所述光源用于照射目标物体。
具体地说，所述采集处理单元包括连接的计算机和数据采集器，所述计算机与光调制器DMD连接，所述数据采集器端口与第一单像素探测器和第二单像素探测器对应连接。
一种互补单像素质心探测方法，包括以下步骤：
S1、采集处理单元中的计算机生成二维调制矩阵A和二维调制矩阵B，并且分别使用二维函数表示；
二维函数所在的坐标系的横坐标和纵坐标方向分别对应二维调制矩阵的行和列方向，二维函数值对应二维调制矩阵的元素值；二维调制矩阵A和二维调制矩阵B所对应二维函数分别满足以下关系式：
S 1(x,y)＝x    (1)
S 2(x,y)＝y    (2)
式中S n(x,y)(n＝1,2)表示二维调制矩阵中对应着坐标(x,y)处的元素值；
S2、将生成调制信息加载至光调制器DMD中，对目标物体图像进行调制；
S3、数据采集器利用第一单像素探测器和第二单像素探测器获取由光调制器DMD两个互补方向上的反射光的强度值；
S4、根据质心求解算法求取质心。
优化的，当步骤S1还包括：采用空间抖动的方法将二维调制矩阵A和二维调制矩阵B转换为二值化调制矩阵，步骤S2中的调制信息为二值化调制矩阵。
具体地说，步骤S3计算第一单像素探测器(和第二单像素探测器所获取的反射光强度值表示为：
Figure PCTCN2022070605-appb-000001
Figure PCTCN2022070605-appb-000002
式中f(x,y)为目标物体图像的二维分布函数，上标取值0和1，分别对应着光调制器DMD的正负角度的状态,下标取值1和2分别代表单像素探测器和单像素探测器，k取1和2分别表示光调制器DMD两个二维调制信息,和分别表示第k个调制信息下互补的两个调制信息。
具体地说，所述质心求解算法求解质心(x c,y c)的计算公式如下：
Figure PCTCN2022070605-appb-000003
Figure PCTCN2022070605-appb-000004
通过联立(3)、(4)式与(5)、(6)式，目标物体的质心位置参数可以表示为：
Figure PCTCN2022070605-appb-000005
Figure PCTCN2022070605-appb-000006
本发明的有益效果在于：
(1)本发明在不成像的前提下直接目标物体质心，并且系统利用数字微镜阵列光调制器DMD互补结构特点，进一步减少所用调制信息的数量，提高质心探测的速度。
(2)光源的设置用于照射目标物体，可以使得目标物体更好的成像。
(3)方法中当步骤S1采用空间抖动的方法转换成二值化调制矩阵满足了高速调制的需求，并充分利用光调制器DMD高速二值调制性能。
附图说明
图1为互补单像素质心探测的流程图；
图2为互补单像素质心探测系统结构图；
图3是光调制器(DMD，Digital Micromirror Device)中微镜结构示意图；
图4是生成的两张调制信息图。
图中：
1、光源；2、目标物体；3、透镜组；41、第一单像素探测器；42、第二单像素探测器；5、光调制器DMD；6、采集处理单元。
具体实施方式
如图2所示，一种互补单像素质心探测系统，包括透镜组3、单像素探测器组件4、光调制器DMD5、采集处理单元；优化的，还可以包括用于给目标物体照明的光源1。所述采集处理单元包括连接的计算机6和数据采集器。
计算机生成二维调制矩阵A和二维调制矩阵B并加载到光调制器DMD5中, 令二维调制矩阵A每列元素值等于列数，二维调制矩阵B每行元素值等于行数；
透镜组3将目标物体2反射或透射后的光进行处理，使目标物体图像成像在光调制器DMD5上；
光调制器DMD5对目标物体图像信号按照维调制信息进行调制。图4展示了其中部分微镜结构的示意图，图3中每个微镜均可在正负角度之间来回转动，对应着光调制器DMD5微元的“0”和“1”状态。光调制器DMD5在两个反射方向上的光强是互补的，也就是说两束反射光的强度之和就等于光调制器DMD5作为平面镜时反射光的强度。在该实施例中，所述光调制器DMD5的型号为DLP7000，由768x1024个微镜组成，正负角度为±12°。
单像素探测器组件包括第一单像素探测器41和第二单像素探测器42,分别获取由光调制器DMD5两个互补方向上反射光的强度值，所述第一单像素探测器41和第二单像素探测器42均为单点光电探测器。
采集处理单元中的数据采集器分别与第一单像素探测器41和第二单像素探测器42的数据输出端连接，数据采集器将采集的数据上传到计算机6中，计算机6计算出目标物体2的质心。
如图1所示，基于上述系统的互单像素质心探测方法，包括以下步骤：
S1、采集处理单元中计算机成二维调制矩阵A和二维调制矩阵B，并且分别使用二维函数表示；
二维函数所在的坐标系的横坐标和纵坐标方向分别对应二维调制矩阵的行和列方向，二维函数值对应二维调制矩阵的元素值；二维调制矩阵A和二维调 制矩阵B所对应二维函数分别满足以下关系式：
S 1(x,y)＝x   (1)
S 2(x,y)＝y   (2)
式中S n(x,y)(n＝1,2)表示二维调制矩阵中对应着坐标(x,y)处的元素值；
若需要高速调制，为了充分利用光调制器DMD高速二值调制性能，可采用空间抖动的方法利用计算机6将二维调制矩阵A和二维调制矩阵B转换为二值化调制矩阵，如图4所示，空间抖动的方法的运用可以充分利用光调制器DMD5的高速二值化调制频率。
S2、将图4中的调制信息加载至光调制器DMD5中，对由目标物体图像进行调制；当不需要高速调制时，所述调制信息为二维调制矩阵A和二维调制矩阵B对应的函数，当需要高速调制时，所述调制信息为二值化调制矩阵。
S3、利用第一单像素探测器41和第二单像素探测器42获取由光调制器DMD5两个互补方向上的反射光的强度值。第一单像素探测器41和第二单像素探测器42所获取的反射光强度值表示为：
Figure PCTCN2022070605-appb-000007
