WO2024198525A1 - 压缩超快三维成像方法、系统、电子设备及存储介质 - Google Patents

压缩超快三维成像方法、系统、电子设备及存储介质 Download PDF

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WO2024198525A1
WO2024198525A1 PCT/CN2023/138500 CN2023138500W WO2024198525A1 WO 2024198525 A1 WO2024198525 A1 WO 2024198525A1 CN 2023138500 W CN2023138500 W CN 2023138500W WO 2024198525 A1 WO2024198525 A1 WO 2024198525A1
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image
interference fringe
dimensional imaging
compressed
fringe pattern
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English (en)
French (fr)
Inventor
习江涛
马钊
龙佳乐
李英荣
孟垂松
黄克森
杜梓浩
潘剑
卓节锴
张建民
黎在铭
黄昊铭
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Wuyi University Fujian
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Wuyi University Fujian
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three-dimensional [3D] modelling for computer graphics
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/70—Denoising; Smoothing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/85—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using pre-processing or post-processing specially adapted for video compression

Definitions

  • the embodiments of the present application relate to, but are not limited to, the field of three-dimensional imaging, and in particular to a compressed ultrafast three-dimensional imaging method, system, electronic device, and storage medium.
  • the fastest speed of structured light 3D imaging technology can only reach the millisecond level.
  • the image reconstruction algorithms used in structured light 3D imaging technology such as TwIST and TVAL3, are not ideal in reconstructing interference fringe images. Since interference fringe images have dense and curved fringes, the reconstructed image resolution is not high.
  • the purpose of the present application is to solve one of the technical problems existing in the related art to at least a certain extent.
  • the embodiments of the present application provide a compressed ultrafast three-dimensional imaging method, system, electronic device and storage medium, which can achieve high-precision imaging of ultrafast phase changes.
  • a compressed ultrafast three-dimensional imaging method comprises:
  • the denoised image is subjected to three-dimensional imaging processing to construct a three-dimensional model of the object to be measured.
  • the undecoded interference fringe pattern is obtained by solving the equation to be solved by using an inverse model to perform an inverse solution process on the compressed interference fringe pattern, and the equation to be solved is: Where x is the interference fringe pattern sequence, is the undecoded interference fringe pattern sequence, y is the compressed interference fringe pattern, ⁇ is the noise balance factor, R(x) is the regularization term, and A is the operator.
  • the deep denoising process is represented by the following formula: is the interference fringe pattern sequence, v is the auxiliary variable, k is the number of iterations, ⁇ 1 is the regularization parameter, and ⁇ is the penalty factor.
  • performing three-dimensional imaging processing on the denoised image to obtain a three-dimensional model of the object to be measured includes:
  • the three-dimensional coordinates of the object to be measured are calculated according to the absolute phase map and preset calibration parameters, and then a three-dimensional model of the object to be measured is constructed.
  • performing phase reconstruction on the denoised image to obtain a phase image of the object to be tested includes:
  • An inverse tangent calculation is performed on the fundamental frequency component of the first transformation diagram and the fundamental frequency component of the second transformation diagram to obtain a phase diagram of the object to be measured.
  • ⁇ 1 represents the phase change of the fringe deformation caused by the first-order harmonic
  • unwrap represents phase unwrapping
  • D f (x) is the complex signal of the fundamental frequency component of the first transform graph
  • R f (x) is the complex signal of the fundamental frequency component of the second transform graph
  • Im represents the imaginary part of the complex number
  • In represents the natural logarithm, represents the complex conjugate of R f (x).
  • An embodiment of the second aspect of the present application is a compressed ultrafast three-dimensional imaging system, comprising a light source, a mask plate, an image capturing device and an image processing device; the light generated by the light source first passes through the mask plate and then enters the image capturing device;
  • the mask plate is loaded with a coding matrix; the mask plate is used to encode multiple interference fringe patterns of the object to be measured to obtain a coded image;
  • the image capturing device is used to compress the coded image to obtain a compressed interference fringe pattern of the object to be tested;
  • the image processing device is configured to perform inverse processing on the compressed interference fringe pattern to obtain an undecoded interference fringe pattern, perform total variation image denoising on the interference fringe pattern, and then perform depth denoising to obtain a denoised image, perform three-dimensional imaging processing on the denoised image, and construct a three-dimensional model of the object to be measured.
  • An embodiment of the third aspect of the present application is an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the compressed ultrafast three-dimensional imaging method as described above when executing the computer program.
  • An embodiment of the fourth aspect of the present application is a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the compressed ultrafast three-dimensional imaging method as described above.
  • a coded image is obtained by encoding multiple interference fringe patterns of the object to be measured; the coded image is compressed to obtain a compressed interference fringe pattern of the object to be measured; the compressed interference fringe pattern is inversely decoded to obtain an undecoded interference fringe pattern; the interference fringe pattern is subjected to total variation image denoising and then to depth denoising to obtain a denoised image; the denoised image is subjected to three-dimensional imaging to construct a three-dimensional model of the object to be measured; and high-precision imaging of ultrafast phase changes can be achieved.
  • FIG1 is a diagram showing the steps of a compressed ultrafast three-dimensional imaging method provided by an embodiment of the present application.
