CN105049829B - Optical filter, imaging sensor, imaging device and 3-D imaging system - Google Patents
Optical filter, imaging sensor, imaging device and 3-D imaging system Download PDFInfo
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Abstract
The invention discloses a kind of for the optical filter of imaging sensor, imaging sensor, imaging device and 3-D imaging system.The optical filter includes multiple filter units, corresponds respectively to multiple pixels of imaging sensor.Filter unit includes visible transmission unit, for through the visible light within the scope of specific visible frequency；And infrared transmission unit, for through the infrared light in specific infrared light frequency range.Optical filter of the present invention, which is used for imaging sensor, same visual angle while to capture the depth information and color information of object under test, with it is existing depth information and color information are obtained by infrared camera and colour imagery shot compared with, the case where eliminating the alignment calibrating procedure of the image of two cameras acquisition, but also can be avoided the check frequency as existing for the parallax of dual camera and the infrared image detected and color image can not be aligned.
Description
Technical field
The present invention relates to three-dimensional imaging fields, specifically, be related to a kind of optical filter, imaging sensor, imaging device with
And 3-D imaging system.
Background technique
Traditional image capturing method can only obtain the two-dimensional signal of object, be unable to get the spatial depth information of object
(also known as depth of view information), but the real-time acquisition of the spatial depth information of actually body surface, especially depth information is various
It is all played a crucial role in industry, life and entertainment applications.
Depth camera is a kind of acquisition equipment for acquiring target object depth information, and this kind of camera is widely used in three
Tie up the fields such as scanning, three-dimensional modeling.In practical applications, it in order to really restore the three-dimensional data and surface texture of object, is adopting
While collecting depth information, the color texture information of body surface is needed while acquired toward contact.
In sampling depth information, in order to exclude the interference of external environment visible light, often using infrared camera to place
It is acquired in the image of infrared band (680nm-1100nm).In order to acquire RGB information simultaneously, need additionally to install
Colour imagery shot synchronizes shooting.
Since the location of infrared camera and colour imagery shot are different, when shooting, can have parallax, and make infrared
Inconsistent with color image, i.e., the same reference object is different with the position in color image in infrared image.Therefore it has shot
Cheng Hou, it is also necessary to system calibrating be carried out to infrared camera and colour imagery shot, colored and depth data is pressed pixel pair
Together.
When using infrared camera and colour imagery shot sync pulse jamming, also due to the position of two cameras is different,
Infrared and color image is inconsistent, and visual angle of the reference object in infrared image and color image is also different, so probably
There is shooting blind area.As shown in Figure 1, A is colour imagery shot, B is infrared camera, the model of the object of colour imagery shot A shooting
It encloses different from the infrared camera shooting range of object of B.The portion drawn in Fig. 1 on the thinner contour line of reference object with thick line
Point be a camera can take and the shooting of another camera less than region, for shooting the camera shooting less than the region
For head, blind area is exactly shot.The presence of shooting blind area can also make captured infrared image and color image be difficult to be aligned.
Therefore, needing one kind can more easily can make while obtaining the depth information and colour information of object
The solution of infrared image and colored (visible light) image alignment.
Summary of the invention
The invention solves a technical problem be to provide it is a kind of for the optical filter of imaging sensor, image sensing,
Imaging device and 3-D imaging system, so that at the same time in the case where the infrared and color image of acquisition object, it can be easily
Make infrared image and colored (visible light) image alignment.
According to an aspect of the invention, there is provided a kind of optical filter for imaging sensor, optical filter include multiple
Filter unit, corresponds respectively to multiple pixels of imaging sensor, and each filter unit includes:
Visible transmission unit, for through the visible light within the scope of specific visible frequency；
Infrared transmission unit, for through the infrared light in specific infrared light frequency range.
Preferably, it is seen that light transmissive element includes:
Three primary colors transmission units, for through one of three primary colors are corresponded to, the specific visible frequency range to be divided respectively
It Dui Yingyu not the respective frequency range of three primary colors.
Preferably, three primary colors are red, green and blue or the three primary colors are cyan, magenta and yellow.
Preferably, the center of the centre frequency of specific infrared light frequency range and the respective frequency range of three primary colors frequency
The interval of rate between any two is roughly equal.
