CN106772428B - A kind of non-ken three-dimensional image forming apparatus of no-raster formula photon counting and method - Google Patents
A kind of non-ken three-dimensional image forming apparatus of no-raster formula photon counting and method Download PDFInfo
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Abstract
A kind of non-ken three-dimensional image forming apparatus of no-raster formula photon counting and method, are related to technique of laser imaging, in order to solve the problems, such as that non-ken scene can not be imaged in the prior art.Pulse laser emits laser and to one time signal of multichannel Single Photon Counting device；For laser light incident after shaping to wall, the laser of wall scattering is again incident on wall after target reflects；Receiving optics receives the laser that wall returns, and keeps the image space of receiving optics identical as the visual field of single-photon detector array；Multichannel Single Photon Counting device calculates the photon for being incident to single-photon detector array from pulse laser to the photon flight time for returning to single-photon detector array, obtains time photon counting figure；Computer is reconstructed the 3-D image of target according to several time photon counting figures, obtains 3-D image.The present invention is suitable for carrying out three-dimensional imaging to non-ken target.
Description
Technical field
The present invention relates to technique of laser imaging, and in particular to the 3 dimension imaging technology of the non-ken.
Background technique
Technique of laser imaging has many advantages, such as that lateral resolution is high, range error is small, image taking speed is fast, volume weight is small,
Thus it is widely used in civil and military field, for directly acquiring the strength information and three-dimensional distance information of target,
To realize the identification to target.With the development of device technology, especially highly sensitive, high time resolution single-photon detecting
Survey the appearance of device, technique of laser imaging is not limited solely to the detection to conventional target, be also applied to some specific conditions or
The detection and identification of target under particular surroundings, especially to the imaging of target in non-ken scene just increasingly by the pass of people
Note.
So-called non-ken scene refers to blocking due to barrier such as house sidings, building turning, door glass etc., makes
It obtains object to be in except the detection viewing field of human eye direct-view visual field or imaging device, the field that existing imaging means can not be observed directly
Scape.
Summary of the invention
The problem of non-ken scene can not being imaged the purpose of the present invention is to solve the prior art, to provide
A kind of non-ken three-dimensional image forming apparatus of no-raster formula photon counting and method.
The non-ken three-dimensional image forming apparatus of a kind of no-raster formula photon counting of the present invention, including pulse laser, light
Beam orthopedic systems, receiving optics, single-photon detector array, multichannel Single Photon Counting device and computer；
Pulse laser emits laser and to one time signal of multichannel Single Photon Counting device, pulse laser
The laser of device outgoing is incident to wall after beam shaping system shaping, and the laser of wall scattering is incident again after target reflects
To wall, receiving optics receives the laser that wall returns, the laser light incident to single-photon detector array, single photon detection
Multiple output ends of device array and multiple input terminals of multichannel Single Photon Counting device connect one to one, multichannel
The output end of Single Photon Counting device is connected with computer.
It preferably, further include optical filter, optical filter is in the optical path between wall and single-photon detector array.
Optical filter filters out stray light, improves measurement accuracy.
The non-ken three-D imaging method of a kind of no-raster formula photon counting of the present invention, this method includes following step
It is rapid:
Pulse laser emits laser and to one time signal of multichannel Single Photon Counting device；
Shaping is carried out to the laser that pulse laser emits using beam shaping system；
For laser light incident after shaping to wall, the laser of wall scattering is again incident on wall after target reflects；
Receiving optics receives the laser that wall returns, and makes the image space and single photon detection of receiving optics
The visual field of device array is identical；
Multichannel Single Photon Counting device, which calculates, is incident to the photon of single-photon detector array from pulse laser
Device sets out to the photon flight time for returning to single-photon detector array, obtains time photon counting figure；
Each detector cells of single-photon detector array correspond to a bit on wall, and this point is picture point, monochromatic light
Sub- detector array corresponds to multiple picture points, obtains several time photon counting figures；
Computer is reconstructed the 3-D image of target according to several time photon counting figures, obtains 3-D image.
Preferably, further include the steps that being filtered using the laser that optical filter returns to wall.