  • FIG2 is a sub-step diagram of step S500
  • FIG3 is a sub-step diagram of step S510
  • FIG4 is a structural diagram of a compressed ultrafast three-dimensional imaging system provided in an embodiment of the present application.
  • FIG5 is a structural diagram of an electronic device provided in an embodiment of the present application.
  • Three-dimensional imaging technology is a technology that uses electronic instruments to obtain the three-dimensional spatial information and three-dimensional morphological features of the object being measured.
  • Three-dimensional imaging technology can restore the lost depth information and three-dimensional structure of the target to be measured from the two-dimensional image of the object.
  • three-dimensional imaging technology has been widely used in biomedical imaging, industrial production detection, micro-nano manufacturing and other fields, and has become an indispensable supporting technology for intelligent manufacturing.
  • the compressed ultrafast three-dimensional imaging system includes a light source 101 , a mask plate, an image capturing device, and an image processing device.
  • the light source is a femtosecond laser, an attenuator and a plurality of reflectors.
  • the femtosecond laser can generate a laser with a power of 1300mw and a wavelength of 800nm.
  • the attenuator is provided with a 0.05% light outlet.
  • the laser is reflected by two reflectors; of course, in other embodiments, the laser can also be reflected by other numbers of reflectors to adjust the optical path according to actual needs.
  • the laser light generated by the femtosecond laser enters the darkroom.
  • the light path passes through the beam expander 102 and the collimator 103, and then is split into two light paths by the first beam splitter 104.
  • One of the light paths passes through the Mach-Zehnder interferometer optical system to generate interference fringes, and then is directed to the second beam splitter 105, and the other light path is directly directed to the second beam splitter.
  • the generated static interference fringes are photographed by the CCD camera 106 .
  • the interference fringes are projected onto the object to be tested placed in the object to be tested placement area 107, and then pass through the camera lens 108 and the third beam splitter 109 in sequence; one light path separated by the third beam splitter 109 is photographed by the streak camera 110, and the other light path separated by the third beam splitter 109 passes through the tube lens 111 and the objective lens 112, and is encoded by the digital micromirror device 113.
  • the image capturing device includes a streak camera 110 , a CCD camera 106 , and a digital micromirror device 113 .
  • the two beams of light are superimposed on the photosensitive elements such as the CCD camera 106 to generate interference.
  • the sensitivity of each point on the photosensitive element varies not only with the intensity but also with the phase relationship between the two beams of light.
  • the laser passes through the Mach-Zehnder interferometer optical system to generate interference fringes, which are projected onto the object to be measured.
  • the diffusely reflected light passes through two 4f systems and a digital micromirror device 113 to encode the image of the interference fringes and enter the streak camera in the compressed ultrafast system to achieve two-dimensional spatial information recording of the interference fringes.
  • the image processing device is configured to perform inverse processing on the compressed interference fringe pattern to obtain an undecoded interference fringe pattern, perform total variation image denoising on the interference fringe pattern, then perform depth denoising to obtain a denoised image, perform three-dimensional imaging processing on the denoised image, and construct a three-dimensional model of the object to be measured.
  • the ultrafast holographic imaging system adopts the following compressed ultrafast three-dimensional imaging method.
  • the compressed ultrafast three-dimensional imaging method includes but is not limited to the following steps:
  • Step S100 encoding multiple interference fringe patterns of the object to be measured to obtain an encoded image
  • Step S200 compressing the coded image to obtain a compressed interference fringe pattern of the object to be tested
  • Step S300 performing inverse decoding processing on the compressed interference fringe pattern to obtain an undecoded interference fringe pattern
  • Step S400 performing total variation image denoising processing on the interference fringe pattern, and then performing depth denoising processing to obtain a denoised image
  • Step S500 performing three-dimensional imaging processing on the denoised image to construct a three-dimensional model of the object to be measured.
  • the laser light generated by the femtosecond laser is divided into two optical paths by a beam splitter, wherein the interference fringes generated by one optical path are projected onto the object to be measured, and the static interference fringes are photographed by a CCD in the other optical path.
  • the interference fringes are projected onto the object to be measured to obtain an interference fringes imaging sequence.
  • the diffuse reflection generated by the laser passes through a digital micromirror device 113 loaded with a coding matrix, and multiple images of the object to be measured are coded to obtain coded images.
  • the streak camera system shears and compresses the coded image to obtain a compressed interference fringe image.
  • the laser generates interference fringes through the Mach-Zehnder interferometer optical system and projects them onto the object to be measured.
  • the diffusely reflected light is encoded through two 4f systems and a digital micromirror device 113 for image encoding of the interference fringes and enters the streak camera in the compressed ultrafast system to achieve two-dimensional spatial information recording of the interference fringes.
  • step S300 restoring a three-dimensional image from a two-dimensional image is an ill-posed linear problem.
  • the reverse model obtains good restoration results through the prior distribution of the interference fringe image, and uses the maximum a posteriori probability estimation to estimate the interference fringe image sequence of the unknown signal x given the measured y compressed interference fringe image and the forward model (likelihood function p y
  • the equation to be solved is: Where x is the interference fringe pattern sequence, is the undecoded interference fringe pattern sequence, y is the compressed interference fringe pattern of the fringe camera, ⁇ is the noise balance factor, R(x) is the regularization term, and A is the operator.