Preferably, filter unit includes optical film,
The optical film of visible transmission unit is designed to through the visible light within the scope of the specific visible frequency,
The optical film of infrared transmission unit is designed to through the infrared light in the specific infrared light frequency range.
According to another aspect of the present invention, a kind of imaging sensor, including multiple pixels are provided, wherein each pixel packet
It includes:
Visible light photosensitive unit, for detecting the visible light within the scope of specific visible frequency；
Infrared light photosensitive unit, for detecting the infrared light in specific infrared light frequency range.
Preferably, further include optical filter described above, wherein the visible transmission unit on optical filter and its corresponding to
Pixel constitute visible light photosensitive unit, the infrared transmission unit on optical filter and the pixel corresponding to it constitute infrared light image
Element.
According to another aspect of the invention, a kind of imaging device is provided, including imaging sensor described above；And
Infrared light projection device, for making a reservation for the infrared light in infrared light frequency range to shooting area projection.
In accordance with a further aspect of the present invention, a kind of 3-D imaging system is provided, including imaging device described above,
In,
Infrared light projection device is projected to the shooting area with textured infrared beam, in the shooting of shooting area
The infrared texture of random distribution is formed on object,
Infrared light photosensitive unit in imaging sensor obtains the infrared line of the reflection of the reference object in the shooting area
Image is managed,
The 3-D imaging system further include:
Processor, for the plane of reference line according to infrared texture image and pre-stored depth distance known at least one
Reason compares, to determine depth data of the infrared texture relative to imaging sensor.
The present invention also provides another 3-D imaging systems, comprising:
Infrared light projection device, for projecting to shooting area with textured infrared beam；
Two imaging sensors described above, have predetermined relative location relationship between two imaging sensors, and two
Respective infrared light photosensitive unit obtains the infrared texture image of the reference object reflection in shooting area in imaging sensor；With
And
Processor, for according to texture segment same in infrared texture in two infrared texture images corresponding landform
At texture segment image position difference and predetermined relative location relationship, determine that infrared texture is passed relative to two images
The depth data of sensor.
Using by filter set of the invention at include visible light photosensitive unit and infrared light photosensitive unit image
Sensor can obtain infrared image and color image simultaneously with same visual angle, be taken the photograph with existing by infrared camera and colour
Depth information is obtained as head to compare with color information, eliminates the alignment calibrating procedure of the image of two cameras acquisition, and
And it can also avoid since the check frequency of dual camera be aligned the infrared image detected and color image can not
Situation, so as to easily make infrared image and colored (visible light) image alignment.
On the other hand, it due to eliminating the calibrating procedures of two cameras, reduces to production technology and process control
It is required that and reduce a set of image sensor system, save a large amount of materials, therefore also reduce production cost.
Detailed description of the invention
Disclosure illustrative embodiments are described in more detail in conjunction with the accompanying drawings, the disclosure above-mentioned and its
Its purpose, feature and advantage will be apparent, wherein in disclosure illustrative embodiments, identical reference label
Typically represent same parts.
Schematic diagram when Fig. 1 is shown when being shot using two imaging sensors in the presence of shooting blind area；
Fig. 2A shows the structural representation block diagram of the optical filter according to the present invention for imaging sensor；
Fig. 2 B shows the schematic block diagram of each filter unit in Fig. 2A；
Fig. 3 shows the photosurface dot structure schematic diagram that spatially mixed-color method divides of conventional images sensor
Fig. 4 shows the dot structure schematic diagram of the photosurface of the imaging sensor of the embodiment of the present invention；
Fig. 5 shows an exemplary structural schematic diagram of image-forming apparatus according to the present invention；
Fig. 6 shows the structural schematic diagram of 3-D imaging system according to the present invention；
Fig. 7 is Conventional image sensor captured image；
Fig. 8 is imaging sensor captured image according to the present invention；
Fig. 9 shows another structural schematic diagram of 3-D imaging system according to the present invention
The concrete meaning of correlation indices in figure are as follows:
A, colour imagery shot；
B, infrared camera；
1,3-D imaging system；
2, imaging device；
10, processor；
20, imaging sensor；
20-1, the first imaging sensor；
20-2, the second imaging sensor；
30, infrared light projection device；
25, optical filter
40, filter unit；
50, visible transmission unit；
60, infrared transmission unit
110, three primary colors transmission units.
