CN107218903A - Recessive light three-D imaging method - Google Patents
Recessive light three-D imaging method Download PDFInfo
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- CN107218903A CN107218903A CN201710320242.2A CN201710320242A CN107218903A CN 107218903 A CN107218903 A CN 107218903A CN 201710320242 A CN201710320242 A CN 201710320242A CN 107218903 A CN107218903 A CN 107218903A
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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
- G01B11/2441—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using interferometry
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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
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
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- Computer Vision & Pattern Recognition (AREA)
- Length Measuring Devices By Optical Means (AREA)
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Abstract
A kind of Recessive light three-D imaging method, basic thought is to launch two cross-polarizations and has the light beam of spatial linear phase difference, and echo carries out autodyne detection with certain parallax by receiving telescope, polarization autodyne interference receiver, reception camera.The present invention utilizes recessive interference fringe transmitting, after the modulation of objective, carry out polarization autodyne interference and receive detection, disturbed with bias light is suppressed, it is automatic to eliminate air, the influence of motion platform, simple in construction, fringe period is easy to adjust, is particularly suitable for use in the high-precision three-dimensional imaging of far field dynamic object.
Description
Technical field
The present invention relates to the three-dimensional imaging of structure light, particularly a kind of recessive structured light three-dimensional imaging method passes through hair
The recessive interference fringe of polarized orthogonal light beam is penetrated, after the modulation of objective, is received by receiving telescope, polarization autodyne interference
Machine and camera carry out autodyne detection, and with bias light interference is suppressed, air, the influence of motion platform are eliminated automatically, simple in construction,
Fringe period is easy to adjust, is particularly suitable for use in the high-precision three-dimensional imaging of far field dynamic object.
Background technology
Structured light three-dimensional imaging technology is the technology that a kind of Structured Illumination using auxiliary obtains object dimensional picture, and it is adopted
Technical scheme be one carrier coded fringes of projection to the body surface being imaged, using imaging device from another angle recordings
By the deforming stripe image of imaging object high modulation, then from the deforming stripe figure of acquisition, digital demodulation reconstructs testee
3-dimensional digital picture.Three dimension profile measurement technology based on structure light has that noncontact, measuring speed are fast, precision is high and is easy to
Computer control is lower the advantages of carry out automatic measurement, is furtherd investigate and is widely used in machine vision, Automated condtrol
The necks such as processing, industrial automatic detection, control of product quality, profiling in kind, biomedicine, three-dimensional animation and ideo display stunt making
Domain.Earliest structural light three-dimensional measurement method is Morie profilometry (MT) [1], subsequent Fourier transform profilometry (FTP) [2-
3], the structural light three-dimensional surface shape measurement method such as phase measuring profilometer (PMP) [4] is progressively suggested.
In the presence of scribing, grating is complicated, its grating frequency cycle carved is fixed, frequency change when being measured using grating project
The limited flexibility of change；Fourier transform profilometry only needs to a width interference fringe picture, and processing accuracy is relatively low, while needing very big
Amount of calculation, processing speed is slow, and easily produces spectrum leakage, and the complicated measurement object for larger gradient can mix frequency spectrum
Fall；Phase measuring profilometer has higher precision, but the general interference fringe in transmitting terminal carries out phase change, using the time
The processing method of phase place change, is unfavorable for measuring dynamic three-dimensional body in real time, affected by environment serious etc..Meanwhile,
The above method is typically projected at target using imaging system to interference fringe, its operating distance is limited, fringe period with
Distance increases and increased, the limited flexibility of control, is unfavorable for remote application.
Here is prior art references
[1]Meadows D.M.,Johnson W.O.,Allen J.B..Generation of surface
contours by moiré patterns[J].Appl Opt.,1970,9(4):942-949.
[2] Takea M., Mutoh K..Fourier transform profilometry for the automatic
measurement of 3-D object shapes[J].Appl Opt.,1983,22(24):3977-3982.