  • T T-space integration operator on the exposure time of the streak camera's external CCD
  • S the time shear operator in the vertical direction
  • C the encoding operator of the mask.
  • the image reconstruction is completed by solving the above optimization problem, and the undecoded interference fringe pattern is obtained by solving the unsolved equation through the inverse model.
  • the inverse model uses the PnP framework based on the generalized alternating projection (GAP).
  • step S400 a total variation image denoising algorithm is used to perform total variation image denoising on the interference fringe pattern.
  • Total variation image denoising algorithm is an image restoration algorithm that restores a clean image from a noisy image. It builds a noise model, uses an optimization algorithm to solve the module, and through continuous iteration, makes the restored image infinitely close to the ideal denoised image. It is very similar to deep learning.
  • the noise model is analogous to the loss function. Through continuous training, the gap between the two is getting closer and closer. The gradient descent method is also needed to quickly obtain the optimal solution.
  • the denoiser should be adaptable to different input noise levels.
  • a deep image denoising network can be used as a spatial image prior, i.e., a deep image denoising prior.
  • the trained denoising model is used to reconstruct the interference fringe image sequence.
  • the trained denoising model denoises the image frame by frame.
  • the denoised image is subjected to three-dimensional imaging processing to obtain a three-dimensional model of the object to be measured, including but not limited to the following steps:
  • Step S510 performing phase reconstruction on the denoised image to obtain a phase image
  • Step S520 performing phase unwrapping on the phase map to obtain an absolute phase map
  • Step S530 calculating the three-dimensional coordinates of the object to be measured according to the absolute phase map and the preset calibration parameters, and then constructing a three-dimensional model of the object to be measured.
  • step S510 the denoised image is phase reconstructed to obtain a phase image of the object to be tested, including but not limited to the following steps:
  • Step S511 performing Fourier transform on the denoised image to obtain a first transformed image, and performing Fourier transform on the reference fringe image to obtain a second transformed image;
  • Step S512 filtering the first transformation graph to obtain the fundamental frequency component of the first transformation graph, and filtering the second transformation graph to obtain the fundamental frequency component of the second transformation graph;
  • Step S513 performing arctangent calculation on the fundamental frequency component of the first transformation graph and the fundamental frequency component of the second transformation graph to obtain a phase graph of the object to be measured.
  • the fringe analysis is performed on the denoised image and the reference fringe image using Fourier transform.
  • the denoised image is subjected to Fourier transform to obtain a first transform image
  • the reference fringe image is subjected to Fourier transform to obtain a second transform image.
  • the strength of the denoiser can be expressed as:
  • the intensity of the reference fringe pattern can be expressed as:
  • f0 represents the spatial frequency of the fundamental frequency component of the fringe.
  • bk represents the amplitude of the kth harmonic component of the projected fringe. Compared with f0 , bk changes very slowly. In actual measurement, bk is generally treated as a constant.
  • ⁇ k represents the initial phase of the kth harmonic component.
  • ⁇ k represents the phase change of the fringe deformation caused by the kth harmonic.
  • the harmonic with a spatial frequency of f0 is called the fundamental frequency component of the fringe.
  • the phase information of the fringe is directly extracted from the fundamental frequency component. Therefore, the fundamental frequency component constitutes the most important part of analyzing the fringe signal.
  • the first transformation image is filtered by a bandpass filter to obtain the fundamental frequency component of the first transformation image
  • the second transformation image is filtered to obtain the fundamental frequency component of the second transformation image.
  • the base frequency component and The fundamental frequency component of the second transformation image is subjected to arc tangent calculation to obtain the fringe analysis result, i.e., the phase image.
  • the phase map is unfolded to obtain accurate surface morphology data of the object, namely, the absolute phase map.
  • R f (x) the complex signal of the fundamental frequency component of the second transform graph
  • D f (x) the complex signal of the fundamental frequency component of the first transform graph
  • unwrap means phase unwrapping
  • Im means taking the imaginary part of the complex number
  • In means the natural logarithm. represents the complex conjugate of R f (x).
  • the three-dimensional coordinates of the object to be measured are calculated to obtain a three-dimensional model of the object to be measured.
  • the electronic device includes: a memory 620 , a processor 610 , and a computer program stored in the memory 620 and executable on the processor 610 , wherein the processor 610 implements the compressed ultrafast three-dimensional imaging method as described above when executing the computer program.
  • the electronic device may be any intelligent terminal including a tablet computer, a vehicle-mounted computer, etc.
  • the processor 610 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, etc., to execute related programs to realize the technical solutions provided in the embodiments of the present application.
  • a general-purpose CPU Central Processing Unit
  • ASIC Application Specific Integrated Circuit
  • the memory 620 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM).
  • the memory 620 can store an operating system and other application programs.
  • the relevant program codes are stored in the memory 620, and the processor 610 calls and executes the methods of the embodiments of this application.
  • the input/output interface is used to realize information input and output.
