CN109819235A - A kind of axial distributed awareness integrated imaging method having following function - Google Patents
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Abstract
The present invention relates to a kind of axial distributed awareness integrated imaging methods for having following function, comprising: 1, the optical axis of adjustment rotation double prism arrangement be directed toward, project target object in the imaging plane of camera and as far as possible positioned at the center of imaging plane；2, keep camera and rotate double prism arrangement relative position it is constant, mobile camera and rotation double prism arrangement simultaneously on camera optical axis direction successively acquire the image of target object on mobile multiple positions；3, it by the light back projection of the image of the target object of all acquisitions to reconstruction plane, reconstructs to obtain the reconstructed image of target object by three-dimensional computations.Compared with prior art, the present invention sufficiently combines the characteristics of function and rotation prism arrangement high-precision adjustment optical axis direction of the three-dimensional visualization of axial distributed sensor integration imaging technology, can be to block the research directions such as imaging, target classification, object identification, three-dimensional imaging to offer reference.
Description
Technical field
The present invention relates to field of machine vision, are integrated into more particularly, to a kind of axial distributed awareness for having following function
Image space method.
Background technique
Because there is the features such as non-contact, precision is high, machine vision 3D imaging has become popular research direction both domestic and external,
It can be used for three-dimensional measurement and specific objective identification, in various fields such as biomedicine, geological prospecting, space flight and aviation, environmental sciences
In have application.Current existing 3D imaging technique has binocular vision method, holography, time-of-flight method, laser thunder
Up to Structure light method etc..Integration imaging is a kind of passive multi-angle of view 3D imaging technique, can obtain target from multiple shooting angle
Different three-dimensional informations.Prism wedge is a kind of common optical element, has the function of light beam deflection, answers in machine vision
With extensive.Tool is a kind of typical optical axis adjustment tracking device there are two the rotation double prism arrangement of prism wedge, has structure
Compact, the advantages that precision is high, deflection angle is big.
First technical agency has continued rotation double prism arrangement and integrated imaging method below.
First technology (Peng such as plays at the patents, application number: 201410370054.7, July 30 2014 applying date a kind of " base
In the compound axis tracking system of rotation double prism arrangement ") provide a kind of compound axis tracking system based on rotation double prism arrangement
System is, it can be achieved that carry out high precision tracking to quick dynamic object.Reflector apparatus is introduced, tracing area blind area can be eliminated.It should
Device according to measuring object missing distance on target projection to imaging detector, and feed back to controller to reflecting mirror tracking device and
With dead zone-eliminating, device overall construction is more complicated for double prism arrangement closed-loop control.
First technology (Miao Zhang., etc. " Visualization of partially occluded 3D
object using wedge prism-based axially distributed sensing”,Optics
Communications, 2014,313 (4): 204-209.) conventional axial distributed awareness technology is directed to the target close to optical axis
Object does not acquire the problem of enough parallax informations, and single prism wedge is added before camera, proposes a kind of based on prism wedge
Axial distributed awareness integrated imaging method.Prism wedge is placed on camera front end by this method, and the imaging optical axis of camera can be changed
It is directed toward.It can adjust target object in this way and be projected in imaging plane center, and then make full use of the complete of imaging sensor
Portion region obtains enough parallax information progress integrated images and shows.This method is to have simply changed the view of video camera
Axis is directed toward and areas imaging, the object dimensional information at acquisition field of view edge are relatively difficult.
First technology (Mehdi DaneshPanah., etc., " Three dimensional imaging with
Randomly distributed sensors ", Optics Express, 2008,16 (9): 6368-77.) it is directed to 3D multi-angle of view
The generalized framework of imaging technique proposes a kind of method that imaging sensor arbitrarily arranges three-dimensional imaging.It is rebuild in three-dimensional computations
Inverse Projection has been used in the process, and has dexterously introduced coordinate transform, can be reduced the memory and power consumption needed for back projection calculates,
Improve computational efficiency.In the method, limited imaging sensor is arbitrarily arranged in three dimensions, but is needed in three-dimensional reconstruction
Stage is assumed known to the three-dimensional coordinate of these sensors.
Summary of the invention
The object of the invention is to lack existing for it to overcome on the basis of making full use of above-mentioned prior art advantage
It falls into and a kind of axial distributed awareness integrated imaging method for having following function is provided.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of axial distributed awareness integrated imaging method having following function, this method pass through integrated imaging system reality
Existing, the integrated imaging system includes coaxially arranged camera and rotation double prism arrangement, by same on camera optical axis direction
Shi Yidong camera and rotation double prism arrangement, can obtain the multiple and different visual angles of target object on the boresight direction after refraction
Parallax information；The method for calculating and reconstructing is taken, three-dimensional reconstruction, and the object energy for being partially blocked can be carried out to target object
Enough realize goes to block imaging；
Method includes the following steps:
S1, adjustment rotation double prism arrangement the optical axis be directed toward, project target object in the imaging plane of camera and to the greatest extent
Amount is located at the center of imaging plane；
S2, it keeps the relative position of camera and rotation double prism arrangement constant, moves phase simultaneously on camera optical axis direction
Machine and rotation double prism arrangement, successively acquire the image of target object on mobile multiple positions；
S3, by the light back projection of the image of the target object of all acquisitions to reconstruction plane, reconstructed by three-dimensional computations
Obtain the reconstructed image of target object.