[3] Su X.Y., W Chen W.J.Fourier transform profilometry:a review[J].Opt&
Lasers in Eng,2001,35(5):263-284.
[4] Srinivasan V, Liu H.C, Halioua M..Automated phase-measuring
profilometry of 3-D diffuse objects[J].Appl Opt.,1984,23(18):3105-3108.
The content of the invention
The technical problem to be solved in the present invention is the difficulty for overcoming above-mentioned prior art, it is proposed that a kind of Recessive light
Three-D imaging method, using polarized orthogonal beam emissions, recessive interference fringe is produced in far field, after the modulation of objective,
Detection is balanced by receiving telescope, polarization autodyne interference receiver and camera, it is automatic to eliminate with bias light interference is suppressed
The influence of air, motion platform, simple in construction, fringe period is easy to adjust, and the advantages of measurement accuracy is high is particularly suitable for use in far field
The high-precision three-dimensional imaging of dynamic object.
The technical solution of the present invention is as follows：
A kind of Recessive light three-D imaging method, its feature is：Launched using crossed polarized light, in the three-dimensional mesh in far field
Being produced at mark has linear phase ripple poor, by receiving telescope, polarization autodyne interference receiver and reception camera to target echo
Carry out autodyne interference to receive, then phase demodulating is carried out with fourier transform method or four step phase-shifting methods, so as to obtain objective
Imaging, its specific method step is as follows：
1. the linear phase ripple difference transmitting of orthogonal polarized light beam, two orthogonal polarized light beams do not produce interference, i.e., recessive dry
Relate to the generation of striped：The light beam exported using LASER Light Source first pass around be decomposed into after polarization beam apparatus two it is equicohesive
The horizontal polarization light beam and vertical polarization light beam of polarized orthogonal, horizontal polarization light beam and vertical polarization light beam pass through cross-polarization line
Property phase difference transmitter is transmitted at far field objects, and the orthogonal polarized light field of final goal position can be described as
(x, y) is objective plane coordinate in formula, and S (x, y) contains the relevant factors, λ such as system architecture arrangement and diffraction
For optical maser wavelength, Z is target range, and d is the controlling elements of two polarized orthogonal Beam Wave-Front linear phase differences.
2. autodyne interference detection is polarized：Echo by the modulation of far field objective passes through after receiving telescope is received
Polarize autodyne interference receiver and camera carries out autodyne detection, obtain image；
3. image real time transfer：Phase demodulating is carried out with fourier transform method or four step phase-shifting methods to the image of acquisition, obtained
To phase information；
4. phase unwrapping is carried out to described phase information, obtains the 3 d shape information of object：Described phase is believed
Breath carries out phase unwrapping, and subtracts each other with fixed phase, obtains after the final phase (x, y) modulated by objective, recyclesReconstruct the 3-D view of surveyed target.Wherein Z is target range, and f is empty for the striped received
Between frequency, D is the parallax range of transmitting terminal and receiving terminal.
Realize the device of described Recessive light three-D imaging method, it is characterised in that including transmitting terminal, receiving terminal and
System control computer, described transmitting terminal includes LASER Light Source, polarization beam apparatus, cross-polarization linear phase difference transmitter；
Described receiving terminal includes receiving telescope, polarization autodyne interference receiver, receives camera and image processor.Above-mentioned part
Position relationship is as follows：
Under the control of System control computer, the light beam exported by described LASER Light Source first passes around described
Horizontal polarization light beam and the vertical polarization of two equicohesive polarized orthogonals are spatially decomposed into after polarization beam apparatus by polarization
Light beam, horizontal polarization light beam and vertical polarization light beam are transmitted into far field objects by cross-polarization linear phase difference transmitter.
The described echo modulated through far field objective is received after receiving telescope is received by polarizing autodyne interference
Machine and reception camera carry out autodyne detection, and image procossing, the direction of observation and illumination side are carried out subsequently into image processor
To at an angle.