  • the communication interface is used to realize the communication interaction between this device and other devices. Communication can be achieved through wired methods (such as USB, network cable, etc.) or wireless methods (such as mobile network, WIFI, Bluetooth, etc.).
  • wired methods such as USB, network cable, etc.
  • wireless methods such as mobile network, WIFI, Bluetooth, etc.
  • the bus 630 transmits information between the various components of the device (such as the processor 610, the memory 620, the input/output interface, and the communication interface).
  • the processor 610, the memory 620, the input/output interface, and the communication interface are connected to each other through the bus 630 within the device.
  • An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to execute the compressed ultrafast three-dimensional imaging method as described above.
  • the method steps in the embodiments of the present invention can be implemented or implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory.
  • the method can use standard programming techniques.
  • Each program can be implemented in a high-level process or object-oriented programming language to communicate with a computer system.
  • the program can be implemented in an assembly or machine language.
  • the language can be a compiled or interpreted language.
  • the program can be run on a programmed ASIC for this purpose.
  • the processes described herein may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context.
  • the processes described herein may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) that is executed collectively on one or more processors, by hardware, or a combination thereof.
  • the computer program includes a plurality of instructions that may be executed by one or more processors.
  • the method may be implemented in any type of computing platform operably connected to a suitable Limited to personal computers, smart phones, mainframes, workstations, networked or distributed computing environments, separate or integrated computer platforms, or communicating with charged particle tools or other imaging devices, etc.
  • Various aspects of the present invention can be implemented as machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optical read and/or write storage medium, RAM, ROM, etc., so that it can be read by a programmable computer, and when the storage medium or device is read by the computer, it can be used to configure and operate the computer to perform the process described herein.