Specific embodiment
The preferred embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Preferred embodiment, however, it is to be appreciated that may be realized in various forms the disclosure without the embodiment party that should be illustrated here
Formula is limited.On the contrary, these embodiments are provided so that this disclosure will be more thorough and complete, and can be by the disclosure
Range is completely communicated to those skilled in the art.
The present invention discloses a kind of optical filter first, can penetrate the visible light and infrared light of particular frequency range.
Fig. 2A shows the structural representation block diagram of optical filter according to the present invention.
As shown, the optical filter 25 in the present invention includes multiple filter units 30.
Fig. 2 B shows the schematic block diagram of each filter unit in Fig. 2A.
As shown, each filter unit 30 includes visible transmission unit 40 and infrared transmission unit 50, use respectively
In visible light, infrared light through particular frequency range, it is seen that light transmissive element 40 includes three primary colors transmission units 110, and three is former
Color transmission units 110 can be red, green and blue (RGB) for penetrating corresponding three primary colors, three primary colors respectively, can also be with
It is cyan, magenta or carmetta and yellow (CMY), specific visible frequency range corresponds respectively to the respective frequency of three primary colors
Range.
The centre frequency of infrared light frequency range is higher, and the wavelength of infrared light is shorter, at this point, infrared light sensing unit
It is easy when incuding infrared light by interference red in visible light, and if the centre frequency of infrared light frequency range is lower, it is red
The wavelength of outer light is longer, then the photosensitive area table of imaging sensor can not be focused on simultaneously by being easy to appear infrared image and color image
The case where face.
It is therefore preferred that the center of the centre frequency of specific infrared light frequency range and the respective frequency range of three primary colors
The interval of frequency between any two can be set to roughly equal.
Optical filter of the invention can be used for imaging sensor, i.e., optical filter of the invention is covered on imaging sensor
On photosurface.
Imaging sensor can incude the visible light and infrared light of particular range in this way.
Filter unit can be made of existing optical film, wherein the optical film of visible transmission unit is designed to
The visible light within the scope of specific visible frequency is crossed, the optical film of infrared transmission unit is designed to through specific infrared optical frequency
Infrared light within the scope of rate.
A kind of imaging sensor has also been devised in the present invention, and the photosurface of imaging sensor includes multiple pixels, each pixel
It is made of visible light photosensitive unit and infrared light photosensitive unit, wherein visible light photosensitive unit is for detecting specific visible optical frequency
Visible light within the scope of rate, infrared light photosensitive unit are used to detect the infrared light in specific infrared light frequency range.
The optical filter that figure 2 above B is referred to can be applied to the imaging sensor of the embodiment of the present invention, i.e., it will be on optical filter
Each filter unit correspond to a pixel of imaging sensor, in this way, visible transmission unit on optical filter and with can
The corresponding pixel portion of the light-exposed transmission units just constitutes visible light photosensitive unit, the infrared transmission unit on optical filter and
Pixel portion corresponding with the infrared transmission unit just constitutes infrared light photosensitive unit.
In this way, imaging sensor can capture the color image of testee by visible light photosensitive unit, pass through
Infrared light pixel captures the infrared image of testee, and the infrared image of acquisition can calculate testee by processing
Three-dimensional data so that in imaging sensor captured image not only comprising testee color information again include depth believe
Breath.
The visible light sensing unit of imaging sensor is used to capture the color information of testee, therefore visible photoinduction list
Member can be made of three primary colors sensing unit, and wherein three primary colors can be red green blue tricolor (RGB) to be also possible to green reddish yellow three former
Color (CMY).
The specific configuration of the pixel of imaging sensor in order to more clearly describe the present invention, separately below to the prior art
The pixel arrangement structure of middle imaging sensor and the pixel arrangement structure of the image sensor of that present invention are described briefly.
Fig. 3 shows the photosurface pixel distribution schematic diagram that spatially mixed-color method divides of conventional images sensor.