Described cross-polarization linear phase difference transmitter can be sent out by horizontal polarization light-beam transmitter and vertical polarization light beam
Emitter is directly diffracted at the objective of far field, or is spatially producing two polarizations just by wavefront transform device, polarization beam apparatus
Hand over the linear phase ripple of light beam poor, far field objective is transmitted to by the amplification of transmitting primary mirror.
Realize the device of described Recessive light three-D imaging method, it is characterised in that described polarization autodyne interference connects
Receipts machine is that 2 × 2 180 ° of space optics bridgers receive structures, either 2 × 4 90 ° of space optics bridgers receive structures or
Single analyzer receives structure.
Described reception camera is all received simultaneously by single camera, or synchronously receives 2 × 2 180 ° by two cameras
Two interference fields of space optics bridger outgoing, or four cameras synchronously receive 2 × 4 90 ° of space optics bridger outgoing
Four interference fields.
Compared with prior art, the present invention has following technique effect：
1st, the present invention is directly launched to far field objects using the light beam of two polarized orthogonals, passes through horizontal polarization light-beam transmitter
The recessive fringe period different with the spacing change of vertical polarization light beam transmitter, overall structure is simpler compact, resists
Vibrate, reduce the complexity of emission system, be easy to control, flexibility is strong, be particularly suitable for use in distant-range high-precision it is three-dimensional into
Picture.
2nd, polarization autodyne of the invention interference receiver is using 2 × 2 180 ° of optical bridging device balance receptions, and utilizes Fu
In leaf transformation obtain target three-dimensional image, can effectively eliminate bias light interference, expand three-dimensional elevation altitude range measurement.
3rd, polarization autodyne of the invention interference receiver is received simultaneously using 2 × 4 90 ° of optical bridging devices, and passes through four steps
Phase shift method obtain target three-dimensional image, four width images needed for the step phase-shifting method of spatially synchronization gain 4, with fast imaging,
The advantages of precision is high, ambient noise suppresses, is particularly suitable for use in the dynamic object three-dimensional imaging of high-speed, high precision.
4th, linear translation diffraction of the present invention using transmitting light beam or the orthogonal polarized light beam using linear phase difference amplify
Transmit to obtain the recessive interference phase shift in target far field, phase solution elevation synchronized by reception system, three-dimensional imaging precision is high,
Simultaneously because launching using polarized orthogonal, it can further reflect the polarization characteristic of target.
Brief description of the drawings
Fig. 1 is Recessive light three-D imaging method step schematic diagram of the present invention.
Fig. 2 is Recessive light three-D imaging method structural representation of the present invention.
Fig. 3 is the direct diffraction transmitting example structure schematic diagram of Recessive light three-D imaging method of the present invention.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples, but the protection model of the present invention should not be limited with this
Enclose.
Referring initially to Fig. 1, Fig. 1 is Recessive light three-D imaging method step schematic diagram of the present invention.As seen from the figure, it is of the invention
Recessive light three-D imaging method, its step includes：
1. crossed polarized light linear phase difference transmitting (generation of i.e. recessive interference fringe)：
Again referring to Fig. 2, Fig. 2 is the structural representation of Recessive light three-D imaging method of the present invention.As seen from the figure, originally
Invention Recessive light three-dimensional imaging structure is made up of transmitting terminal, receiving terminal and System control computer 8, described transmitting terminal bag
Include LASER Light Source 1, polarization beam apparatus 2, by horizontal polarization light-beam transmitter and vertical polarization light beam transmitter constitute it is orthogonal partially
Linear phase difference of shaking transmitter 3；Described receiving terminal includes receiving telescope 4, polarization autodyne interference receiver 5, receives camera
6th, image processor 7；
Again referring to Fig. 3, Fig. 3 is Recessive light three-D imaging method of the present invention direct diffraction transmitting example structure shows
It is intended to.The light beam that described LASER Light Source 1 is exported is first passed around after described polarization beam apparatus 2 spatially by polarization point
Solve as the horizontal polarization light beam and vertical polarization light beam of two equicohesive polarized orthogonals, horizontal polarization light beam and orthogonal polarized light
Beam is directly diffracted into far field objects respectively through horizontal polarization light-beam transmitter and vertical polarization light beam transmitter.Described transmitting
Aperture can be circular aperture or square aperture.