  • machine-readable code can be transmitted via a wired or wireless network.
  • machine-readable code can be transmitted via a wired or wireless network.
  • the invention described herein includes these and other different types of non-transitory computer-readable storage media.
  • the present invention also includes the computer itself.
  • the computer program can be applied to input data to perform the functions described herein, thereby converting the input data to generate output data stored in a non-volatile memory.
  • the output information can also be applied to one or more output devices such as a display.
  • the converted data represents physical and tangible objects, including specific visual depictions of physical and tangible objects produced on the display.

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Abstract

本申请实施例提供了压缩超快三维成像方法、系统、电子设备及存储介质，方法包括对待测物的多个干涉条纹图进行编码处理得到编码图像；对编码图像进行压缩处理，得到待测物的压缩干涉条纹图；对压缩干涉条纹图进行反解处理，得到未解码的干涉条纹图；对干涉条纹图进行全变分图像去噪处理，然后进行深度去噪处理，得到去噪图；对去噪图进行三维成像处理，构建出待测物的三维模型；能够实现超快变化相位的高精度成像。

Description

压缩超快三维成像方法、系统、电子设备及存储介质 技术领域
本申请实施例涉及但不限于三维成像领域，尤其涉及压缩超快三维成像方法、系统、电子设备及存储介质。
背景技术
在目前的三维成像的技术中，结构光三维成像技术最快也只能到达毫秒级。并且，应用于结构光三维成像技术的图像重构算法，例如TwIST、TVAL3等，在重建干涉条纹图像方面的效果不理想，由于干涉条纹图像存在条纹密集和带有弯曲，这使得重建出来的图像分辨率不高。
发明内容
以下是对本文详细描述的主题的概述。本概述并非是为了限制权利要求的保护范围。
本申请的目的在于至少一定程度上解决相关技术中存在的技术问题之一，本申请实施例提供了压缩超快三维成像方法、系统、电子设备及存储介质，能够实现超快变化相位的高精度成像。
本申请的第一方面的实施例，一种压缩超快三维成像方法，包括：
对待测物的多个干涉条纹图进行编码处理得到编码图像；
对所述编码图像进行压缩处理，得到待测物的压缩干涉条纹图；
对所述压缩干涉条纹图进行反解处理，得到未解码的干涉条纹图；
对所述干涉条纹图进行全变分图像去噪处理，然后进行深度去噪处理，得到去噪图；
对所述去噪图进行三维成像处理，构建出待测物的三维模型。
本申请的第一方面的某些实施例，通过反向模型求解待求解式子以对所述压缩干涉条纹图进行反解处理，得到未解码的干涉条纹图，所述待求解式子为： 其中，x为干涉条纹图序列，为未解码的干涉条纹图序列，y为压缩干涉条纹图，λ为噪声平衡因子，R(x)为正则化项，A为算子。
本申请的第一方面的某些实施例，所述算子通过以下式子表示：A＝TSC，T为时间空间积分算子，S为时间剪切算子，C为编码算子。
本申请的第一方面的某些实施例，所述深度去噪处理通过以下式子表示： 为干涉条纹图序列，v为辅助变量，k为迭代次数，λ1为正则化参数，γ为惩罚因子。
本申请的第一方面的某些实施例，所述对所述去噪图进行三维成像处理，得到待测物的三维模型，包括：
对所述去噪图进行相位重建，得到相位图；
对所述相位图进行相位展开，得到绝对相位图；
根据所述绝对相位图和预设的标定参数，计算得到待测物的三维坐标，进而构建出待测物的三维模型。
本申请的第一方面的某些实施例，所述对所述去噪图进行相位重建，得到待测物的相位图，包括：
对所述去噪图进行傅里叶变换得到第一变换图，对参考条纹图进行傅里叶变换得到第二变换图；
对所述第一变换图进行滤波得到第一变换图的基频分量，对所述第二变化图进行滤波得到第二变换图的基频分量；
对所述第一变换图的基频分量和所述第二变换图的基频分量进行反正切计算，得到待测物的相位图。
本申请的第一方面的某些实施例，所述第一变换图的基频分量表示为：df(x)＝b1cos(2πf0x+ψ1+△φ1(x))；所述第二变换图的基频分量表示为：rf(x)＝b1cos(2πf0x+ψ1)；其中，f0表示条纹基频成分的空间频率。b1表示投影条纹第1阶谐波分量的幅度，ψ1表示第1阶谐波分量的初始相位。φ1表示第1阶谐波引起条纹变形的相位变化；unwrap表示相位展开，Df(x)为第一变换图的基频分量的复信号，Rf(x)为第二变换图的基频分量的复信号，Im表示取复数的虚部，In表示自然对数，表示Rf(x)的复共轭。
本申请的第二方面的实施例，一种压缩超快三维成像系统，包括光源、掩码板、图像拍摄装置和图像处理装置；所述光源产生的光先经过所述掩码板，再进入所述图像拍摄装置；
所述掩码板加载有编码矩阵；所述掩码板用于对待测物的多个干涉条纹图进行编码处理得到编码图像；
所述图像拍摄装置用于对所述编码图像进行压缩处理，得到待测物的压缩干涉条纹图；
所述图像处理装置被配置为对所述压缩干涉条纹图进行反解处理，得到未解码的干涉条纹图，对所述干涉条纹图进行全变分图像去噪处理，然后进行深度去噪处理，得到去噪图，对所述去噪图进行三维成像处理，构建出待测物的三维模型。