Preferably, computer is reconstructed the 3-D image of target according to several time photon counting figures, obtains three
Image is tieed up, specifically includes the following steps:
Back projection:
Model is established, pulse laser is located at L point, and single-photon detector array is located at D point, and pulse laser outgoing swashs
Light is incident in the point of the S on wall, IiFor i-th of picture point；
By each width time photon figure back projection into three-dimensional space, the value at each moment is right in time photon counting figure
Answer an ellipsoid in three-dimensional space, the ellipsoid using source point and picture point as focus, the space coordinate of any of target (x, y,
Z) meet following formula:
||(x,y,z)-S||+||(x,y,z)-Ii| |=ctij-||L-S||-||D-Ii||
Wherein, c is the light velocity, tijThe photon flight time in j-th of channel when to detect i-th of picture point；
All ellipsoids overlap summation in space, form a width the value of the confidence figure V (x, y, z)；
Filtering processing:
It is filtered using Laplace filter, obtains filtering confidence map Vf(x,y,z)
Take threshold treatment:
To filtering confidence map Vf(x, y, z) carries out taking threshold treatment, obtains the 3-D image of target；
Threshold value is β max (Vf(x, y, z)), reject the value for being lower than threshold value, 0 < β < 1.
The value of β is set according to demand.
The present invention use high performance imaging device, can from the scene such as wall, ground object of surrounding between obtain
The echo-signal of negated ken target carries out three-dimensionalreconstruction to non-ken target using echo-signal.Spy of the present invention
Surveying device is array, does not need light-beam scanner, can be completed at the same time the data acquisition to multiple picture points in a very short period of time,
Greatly improve the frame frequency of system.Non- ken imaging technique has good development prospect, can be widely used in battlefield prison in the future
Depending on fields such as, urban transportation, search rescue, anti-terrorism scouting, earthquake relief, history archaeology, medical consultations.
The present invention is suitable for carrying out three-dimensional imaging to non-ken target.
Detailed description of the invention
The structural schematic diagram of the non-ken scene for the background technique that Fig. 1 is；
A1 is shelter, and A2 is wall, and A3 is target；
Fig. 2 is a kind of structure of the non-ken three-dimensional image forming apparatus of no-raster formula photon counting described in specific embodiment one
Schematic diagram；
Fig. 3 is the imaging schematic diagram in specific embodiment three；
B is ellipsoid, and C is space coordinate point.
Specific embodiment
Specific embodiment 1: illustrating present embodiment, a kind of no-raster formula described in present embodiment in conjunction with Fig. 2
The non-ken three-dimensional image forming apparatus of photon counting, including pulse laser 1, beam shaping system 2, receiving optics 3, single photon
Detector array 5, multichannel Single Photon Counting device 6 and computer 7；
Pulse laser 1 emits laser and to 6 one time signal of multichannel Single Photon Counting device, and pulse swashs
The laser that light device 1 is emitted is incident to wall after 2 shaping of beam shaping system, the laser of wall scattering after target reflects again
It is incident to wall, receiving optics 3 receives the laser that wall returns, the laser light incident to single-photon detector array 5, monochromatic light
Multiple output ends of sub- detector array 5 and multiple input terminals of multichannel Single Photon Counting device 6 correspond and connect
It connects, the output end of multichannel Single Photon Counting device 6 is connected with computer 7.
The device of present embodiment can measure after light comes out from pulse laser and through Multiple Scattering return to single photon detection
Device array is formed by signal waveform (number of photons of different moments).In order to obtain sufficiently high temporal resolution, it is desirable that transmitting
The width of light pulse is less than several hundred picoseconds, and the response time of single-photon detector array is also less than several hundred picoseconds.
Specific embodiment 2: three-dimensional based on a kind of non-ken of no-raster formula photon counting described in specific embodiment one
The imaging method of imaging device, method includes the following steps:
Pulse laser 1 emits laser and to 6 one time signal of multichannel Single Photon Counting device；
Shaping is carried out to the laser that pulse laser 1 emits using beam shaping system 2；
For laser light incident after shaping to wall, the laser of wall scattering is again incident on wall after target reflects；
Receiving optics 3 receives the laser that wall returns, and makes the image space and single-photon detecting of receiving optics 3
The visual field for surveying device array 5 is identical；
The photon that the calculating of multichannel Single Photon Counting device 6 is incident to single-photon detector array 5 swashs from pulse
Light device 1 sets out to the photon flight time for returning to single-photon detector array 5, obtains time photon counting figure；
Each detector cells of single-photon detector array 5 correspond to a bit on wall, and this point is picture point, monochromatic light
Sub- detector array corresponds to multiple picture points, obtains several time photon counting figures；
Being reconstructed to the 3-D image of target according to several time photon counting figures of computer 7, obtains 3-D image.