Horizontal polarization light-beam transmitter and vertical polarization light beam transmitter are set as circular aperture, a diameter of a of its circular aperture,
And two polarized orthogonal transmitting light beam center be coordinate system central shaft, then circular hole be mathematically represented as
WithWherein, d is the centre distance of two circular apertures, then is diffracted into the far field light path that distance is Z
The Fourier transformation in two apertures is distributed as, can be written as
Wherein, E contains diffraction factor, J1For single order Bessel function of the first kind.Two light of the polarized orthogonal then launched
Beam is in the phase difference of target range Z far-field position
Therefore, the recessive fringe period of target range Z location is
2. the interference of polarization autodyne is received：
From Figure 2 it can be seen that described recessive interference fringe is received after the modulation of far field objective by receiving telescope 4,
Detection is balanced by polarizing autodyne interference receiver 5 and receiving camera 6, the image finally detected is three-dimensional through far field objects
The dominant interference fringe field of modulation.Described polarization autodyne interference receiver 5 is that 2 × 2 180 ° of space optics bridgers receive knot
Structure, either 2 × 4 90 ° of space optics bridgers receive structure or single analyzer receives structure；Described reception camera 6
All received simultaneously by single camera, or the two of 2 × 2 180 ° of space optics bridger outgoing is received by two cameras synchronizations
Individual interference field, four cameras synchronously receive four interference fields of 2 × 4 90 ° of space optics bridger outgoing.
Connect when described polarization autodyne interference receiver 5 receives structure synchronization using 2 × 2 180 ° of space optics bridgers
When receiving two width interference fields, the intensity of its interference field is respectively
I1(x, y)=A (x, y)+B (x, y) cos (2 π fx+ φ (x, y))
I2(x, y)=A (x, y)-B (x, y) cos (2 π fx+ φ (x, y))
Wherein, A (x, y) represents background intensity, and B (x, y)/A (x, y) is the contrast of striped, and f is the spatial frequency of striped,
Phase function φ (x, y) illustrates the deformation of striped, and relevant with the 3 d shape z=h (x, y) of object, meets
Wherein Z is target range, and D is the distance for receiving camera and launching centre, big in observed range and interference fringe
During many situations, it can be approximated to be
Received when described polarization autodyne interference receiver 5 receives structure synchronization using 2 × 4 90 ° of space optics bridgers
After four width interference fringes, its interference fringe picture shot has
I1(x, y)=A (x, y)+B (x, y) cos (2 π fx+ φ (x, y))
I2(x, y)=A (x, y)+B (x, y) cos (2 π fx+ φ (x, y)+pi/2)
I3(x, y)=A (x, y)+B (x, y) cos (2 π fx+ φ (x, y)+π)
I4(x, y)=A (x, y)+B (x, y) cos (2 π fx+ φ (x, y)+3 pi/2)
When described polarization autodyne interference receiver 5 is that single analyzer receives structure, the single interference field of acquisition
Intensity is respectively
I1(x, y)=A (x, y)+B (x, y) cos (2 π fx+ φ (x, y))
3. image real time transfer：
Received, polarized after autodyne interference receiver and camera interference reception by receiving telescope, then use fourier transform method
Or four step phase-shifting method carry out phase demodulating.