As shown in figure 3, the photosurface of conventional images sensor is made of multiple colour elements, (dotted line surrounds part table in figure
Show a colour element), wherein each colour element is made of blue (RGGB) 4 photosensitive units of red green and green, each photosensitive unit
On be covered with the optical filter of corresponding color so that being shown on pixel after the optical filter that environment light passes through different colours different
Illumination intensity, to obtain the brightness value of corresponding color.
Fig. 4 shows the dot structure schematic diagram of the photosurface of the imaging sensor of the embodiment of the present invention.
As shown in figure 4, imaging sensor of the invention be by by conventional images sensor to constitute each colour
A green light sensitive unit in tetra- photosensitive units of RGGB of pixel is changed to infrared photosensitive unit, multiple infrared light sensing units
The infrared image of corresponding wave band can be incuded.
We transform traditional RGGB imaging sensor as RGB-I (colored-infrared) imaging sensor in this way, wherein
Photosensitive unit RGB is used to show that color image, photosensitive unit I (I represents infrared photosensitive unit) are used to show infrared image, this
Sample, RGB-I imaging sensor can export colored and infrared image simultaneously.
Since RGB three primary colors can also be replaced by CMY three primary colors, correspondingly, RGB-I imaging sensor can also be with
It is replaced by CMY-I imaging sensor, wherein the pixel distribution situation of CMY-I imaging sensor is similar with Fig. 4, no longer superfluous herein
It states.
Fig. 5 shows the schematic diagram of the structure of image-forming apparatus according to the present invention.
As shown in figure 5, imaging device 2 includes imaging sensor 20 and infrared light projection device 30.
The pixel distribution situation of imaging sensor 20 can be found in Fig. 4 and associated description, and details are not described herein again.
Infrared light projection device 30 can be projected to the shooting space of imaging sensor 20 to be made a reservation in infrared light frequency range
Infrared light.
Wherein, the infrared light that infrared light projection device 30 projects can be uniform infrared light, and imaging sensor can at this time
To obtain the infrared information and color information of the object to be shot in shooting space simultaneously, in this way when object to be shot profile is bad
When identification, profile can be carried out according to the infrared information of acquisition and determined, the accuracy of shooting image can be improved.
The depth information of object to be shot can also be obtained based on imaging sensor 20 of the invention by using two, this
When two imaging sensors between have certain distance, the parallax between image respectively obtained by two imaging sensors
The depth information of object to be shot is calculated.Depth information in this method only needs to obtain by simple calibrating procedure
Relative space relation between two imaging sensors, so that it may measure calculating, the image obtained due to imaging sensor
Both include color information and infrared information, therefore can determine the profile of object to be shot well, improve measurement accuracy.
It, cannot essence using the above method when object to be shot surface texture feature is unobvious or textural characteristics are similar everywhere
The depth information of true measurement object.
In order to solve above-mentioned reason, the present invention also provides a kind of 3-D imaging systems.
Fig. 6 shows the structural schematic diagram of 3-D imaging system according to the present invention.
As shown in fig. 6,3-D imaging system 1 includes into imaging sensor 20, infrared light projection device 30 and processor
10。
The structure of imaging sensor 20 can be found in Fig. 4 and associated description.
Its three-dimensional image-forming principle is as follows:
Infrared light projection device 30 is projected to the shooting area of imaging sensor 20 with textured infrared beam, to clap
It takes the photograph on the object to be shot in region and forms the infrared texture of random distribution, the plane of reference line of multiple known depth distances is stored in advance
Manage information, imaging sensor 21 shoots the object to be shot of shooting area, obtain object to be shot color information and
Infrared texture information, the infrared texture information and pre-stored known depth that processor 10 is obtained according to imaging sensor 20 away from
From plane of reference texture compare, each texture segment in the infrared texture image that you can get it imaging sensor 20 obtains
Then depth data will add corresponding color according to the color information of acquisition, the three-dimensional of object can be obtained at each position
Image information.
The three-dimensional vision information process of entire 3-D imaging system is made so that infrared texture is discrete light spot as an example further
Explanation.
Firstly, infrared light projection device has the infrared light speckle of predetermined texture to shooting area projection；Then, image passes
Infrared light sensing unit in sensor obtains the speckle image of the infrared light speckle of the reference object reflection in shooting area；After
And processor can be calculated each infrared light and dissipate according to speckle image with the difference that makes a reservation between the texture of each plane of reference
The depth data of spot.