Specific embodiment 3: illustrating present embodiment in conjunction with Fig. 3, present embodiment is to specific embodiment two
The non-ken three-D imaging method of a kind of no-raster formula photon counting is described further, in present embodiment, computer 7
The 3-D image of target is reconstructed according to several time photon counting figures, obtains 3-D image, specifically includes the following steps:
Back projection:
Model is established, pulse laser 1 is located at L point, and single-photon detector array 5 is located at D point, and pulse laser 1 is emitted
Laser light incident in the S point on wall, IiFor i-th of picture point；
By each width time photon figure back projection into three-dimensional space, the value at each moment is right in time photon counting figure
Answer an ellipsoid in three-dimensional space, the ellipsoid using source point and picture point as focus, the space coordinate of any of target (x, y,
Z) meet following formula:
| | (x, y, z)-S | |+| | (x, y, z)-Ii| |=ctij-||L-S||-||D-Ii||
Wherein, c is the light velocity, tijThe photon flight time in j-th of channel when to detect i-th of picture point；
All ellipsoids overlap summation in space, form a width the value of the confidence figure V (x, y, z)；
Filtering processing:
It is filtered using Laplace filter, obtains filtering confidence map Vf(x,y,z)
Take threshold treatment:
To filtering confidence map Vf(x, y, z) carries out taking threshold treatment, rejects the value for being lower than threshold value, obtains the three-dimensional figure of target
Picture；
Threshold value is β max (Vf(x, y, z)), 0 < β < 1.
As shown in figure 3, target is hidden in after shelter, so that laser and detector all can not direct irradiation and detections
It arrives.Pulse laser 1 is at location point L.The S point being irradiated under the light pulse effect that pulse laser 1 is emitted on wall.Light
It is scattered in this point, thus this point is believed that a light source point.The bright entire target of illumination from this point scattering, is irradiated to
Light in target is reflected again and is returned on wall.Each detector cells of single-photon detector array 5 are right
It should be in some point on wall.
By taking one of detector cells as an example.This detector cells corresponds to the certain point I on walli, this point
Referred to as picture point.Then single-photon detector array can all detect all photons of target scattering to picture point.Single photon
The location point of detector array is D.Multichannel Single Photon Counting device can go out each photon from pulse laser 1
Be dealt into return to single-photon detector array 5 photon flight time measure come, by the measurement to a large amount of photons, for each
Detector cells can get the waveform diagram that a width photon counting changes with the flight time, be called time photon counting
Scheme N (S, Ii,t).For different picture points, it is hereby achieved that multiple time photon counting figures.And the weight of target three-dimensional image
Structure is exactly by means of this several time photon counting figure.
The 3-D image of target is reconstructed including back projection, is filtered, takes three steps of threshold treatment.Back projection
Main function is by target back projection into three-dimensional space, when each in time photon counting figure according to each width time photon figure
An ellipsoid V in the value at quarter all corresponding three-dimensional spacesij(x, y, z), this ellipsoid is using source point and picture point as focus, target
The space coordinate of a bit (x, y, z) meet following formula:
| | (x, y, z)-S | |+| | (x, y, z)-Ii| |=ctij-||L-S||-||D-Ii|| (1)
Wherein, c is the light velocity, tijThe photon flight time in j-th of channel when to detect i-th of picture point；
All ellipsoids overlap summation in space, form a width the value of the confidence figure V (x, y, z), every bit in the value of the confidence figure
Value all represent target and probability in this regard occur, the big place of probability just represents the position of target.Certain confidence map
In do not have target occur position, value is also not zero, necessary in order to eliminate artefact we term it artefact (decoy)
It is required for filtering and take threshold treatment.It is filtered using Laplace filter,
After filtering processing, the shape border of target is sharpened in the value of the confidence figure, and artefact is weakened well.This width
Figure is referred to as filtering confidence map.Again by carrying out taking threshold treatment to the figure, threshold value is
βmax(Vf(x,y,z)) (3)。
After taking threshold treatment, most of artefact and noise are further eliminated, and the 3D shape of target is reconstructed
Come.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.
Although describing the present invention herein with reference to specific embodiment, it should be understood that, these realities
Apply the example that example is only principles and applications.It should therefore be understood that can be carried out to exemplary embodiment
Many modifications, and can be designed that other arrangements, without departing from spirit of the invention as defined in the appended claims
And range.It should be understood that different appurtenances can be combined by being different from mode described in original claim
Benefit requires and feature described herein.It will also be appreciated that the feature in conjunction with described in separate embodiments can be used
In other described embodiments.