本申请的第三方面的实施例，一种电子设备，包括：存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上所述的压缩超快三维成像方法。
本申请的第四方面的实施例，一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令用于执行如上所述的压缩超快三维成像方法。
上述方案至少具有以下的有益效果：通过对待测物的多个干涉条纹图进行编码处理得到编码图像；对编码图像进行压缩处理，得到待测物的压缩干涉条纹图；对压缩干涉条纹图进行反解处理，得到未解码的干涉条纹图；对干涉条纹图进行全变分图像去噪处理，然后进行深度去噪处理，得到去噪图；对去噪图进行三维成像处理，构建出待测物的三维模型；能够实现超快变化相位的高精度成像。
附图说明
附图用来提供对本申请技术方案的进一步理解，并且构成说明书的一部分，与本申请的实施例一起用于解释本申请的技术方案，并不构成对本申请技术方案的限制。
图1是本申请的实施例所提供的压缩超快三维成像方法的步骤图；
图2是步骤S500的子步骤图；
图3是步骤S510的子步骤图；
图4是本申请的实施例所提供的压缩超快三维成像系统的结构图；
图5是本申请的实施例所提供的电子设备的结构图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。
需要说明的是，虽然在装置示意图中进行了功能模块划分，在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于装置中的模块划分，或流程图中的顺序执行所示出或描述的步骤。说明书、权利要求书或上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。
下面结合附图，对本申请实施例作进一步阐述。
三维成像技术是使用电子仪器获取被测物体的三维空间信息和三维形貌特征的技术。随着现代电子技术和工业生产水平的不断进步，人们对于物体三维成像技术的需求日益强烈，三维成像技术可以从物体的二维图像中还原丢失掉的深度信息和待测目标的三维结构。目前三维成像技术已经广泛运用到生物医学成像、工业生产检测、微纳制造等领域，已经成为智能制造不可或缺的支撑性技术。
本申请的实施例，提供了一种压缩超快三维成像系统。参照图4，压缩超快三维成像系统包括光源101、掩码板、图像拍摄装置和图像处理装置。
其中，光源为飞秒激光器、衰减器和多个反射镜，飞秒激光器能产生功率为1300mw，波长为800nm的激光，衰减器设有0.05％出光口。在该实施例中，通过两个反射镜对激光进行反射；当然在其他实施例中，也可以根据实际需求通过其他数量的反射镜对激光进行反射以调整光路。
飞秒激光器所产生的激光进入暗室。在暗室中，光路经过扩束镜102和准直镜103，然后由第一个分束镜104分成两个光路，其中一个光路经过马赫曾德尔干涉仪光学系统产生干涉条纹，再射向第二个分束镜105，另一个光路直接射向第二个分束镜。
产生的静态干涉条纹由CCD相机106进行拍摄。
干涉条纹投影到待测物放置区域107放置上放置的待测物，然后依次经过相机透镜108、第三个分束镜109；第三个分束镜109所分得的一个光路由条纹相机110拍摄，第三个分束镜109所分得的另一个光路经过管透镜111和物镜112，由数字微镜器件113进行编码。
图像拍摄装置包括条纹相机110、CCD相机106、数字微镜器件113。
两束光在CCD相机106等感光元件上叠加产生干涉，感光元件上各点的感光程度不仅随强度也随两束光的位相关系而不同。激光经过马赫曾德尔干涉仪光学系统产生干涉条纹，并投影到待测物体上，漫反射后的光通过两个4f系统以及数字微镜器件113进行干涉条纹的图像编码并进入压缩超快系统中的条纹相机，实现干涉条纹的二维空间信息记录。
图像处理装置被配置为对压缩干涉条纹图进行反解处理，得到未解码的干涉条纹图，对干涉条纹图进行全变分图像去噪处理，然后进行深度去噪处理，得到去噪图，对去噪图进行三维成像处理，构建出待测物的三维模型。
即该超快全息成像系统，采用以下的压缩超快三维成像方法。
参照图1，压缩超快三维成像方法，包括但不限于以下步骤：
步骤S100，对待测物的多个干涉条纹图进行编码处理得到编码图像；
步骤S200，对编码图像进行压缩处理，得到待测物的压缩干涉条纹图；
步骤S300，对压缩干涉条纹图进行反解处理，得到未解码的干涉条纹图；
步骤S400，对干涉条纹图进行全变分图像去噪处理，然后进行深度去噪处理，得到去噪图；
步骤S500，对去噪图进行三维成像处理，构建出待测物的三维模型。
对于步骤S100，飞秒激光器所产生的激光由分束镜分成两个光路，其中一个光路产生的干涉条纹投影到待测物体上，另一个光路由CCD拍摄静态干涉条纹。干涉条纹投影到待测物得到干涉条纹成像序列。激光产生的漫反射经过加载有编码矩阵的数字微镜器件113，实现对待测物的多个图像进行编码处理得到编码图像。
对于步骤S200，条纹相机的系统对编码图像进行剪切和压缩进而得到压缩干涉条纹图。其中，激光经过马赫曾德尔干涉仪光学系统产生干涉条纹，并投影到待测物体上，漫反射后的光通过两个4f系统以及数字微镜器件113进行干涉条纹的图像编码并进入压缩超快系统中的条纹相机，实现干涉条纹的二维空间信息记录。
对于步骤S300，从二维图恢复三维图是一个不适定的线性你问题。反向模型通过干涉条纹图像的先验分布以获得良好的恢复结果，使用最大后验概率估计，给定测量得到的y压缩干涉条纹图和前向模型(似然函数py|x)来估计未知信号x的干涉条纹图序列。
有
假设测量的信号包含加性高斯白噪声(AWGN)，则可以改写为：
通过将未知噪声方差δ替换为噪声平衡因子λ和负对数先验函数Px(x)，并且以正则化项R(x)约束优化问题，则有待求解式子为：其中，x为干涉条纹图序列，为未解码的干涉条纹图序列，y为条纹相机的压缩干涉条纹图，λ为噪声平衡因子，R(x)为正则化项，A为算子。