Connect when described polarization autodyne interference receiver 5 receives structure synchronization using 2 × 2 180 ° of space optics bridgers
When receiving two width interference fields, imaging is carried out by System control computer 8 and image processor 7, to two width interference fringe phases
After subtracting, have
I (x, y)=I1(x,y)-I2(x, y)=2B (x, y) cos (2 π fx+ φ (x, y))
Then fourier transform method is used, Fourier analysis, filtering and processing, Phase Unwrapping Algorithm is carried out, obtains object
The phase information φ (x, y) of 3 d shape distributed acquisition target.
Because Fourier transform profilometry (FTP) has used Fourier transformation and filtering in a frequency domain to calculate, only frequency
Fundamental component in spectrum is effective for rebuilding 3 d shape, therefore prevents the requirement of spectral aliasing from limiting FTP and can be imaged
Maximum magnitude.Its restrictive condition is met
Received when described polarization autodyne interference receiver 5 receives structure synchronization using 2 × 4 90 ° of space optics bridgers
After four width interference fringes, imaging is carried out by System control computer 8 and image processor 7, obtained using four step phase-shifting methods
The phase information of target is taken, the wrapped phase information finally obtained is
When described polarization autodyne interference receiver 5 is that single analyzer receives structure, by the He of System control computer 8
Image processor 7 carries out imaging, using fourier transform method, carries out Fourier analysis, filtering and processing, unpacking phase
Position, obtains the phase information φ (x, y) of the 3 d shape distributed acquisition target of object.
4. 3-D view is reconstructed：
Phase unwrapping is carried out to described phase information, and subtracted each other with fixed phase, obtains finally being modulated by objective
Phase (x, y) after, recycleReconstruct the 3-D view of surveyed target.
Fig. 2 and Fig. 3 are the structural representations of preferred embodiment, and its concrete structure and parameter are as follows：
Assuming that laser wavelength lambda=1 μm used, target range Z=0.5m, using the polarization maintaining optical fibre of single mode polarized orthogonal,
About 10 μm of its fibre diameter, the transmitting angle of visual field is about 244mrad, therefore the observable interference fringe area of 0.5m operating distances
For 250mm, the interference fringe modulated by elevation is recorded using reception CCD camera 6, in order to intactly record interference wave surface, is received
The fringe spacing of face position must is fulfilled for the Δ x of T ' ＞ 2, and Δ x is the size of the sensitive pixels of CCD.5 μm of the bin size of normal CCD,
CCD pixel is 4000 × 3000, receives camera 6 and uses focal length 50mm, then field of view of receiver is 300mrad, CCD receptor surface is
The reduced image of tested surface, minification is about 10 times, therefore the fringe period of imaging surface meets T ＞ 10T '=0.1mm, if
Meter fringe period is 1mm, then the fibre core distance of two optical fiber isDesign direction of observation and illumination direction
α angles be 10 °, then receive CCD camera 6 with transmitting fibre core lateral separation be D=88.2mm.
Claims (5)
1. a kind of Recessive light three-D imaging method, it is characterised in that：Launched using crossed polarized light, in far field objective
Place, which is produced, has linear phase ripple poor, interferes receiver and receive camera to enter target echo by receiving telescope, polarization autodyne
The interference of row autodyne is received, then carries out phase demodulating with fourier transform method or four step phase-shifting methods, thus obtain objective into
Picture, its specific method step is as follows：
1. the linear phase ripple difference transmitting of orthogonal polarized light beam, two orthogonal polarized light beams do not produce interference, i.e., recessive interference bar
The generation of line：The light beam exported using LASER Light Source, which is first passed around, is decomposed into two equicohesive polarizations after polarization beam apparatus
Orthogonal horizontal polarization light beam and vertical polarization light beam, horizontal polarization light beam and vertical polarization light beam pass through the linear phase of cross-polarization
Potential difference transmitter is transmitted at far field objects, and the orthogonal polarized light field of final goal position is described as
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(x, y) is objective plane coordinate in formula, and S (x, y) contains the relevant factors such as system architecture arrangement and diffraction, and λ is sharp
Optical wavelength, Z is target range, and d is the controlling elements of two polarized orthogonal Beam Wave-Front linear phase differences；
2. autodyne interference detection is polarized：Echo by the modulation of far field objective is after receiving telescope is received, by polarization
Autodyne interferes receiver and camera to carry out autodyne detection, obtains image；
3. image real time transfer：Phase demodulating is carried out with fourier transform method or four step phase-shifting methods to the image of acquisition, phase is obtained
Position information；
4. phase unwrapping is carried out to described phase information, obtains the 3 d shape information of object：Described phase information is entered
Line phase deploys, and subtracts each other with fixed phase, obtains after the final phase (x, y) modulated by objective, recyclesThe 3-D view of surveyed target is reconstructed, wherein Z is target range, and f is empty for the striped received
Between frequency, D is the parallax range of transmitting terminal and receiving terminal.