Figure PCTCN2022070605-appb-000008
式中f(x,y)为目标物体(2)图像的二维分布函数，上标取值0和1，分别对应着光调制器DMD(5)的正负角度的状态,下标取值1和2分别代表单像素探测器(41)和单像素探测器(42)，k取1和2分别表示光调制器DMD(5)两个 二维调制信息,和分别表示第k个调制信息下互补的两个调制信息。
S4、求取质心(x c,y c)，计算公式如下：
Figure PCTCN2022070605-appb-000009
Figure PCTCN2022070605-appb-000010
通过联立(3)、(4)式与(5)、(6)式，目标物体2的质心位置参数可以表示为：
Figure PCTCN2022070605-appb-000011
Figure PCTCN2022070605-appb-000012
本发明将单像素成像方法与质心探测方法相结合，充分利用光调制器DMD5的结构特点，在不成像的前提下仅用两张调制信息直接获取目标物体2的质心，在光调制器DMD5的最高调制频率22kHz下，利用该技术可以实现11KHz以上的质心探测帧频，可以应用在快速目标物体2追踪等领域。
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。

Claims (9)

  1. 一种互补单像素质心探测系统，其特征在于，包括透镜组(3)、单像素探测器组件(4)、光调制器DMD(5)、采集处理单元；
    采集处理单元生成二维调制矩阵A和二维调制矩阵B并加载到光调制器DMD(5)中,令二维调制矩阵A每列元素值等于列数，二维调制矩阵B每行元素值等于行数；
    透镜组(3)将目标物体(2)反射或透射后的光进行处理，使目标物体图像成像在光调制器DMD(5)上；
    光调制器DMD(5)对目标物体图像信号按照二维调制信息进行调制；
    单像素探测器组件包括第一单像素探测器(41)和第二单像素探测器(42),分别获取由光调制器DMD(5)两个互补方向上反射光的强度值；
    采集处理单元分别与第一单像素探测器(41)和第二单像素探测器(42)的数据输出端连接，计算出目标物体(2)的质心。
  2. 根据权利要求1所述的一种互补单像素质心探测系统，其特征在于，所述光调制器DMD(5)由若干个微镜组成，每个微镜均可在正负角度之间来回转动，对应着光调制器DMD(5)微元的“0”和“1”状态；光调制器DMD(5)在两个反射方向上的光强是互补。
  3. 根据权利要求1所述的一种互补单像素质心探测系统，其特征在于，所述光调制器DMD(5)的型号为DLP7000，由768x1024个微镜组成。
  4. 根据权利要求1所述的一种互补单像素质心探测系统，其特征在于，还包括光源(1)，所述光源用于照射目标物体(2)。
  5. 根据权利要求1所述的一种互补单像素质心探测系统，其特征在于，所述采集处理单元包括连接的计算机(6)和数据采集器，所述计算机(6)与光调制器DMD(5)连接，所述数据采集器端口与第一单像素探测器(41)和第二 单像素探测器(42)对应连接。
  6. 一种互补单像素质心探测方法，其特征在于，包括以下步骤：
    S1、采集处理单元中的计算机生成二维调制矩阵A和二维调制矩阵B，并且分别使用二维函数表示；
    二维函数所在的坐标系的横坐标和纵坐标方向分别对应二维调制矩阵的行和列方向，二维函数值对应二维调制矩阵的元素值；二维调制矩阵A和二维调制矩阵B所对应二维函数分别满足以下关系式：
    S 1(x,y)＝x  (1)
    S 2(x,y)＝y  (2)
    式中S n(x,y)(n＝1,2)表示二维调制矩阵中对应着坐标(x,y)处的元素值；
    S2、将生成调制信息加载至光调制器DMD(5)中，对目标物体图像进行调制；
    S3、数据采集器利用第一单像素探测器(41)和第二单像素探测器(42)获取由光调制器DMD(5)两个互补方向上的反射光的强度值；
    S4、根据质心求解算法求取质心。
  7. 根据权利要求6所述的一种互补单像素质心探测方法，其特征在于，
    当步骤S1还包括：采用空间抖动的方法将二维调制矩阵A和二维调制矩阵B转换为二值化调制矩阵，步骤S2中的调制信息为二值化调制矩阵。
  8. 根据权利要求6所述的一种互补单像素质心探测方法，其特征在于，
    步骤S3计算第一单像素探测器(41)和第二单像素探测器(42)所获取的反射光强度值表示为：
    Figure PCTCN2022070605-appb-100001
    Figure PCTCN2022070605-appb-100002
    式中f(x,y)为目标物体图像的二维分布函数，上标取值0和1，分别对应着光调制器DMD(5)的正负角度的状态,下标取值1和2分别代表单像素探测器(41)和单像素探测器(42)，k取1和2分别表示光调制器DMD(5)两个二维调制信息,和分别表示第k个调制信息下互补的两个调制信息。
  9. 根据权利要求6所述的一种互补单像素质心探测方法，其特征在于，所述质心求解算法求解质心(x c,y c)的计算公式如下：
    Figure PCTCN2022070605-appb-100003
    Figure PCTCN2022070605-appb-100004
    通过联立(3)、(4)式与(5)、(6)式，目标物体(2)的质心位置参数可以表示为：
    Figure PCTCN2022070605-appb-100005
    Figure PCTCN2022070605-appb-100006
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