算子通过以下式子表示：A＝TSC，T为在条纹相机外置CCD的曝光时间上的时间空间积分算子，S为垂直方向上的时间剪切算子，C为掩码板的编码算子。
在压缩超快三维成像系统中，根据给定的算子和动态场景的稀疏性，通过求解上述式子优化问题来完成图像重构，通过反向模型求解待求解式子以对压缩干涉条纹图进行反解处理，得到未解码的干涉条纹图。反向模型应用PnP框架，基于广义交替投影(Generalized Alternating Projection，GAP)。
对于步骤S400，通过全变分图像去噪算法对干涉条纹图进行全变分图像去噪处理。
全变分图像去噪算法是一种图像复原算法，它是将干净的图像从噪声图像中复原出来，通过建立噪声模型，采用最优化算法求解模块，并通过不断迭代的过程，使得复原出的图像无限逼近理想去噪后的图像。与深度学习十分类似，噪声模型类比于损失函数，通过不断训练，使得两者的差距越来越接近，同样需要梯度下降法快速得到最优解。
对于深度去噪，深度去噪处理通过以下式子表示：vk+1＝Dσ(xk+1)；进一步可以表示为：为干涉条纹图序列，v为辅助变量，k为迭代次数，λ1为正则化参数，γ为惩罚因子。
vk+1＝Dσ(xk+1)可以看作是一个去噪器，δ为噪声标准差。
去噪器应适应不同的输入噪声水平。可以使用深度图像去噪网络作为空间图像先验，即深度图像去噪声先验。采用已经训练好的去噪模型来重构干涉条纹图像序列。训练的去噪模型是对图像进行逐帧去噪。
参照图2，对于步骤S500，对去噪图进行三维成像处理，得到待测物的三维模型，包括但不限于以下步骤：
步骤S510，对去噪图进行相位重建，得到相位图；
步骤S520，对相位图进行相位展开，得到绝对相位图；
步骤S530，根据绝对相位图和预设的标定参数，计算得到待测物的三维坐标，进而构建出待测物的三维模型。
参照图3，对于步骤S510,对去噪图进行相位重建，得到待测物的相位图，包括但不限于以下步骤：
步骤S511，对去噪图进行傅里叶变换得到第一变换图，对参考条纹图进行傅里叶变换得到第二变换图；
步骤S512，对第一变换图进行滤波得到第一变换图的基频分量，对第二变化图进行滤波得到第二变换图的基频分量；
步骤S513，对第一变换图的基频分量和第二变换图的基频分量进行反正切计算，得到待测物的相位图。
使用傅里叶变换对去噪图和参考条纹图进行条纹分析。对去噪图进行傅里叶变换得到第一变换图，对参考条纹图进行傅里叶变换得到第二变换图。
去噪器的强度可以表示为：参考条纹图的强度可以表示为：
其中，f0表示条纹基频成分的空间频率。bk表示投影条纹第k阶谐波分量的幅度，相对于f0来说，bk变化非常缓慢，在实际测量中一般把bk作为常数处理。ψk表示第k阶谐波分量的初始相位。φk表示第k阶谐波引起条纹变形的相位变化。
通常空间频率为f0的谐波被称为条纹的基频分量，条纹的相位信息都是直接从基频分量提取，因此基频成分构成了解析条纹信号最重要的部分。
通过带通滤波器对第一变换图进行滤波得到第一变换图的基频分量，对第二变化图进行滤波得到第二变换图的基频分量。
其中，第一变换图的基频分量表示为：df(x)＝b1cos(2πf0x+ψ1+△φ1(x))；第二变换图的基频分量表示为：rf(x)＝b1cos(2πf0x+ψ1)。
对去噪图和参考条纹图经过傅里叶变换处理和滤波处理所得到第一变换图的基频分量和 第二变换图的基频分量，进行反正切计算，得到条纹分析结果，即相位图。
对相位图进行展开操作，以获得准确的物体表面形貌数据，即绝对相位图。
令第二变换图的基频分量的复信号表示为Rf(x)，第一变换图的基频分量的复信号表示为Df(x)，有其中，unwrap表示相位展开，Im表示取复数的虚部，In表示自然对数，表示Rf(x)的复共轭。
根据绝对相位图和三维系统的标定参数，计算出待测物体的三维坐标，得到待测物体的三维模型。
本申请的实施例，提供了一种电子设备。参照图5，电子设备包括：存储器620、处理器610及存储在存储器620上并可在处理器610上运行的计算机程序，所述处理器610执行所述计算机程序时实现如上所述的压缩超快三维成像方法。
该电子设备可以为包括平板电脑、车载电脑等任意智能终端。
总体而言，对于电子设备的硬件结构，处理器610可以采用通用的CPU(Central Processing Unit，中央处理器)、微处理器、应用专用集成电路(Application Specific Integrated Circuit，ASIC)、或者一个或多个集成电路等方式实现，用于执行相关程序，以实现本申请实施例所提供的技术方案。
存储器620可以采用只读存储器(Read Only Memory，ROM)、静态存储设备、动态存储设备或者随机存取存储器(Random Access Memory，RAM)等形式实现。存储器620可以存储操作系统和其他应用程序，在通过软件或者固件来实现本说明书实施例所提供的技术方案时，相关的程序代码保存在存储器620中，并由处理器610来调用执行本申请实施例的方法。
输入/输出接口用于实现信息输入及输出。
通信接口用于实现本设备与其他设备的通信交互，可以通过有线方式(例如USB、网线等)实现通信，也可以通过无线方式(例如移动网络、WIFI、蓝牙等)实现通信。
总线630在设备的各个组件(例如处理器610、存储器620、输入/输出接口和通信接口)之间传输信息。处理器610、存储器620、输入/输出接口和通信接口通过总线630实现彼此之间在设备内部的通信连接。
本申请的实施例，提供了一种计算机可读存储介质。计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于执行如上所述的压缩超快三维成像方法。
应当认识到，本发明实施例中的方法步骤可以由计算机硬件、硬件和软件的组合、或者通过存储在非暂时性计算机可读存储器中的计算机指令来实现或实施。所述方法可以使用标准编程技术。每个程序可以以高级过程或面向对象的编程语言来实现以与计算机系统通信。然而，若需要，该程序可以以汇编或机器语言实现。在任何情况下，该语言可以是编译或解释的语言。此外，为此目的该程序能够在编程的专用集成电路上运行。