Claims (3)
1. a kind of imaging method of the non-ken three-dimensional image forming apparatus of no-raster formula photon counting,
This method is based on a kind of non-ken three-dimensional image forming apparatus of no-raster formula photon counting and realizes that the device includes pulse laser
(1), beam shaping system (2), receiving optics (3), single-photon detector array (5), multichannel time correlation single photon
Counter (6) and computer (7)；
Pulse laser (1) emits laser and to (6) time signal of multichannel Single Photon Counting device, and pulse swashs
The laser of light device (1) outgoing is incident to wall after beam shaping system (2) shaping, and the laser of wall scattering is after target reflects
It is again incident on wall, receiving optics (3) receives the laser that wall returns, the laser light incident to single-photon detector array
(5), multiple inputs of multiple output ends of single-photon detector array (5) and multichannel Single Photon Counting device (6)
End connects one to one, and the output end of multichannel Single Photon Counting device (6) is connected with computer (7)；
Method includes the following steps:
Pulse laser (1) emits laser and to (6) time signal of multichannel Single Photon Counting device；
Shaping is carried out to the laser that pulse laser (1) emits using beam shaping system (2)；
For laser light incident after shaping to wall, the laser of wall scattering is again incident on wall after target reflects；
Receiving optics (3) receives the laser that wall returns, and makes the image space and single-photon detecting of receiving optics (3)
The visual field for surveying device array (5) is identical；
The photon that multichannel Single Photon Counting device (6) calculating is incident to single-photon detector array (5) swashs from pulse
Light device (1) sets out to the photon flight time for returning to single-photon detector array (5), obtains time photon counting figure；
Each detector cells of single-photon detector array (5) correspond to a bit on wall, and this point is picture point, single photon
The corresponding multiple picture points of detector array (5), obtain several time photon counting figures；
Computer (7) is reconstructed the 3-D image of target according to several time photon counting figures, obtains 3-D image；
It is characterized in that,
Computer (7) is reconstructed the 3-D image of target according to several time photon counting figures, obtains 3-D image, specifically
The following steps are included:
Back projection:
Model is established, pulse laser (1) is located at L point, and single-photon detector array (5) is located at D point, and pulse laser (1) goes out
The laser light incident penetrated is in the S point on wall, IiFor i-th of picture point；
By each width time photon figure back projection into three-dimensional space, the value at each moment corresponding three in time photon counting figure
An ellipsoid in dimension space, for the ellipsoid using source point and picture point as focus, the space coordinate of a bit (x, y, z) of target is full
Foot formula:
||(x,y,z)-S||+||(x,y,z)-Ii| |=ctij-||L-S||-||D-Ii||
Wherein, c is the light velocity, tijThe photon flight time in j-th of channel when to detect i-th of picture point；All ellipsoids are in space
In overlap summation, formed a width the value of the confidence figure V (x, y, z)；
Filtering processing:
It is filtered using Laplace filter, obtains filtering confidence map Vf(x,y,z)
Take threshold treatment:
To filtering confidence map Vf(x, y, z) carries out taking threshold treatment, rejects the value for being lower than threshold value, obtains the 3-D image of target；Threshold value
For β max (Vf(x, y, z)), 0 < β < 1.
2. a kind of imaging method of the non-ken three-dimensional image forming apparatus of no-raster formula photon counting according to claim 1,
It is characterized in that, further includes the steps that being filtered using the laser that optical filter (4) return to wall.
3. a kind of imaging method of the non-ken three-dimensional image forming apparatus of no-raster formula photon counting according to claim 1,
It is characterized in that, device further includes optical filter (4), and optical filter (4) is located at the optical path between wall and single-photon detector array (5)
In.
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| CN107807364B (en) * | 2017-09-22 | 2019-11-15 | 中国科学院西安光学精密机械研究所 | A kind of three-dimensional imaging Photo Counting System and its dynamic biasing control method |
| CN107807353B (en) * | 2017-09-22 | 2019-09-20 | 中国科学院西安光学精密机械研究所 | Using the three-dimensional imaging Photo Counting System and method of counting of N weight pulse code |
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| CN112444821B (en) * | 2020-11-11 | 2022-09-09 | 中国科学技术大学 | Remote non-visual field imaging method, apparatus, device and medium |
| CN112882057B (en) * | 2021-01-19 | 2023-12-08 | 中国科学院西安光学精密机械研究所 | Photon counting non-view three-dimensional imaging super-resolution method based on interpolation |
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