From the foregoing, it will be observed that the 3-D imaging system of the present embodiment is the two-dimensional laser texture maps for having encoded information using projection
Case to carry out body surface real-time three-dimensional detection, i.e., the two-dimensional laser texture maps of encoded information are had to body surface projection
Case, for example, the speckle pattern of discretization, carries out continuous acquisition, place to laser texture by the relatively-stationary imaging device in another location
Collected processing unit by the laser texture sequence of acquisition and is stored in advance in register (or memory) by reason device
Know that the plane of reference texture sequence of depth distance is compared, calculates each laser texture sequence for being incident upon surface of moving object
The depth distance of segment, one step surveying of going forward side by side obtain the three-dimensional data on determinand surface.
The present embodiment is using laser speckle as aid mark means, to subject surface to be measured depth in measurement process
Information is sampled measurement, finally carries out data reconstruction to discrete depth information, so that infinitely fitting body surface is actual
Depth information.When subject surface to be measured be it is complex-curved, especially multiple curved surfaces are connected with each other, and surface does not have that any have can
When the texture of identification, the depth information of the not curved surface of texture information can be measured and be fitted to obtain.
Wherein the function of above-mentioned processor 1 can be realized by the computer program write on a computer processor.
Alternatively, some or all of the processor 1 function can be realized on customization or semi-custom integrated circuit, can also be
DSP (Digital Signal Processor, digital signal processor) or FPGA (Field Programmable Gate
Array, field programmable gate array) etc. realized by the program that operation is write in advance on general-purpose computations chip.
Since the 3-D imaging system of the present embodiment can obtain the depth information and color information of object simultaneously,
The color information of object can be also obtained while obtaining the three-dimensional data of object, so that imaging is truer.
Fig. 7 is the image with colour information of Conventional image sensor capture, and Fig. 8 is the image sensor of that present invention capture
The image with colour information and infrared information.
By comparing it is found that the image with colour information and infrared information also can reflect the surface texture of testee
Feature, more really.
Generally speaking, above-mentioned 3-D imaging system using single imaging device to the laser texture on object to be detected surface into
Then row continuous acquisition is compared with the plane of reference data texturing of initial alignment, to obtain the three-dimensional data of object.
By the depth information and color information of single imaging device captures object, apparatus structure is simple, but at this
The 3-D imaging system of embodiment is stringenter to the status requirement of infrared light speckle projection device, the plane of reference line of initial alignment
Managing data is based on infrared light speckle projection device initial position setting, when the position of infrared light speckle projection device becomes
When change, the laser texture that image collecting device is captured is different from the plane of reference data texturing of initial alignment, it may occur that image
With failure, to can not be computed correctly to obtain the three-dimensional data of subject surface to be measured.
To solve the above-mentioned problems, the present invention also provides another 3-D imaging systems.
Fig. 9 shows another structural schematic diagram of 3-D imaging system according to the present invention.
As shown, 3-D imaging system 1 includes infrared light projection device 30, the first imaging sensor 20-1, the second figure
As sensor 20-2 and processor 10.
Wherein, infrared light projection device 30 is used for detected space projection with textured infrared beam, in tested sky
Between in examined object on formed random distribution infrared texture.
Between first imaging sensor 20-1 and the second imaging sensor 20-2 have predetermined relative tertiary location relationship and
First imaging sensor 20-1 and the second imaging sensor 20-2 is for being respectively imaged detected space, due in examined object
There is infrared texture, so the first imaging sensor 20-1's and the second imaging sensor 20-2 is imaged as two infrared texture figures
Picture.
Processor 10 correspondingly forms in two infrared texture images according to texture segment same in infrared texture
Texture segment image position difference and predetermined relative location relationship, so that it may determine infrared texture relative to two scheme
As the depth data of sensor.
Wherein, the first imaging sensor 20-1 and the second imaging sensor 20-2 is shown in figure 4 above in the present embodiment
Imaging sensor, the color information of testee can be obtained while capturing the depth data of testee, and by
It is measured simultaneously in color information and depth information, therefore ensure that the consistency of color information and depth information, eliminated
Using two respectively measure object color information and depth information bring shoot blind area, and eliminate post-processing in step
Suddenly.