此外，可按任何合适的顺序来执行本文描述的过程的操作，除非本文另外指示或以其他方式明显地与上下文矛盾。本文描述的过程(或变型和/或其组合)可在配置有可执行指令的一个或多个计算机系统的控制下执行，并且可作为共同地在一个或多个处理器上执行的代码(例如，可执行指令、一个或多个计算机程序或一个或多个应用)、由硬件或其组合来实现。所述计算机程序包括可由一个或多个处理器执行的多个指令。
进一步，所述方法可以在可操作地连接至合适的任何类型的计算平台中实现，包括但不 限于个人电脑、智能手机、主框架、工作站、网络或分布式计算环境、单独的或集成的计算机平台、或者与带电粒子工具或其它成像装置通信等等。本发明的各方面可以以存储在非暂时性存储介质或设备上的机器可读代码来实现，无论是可移动的还是集成至计算平台，如硬盘、光学读取和/或写入存储介质、RAM、ROM等，使得其可由可编程计算机读取，当存储介质或设备由计算机读取时可用于配置和操作计算机以执行在此所描述的过程。此外，机器可读代码，或其部分可以通过有线或无线网络传输。当此类媒体包括结合微处理器或其他数据处理器实现上文所述步骤的指令或程序时，本文所述的发明包括这些和其他不同类型的非暂时性计算机可读存储介质。当根据本发明所述的方法和技术编程时，本发明还包括计算机本身。
计算机程序能够应用于输入数据以执行本文所述的功能，从而转换输入数据以生成存储至非易失性存储器的输出数据。输出信息还可以应用于一个或多个输出设备如显示器。在本发明优选的实施例中，转换的数据表示物理和有形的对象，包括显示器上产生的物理和有形对象的特定视觉描绘。
尽管已经示出和描述了本申请的实施方式，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施方式进行多种变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。
以上是对本申请的较佳实施进行了具体说明，但本申请并不限于实施例，熟悉本领域的技术人员在不违背本申请精神的前提下可做作出种种的等同变形或替换，这些等同的变形或替换均包含在本申请权利要求所限定的范围内。

Claims (10)

  1. 一种压缩超快三维成像方法，其特征在于，包括：
    对待测物的多个干涉条纹图进行编码处理得到编码图像；
    对所述编码图像进行压缩处理，得到待测物的压缩干涉条纹图；
    对所述压缩干涉条纹图进行反解处理，得到未解码的干涉条纹图；
    对所述干涉条纹图进行全变分图像去噪处理，然后进行深度去噪处理，得到去噪图；
    对所述去噪图进行三维成像处理，构建出待测物的三维模型。
  2. 根据权利要求1所述的一种压缩超快三维成像方法，其特征在于，通过反向模型求解待求解式子以对所述压缩干涉条纹图进行反解处理，得到未解码的干涉条纹图，所述待求解式子为：其中，x为干涉条纹图序列，为未解码的干涉条纹图序列，y为压缩干涉条纹图，λ为噪声平衡因子，R(x)为正则化项，A为算子。
  3. 根据权利要求2所述的一种压缩超快三维成像方法，其特征在于，所述算子通过以下式子表示：A＝TSC，T为时间空间积分算子，S为时间剪切算子，C为编码算子。
  4. 根据权利要求1所述的一种压缩超快三维成像方法，其特征在于，所述深度去噪处理通过以下式子表示：x为干涉条纹图序列，v为辅助变量，k为迭代次数，λ1为正则化参数，γ为惩罚因子。
  5. 根据权利要求1所述的一种压缩超快三维成像方法，其特征在于，所述对所述去噪图进行三维成像处理，得到待测物的三维模型，包括：
    对所述去噪图进行相位重建，得到相位图；
    对所述相位图进行相位展开，得到绝对相位图；
    根据所述绝对相位图和预设的标定参数，计算得到待测物的三维坐标，进而构建出待测物的三维模型。
  6. 根据权利要求5所述的一种压缩超快三维成像方法，其特征在于，所述对所述去噪图进行相位重建，得到待测物的相位图，包括：
    对所述去噪图进行傅里叶变换得到第一变换图，对参考条纹图进行傅里叶变换得到第二变换图；
    对所述第一变换图进行滤波得到第一变换图的基频分量，对所述第二变化图进行滤波得到第二变换图的基频分量；
    对所述第一变换图的基频分量和所述第二变换图的基频分量进行反正切计算，得到待测物的相位图。
  7. 根据权利要求6所述的一种压缩超快三维成像方法，其特征在于，所述第一变换图的基频分量表示为：df(x)＝b1cos(2πf0x+ψ1+△φ1(x))；所述第二变换图的基频分量表示为：rf(x)＝b1cos(2πf0x+ψ1)；其中，f0表示条纹基频成分的空间频率。b1表示投影条纹第1阶谐波分量的幅度，ψ1表示第1阶谐波分量的初始相位。φ1表示第1阶谐波引起条纹变形的相位变化；unwrap表示相位展开，Df(x)为第一变换图的基频分量的复信号，Rf(x)为第二变换图的基频分量的复信号，Im表示取复数的虚部，In表示自然对数，表示Rf(x)的复共轭。
  8. 一种压缩超快三维成像系统，其特征在于，所述压缩超快三维成像系统包括光源、掩 码板、图像拍摄装置和图像处理装置；所述光源产生的光先经过所述掩码板，再进入所述图像拍摄装置；
    所述掩码板加载有编码矩阵；所述掩码板用于对待测物的多个干涉条纹图进行编码处理得到编码图像；
    所述图像拍摄装置用于对所述编码图像进行压缩处理，得到待测物的压缩干涉条纹图；
    所述图像处理装置被配置为对所述压缩干涉条纹图进行反解处理，得到未解码的干涉条纹图，对所述干涉条纹图进行全变分图像去噪处理，然后进行深度去噪处理，得到去噪图，对所述去噪图进行三维成像处理，构建出待测物的三维模型。
  9. 一种电子设备，包括：存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如权利要求1至7中任一项所述的压缩超快三维成像方法。
  10. 一种计算机可读存储介质，其特征在于，存储有计算机可执行指令，所述计算机可执行指令用于执行如权利要求1至7中任一项所述的压缩超快三维成像方法。
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