2. realize the device of the Recessive light three-D imaging method described in claim 1, it is characterised in that including transmitting terminal, connect
Receiving end and System control computer (8), described transmitting terminal include LASER Light Source (1), polarization beam apparatus (2), cross-polarization line
Property phase difference transmitter (3)；Described receiving terminal includes receiving telescope (4), polarization autodyne interference receiver (5), receives phase
Machine (6) and image processor (7)；
Under the control of System control computer (8), the light beam exported by described LASER Light Source (1) first passes around described
Polarization beam apparatus (2) after the horizontal polarization light beams of two equicohesive polarized orthogonals is spatially decomposed into and vertical by polarization
Light beam, horizontal polarization light beam and vertical polarization light beam are transmitted into far field by cross-polarization linear phase difference transmitter (3)
Target；
Through far field objective modulate echo by receiving telescope (4) reception after, through polarization autodyne interference receiver (5) and
Receive camera (6) and carry out autodyne detection, image procossing, direction of observation and illumination direction are carried out subsequently into image processor (7)
It is at an angle.
3. the device of Recessive light three-D imaging method according to claim 2, it is characterised in that described is orthogonal inclined
Linear phase difference of shaking transmitter (3) can directly be diffracted into far field by horizontal polarization light-beam transmitter and vertical polarization light beam transmitter
At objective, or spatially produce by wavefront transform device, polarization beam apparatus the linear phase ripple of two polarized orthogonal light beams
Difference, far field objective is transmitted to by the amplification of transmitting primary mirror.
4. the device of Recessive light three-D imaging method according to claim 2, it is characterised in that described polarization is certainly
Difference interference receiver (7) is that 2 × 2 180 ° of space optics bridgers receive structure, or 2 × 4 90 ° of space optics bridgers connect
Structure is received, or single analyzer receives structure.
5. the device of Recessive light three-D imaging method according to claim 2, it is characterised in that described reception phase
Machine (8) is all received simultaneously by single camera, or synchronously receives 2 × 2 180 ° of space optics bridger outgoing by two cameras
Two interference fields, or four cameras synchronously receive four interference fields of 2 × 4 90 ° of space optics bridger outgoing.
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| CN108982510A (en) * | 2018-06-11 | 2018-12-11 | 东华大学 | Utilize 90 ° of optics mixer Surface profiling dynamic detection systems and method |
| CN110057743A (en) * | 2019-05-06 | 2019-07-26 | 西安交通大学 | The label-free cell three-dimensional Morphology observation method of blood film based on optic virtual dyeing |
| CN111076729A (en) * | 2019-12-21 | 2020-04-28 | 北京跟踪与通信技术研究所 | Deep space spacecraft relative position measuring method based on intensity coherent detection array |
| CN113630591A (en) * | 2021-06-21 | 2021-11-09 | 上海师范大学 | Invisible vortex structured light three-dimensional imaging method based on asymmetric encryption |
| CN116242278A (en) * | 2023-05-11 | 2023-06-09 | 山东高速工程检测有限公司 | Orthogonal optical fiber interference fringe projector for three-dimensional measurement of asphalt pavement texture |
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