The infrared texture formed on examined object surface that mid-infrared light projection arrangement of the present invention issues is used merely as knowing
Do not act on, do not need to be compared with the reference texture of pre-stored each distance, if can from a large amount of texture segments area
Divide each texture segment, so the present invention is not stringent to the status requirement of infrared light projection device, it is in general, infrared
Optical projection device can be arbitrary with the spatial relationship of the first imaging sensor and the second imaging sensor, as long as meeting infrared
The public view field of the first imaging sensor and the second imaging sensor is completely covered in the projected area of optical projection device.
Above by reference to attached drawing be described in detail optical filter according to the present invention, imaging sensor, imaging device and
3-D imaging system.
In addition, the flow chart and block diagram in the drawings show the system and method for multiple embodiments according to the present invention can
The architecture, function and operation being able to achieve.In this regard, each box in flowchart or block diagram can represent a mould
A part of block, program segment or code, a part of the module, section or code include one or more for realizing rule
The executable instruction of fixed logic function.It should also be noted that in some implementations as replacements, the function of being marked in box
It can also be occurred with being different from the sequence marked in attached drawing.For example, two continuous boxes can actually be substantially in parallel
It executes, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that block diagram and/
Or the combination of each box in flow chart and the box in block diagram and or flow chart, can with execute as defined in function or
The dedicated hardware based system of operation is realized, or can be realized using a combination of dedicated hardware and computer instructions.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.The selection of term used herein, purport
In the principle, practical application or improvement to the technology in market for best explaining each embodiment, or make the art
Other those of ordinary skill can understand each embodiment disclosed herein.
Claims (6)
1. a kind of 3-D imaging system, comprising:
Infrared light projection device, for projecting to shooting area with textured infrared beam；
Two imaging sensors have predetermined relative location relationship between two described image sensors, and respectively include more
A pixel, wherein each pixel includes: visible light photosensitive unit, it is visible within the scope of specific visible frequency for detecting
Light is to obtain the color image that the reference object in the shooting area reflects；Infrared light photosensitive unit, it is specific red for detecting
Infrared light in outer light frequency range is to obtain the infrared texture image that the reference object in the shooting area reflects；And
Processor, for corresponding in described two infrared texture images according to texture segment same in the infrared texture
The position difference and the predetermined relative location relationship for the texture segment image that ground is formed, determine that the infrared texture is opposite
Corresponding color will be added at each position in the depth data of described two imaging sensors, and according to the color image of acquisition
Coloured silk, to obtain the three-dimensional image information of the reference object, wherein
Described image sensor further includes optical filter, and the optical filter includes multiple filter units, each on the optical filter
A filter unit corresponds to a pixel of described image sensor, and each filter unit includes:
Visible transmission unit, for through the visible light within the scope of specific visible frequency；
Infrared transmission unit, for through the infrared light in specific infrared light frequency range.
2. 3-D imaging system according to claim 1, wherein the visible transmission unit includes:
Three primary colors transmission units, for through one of three primary colors are corresponded to, the specific visible frequency range to be right respectively respectively
The respective frequency range of three primary colors described in Ying Yu.
3. 3-D imaging system according to claim 2, wherein the three primary colors are red, green and blue, Huo Zhesuo
Stating three primary colors is cyan, magenta and yellow.
4. 3-D imaging system according to claim 3, wherein the centre frequency of the specific infrared light frequency range with
The interval of the centre frequency of the respective frequency range of three primary colors between any two is roughly equal.
5. according to claim 1 to 3-D imaging system described in any one of 4, wherein
The filter unit includes optical film,
The optical film of the visible transmission unit is designed to through the visible light within the scope of the specific visible frequency,
The optical film of the infrared transmission unit is designed to through the infrared light in the specific infrared light frequency range.
6. 3-D imaging system according to claim 1,
Wherein the visible transmission unit on the optical filter and the pixel corresponding to it constitute the visible light photosensitive unit, institute
It states the infrared transmission unit on optical filter and the pixel corresponding to it constitutes the infrared light photosensitive unit.
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