Preferably, the rotation double prism arrangement includes the first rotating prism and the second rotating prism, first rotation
Prism is arranged between camera and the second rotating prism, and the camera is connect with host computer, the camera and rotation biprism dress
It sets and is all disposed on translating device, each rotating prism is respectively equipped with rotation drive device and control device.
Preferably, first rotating prism and the second rotating prism are all prism wedge.
Preferably, the process that the optical axis of adjustment rotation double prism arrangement is directed toward in the step S1 specifically includes:
Rotate and record the rotation angle, θ of two prisms of rotation double prism arrangementr1And θr2, calculated according to ray tracing
Formula finds out the vector A that the imaging plane of camera is incident on from rotation double prism arrangementrf, according to vector ArfExpression formula and phase
The spatial plane equation of the imaging plane of machine obtains intersection point P between the two, judge point P and camera imaging plane center O it
Between distance LOPWhether the distance threshold ε that the sufficient three-dimensional information of target object can be obtained is less than, if it is not, it is double then to adjust rotation
The rotation angle of two prisms of prism apparatus is until LOP< ε.
Preferably, the vector ArfAre as follows:
Wherein,
N11、N12The respectively normal vector of the second rotating prism plane of incidence and exit facet, N21、N22Respectively first rotation rib
The normal vector of the mirror plane of incidence and the normal vector of exit facet, the refractive index of two rotating prisms are all n, A0=(xr0,yr0,zr0)TFor
The incident light vector of second rotating prism.
It preferably, further include that intrinsic parameter calibration is carried out to camera in the step S1, the method for the intrinsic parameter calibration is
Wherein one in Zhang Zhengyou camera calibration method, direct linear transformation's method, Tsai two-stage calibration method and neural network scaling method
Kind.
Preferably, in the step S3 by the light back projection of the image of the target object of all acquisitions to reconstruction plane it
Before, distortion first is carried out to the image of the target object of acquisition and is handled.
Preferably, the translating device is using the one of which side in lead screw transmission, pulley drive, rack pinion
Formula realizes camera and rotates the movement of double prism arrangement.
Compared with prior art, the invention has the following advantages that
1, the method for the present invention sufficiently combine the three-dimensional visualization of axial distributed sensor integration imaging technology function and
The characteristics of prism arrangement high-precision adjustment optical axis is directed toward is rotated, has very high application value, Neng Gouwei in field of machine vision
It goes to block the research directions such as imaging, target classification, object identification, three-dimensional imaging and offer reference.
2, the method for the present invention makes full use of the optical axis guide function of rotation double prism arrangement, can be according to the sky of target object
Between position, the rotation angle of two prisms of active accommodation selects the suitable imaging optical axis to be directed toward, therefore in the process of integration imaging
In, target object can be made to project imaging plane immediate vicinity, and then make full use of the photosensitive region of imaging sensor, obtain foot
Enough target object image information is conducive to go to block imaging to target object.
3, two prism wedges are used, the refraction of two prism wedges are passed through in imaging process, areas imaging can
There is biggish promotion, therefore integration imaging can be implemented to the object in big field range.
4, the rotation double prism arrangement optical axis guidance accuracy used is high, controllability is good, high-efficient, can be in the shorter time
It is interior that tracking guidance is carried out to target object.
5, there are very high flexibility ratio, the parameters such as the angle of wedge, refractive index, the size of prism wedge and two prism wedges
Between relative position, arrangement form can be all adaptively adjusted according to requirements with the difference of usage scenario, practicability
By force.
Detailed description of the invention
Fig. 1 is that the optical axis in the present invention adjusts schematic diagram；
Fig. 2 is the stereoscopic schematic diagram of prism wedge；
Fig. 3 is the main view of prism wedge；
Fig. 4 is the right view of prism wedge；
Fig. 5 is that the wedge of biprism in rotation double prism arrangement puts down-Flachkeil arrangement figure；
Fig. 6 is the Flachkeil-Flachkeil arrangement figure for rotating biprism in double prism arrangement；
Fig. 7 be rotate biprism in double prism arrangement wedge it is flat-wedge plain cloth sets conceptual scheme；
Fig. 8 is that Flachkeil-wedge plain cloth of biprism in rotation double prism arrangement sets conceptual scheme；
Fig. 9 is the optical axis guiding principle figure that double prism arrangement is rotated in the method for the present invention；
Figure 10 show the axial distributed awareness integrated imaging method flow chart for having following function in embodiment；
Figure 11 is axial distributed awareness location map in the method for the present invention；
Figure 12 is individual element Image Acquisition schematic diagram in the method for the present invention；
Figure 13 is that individual element image calculates reconstruct schematic diagram in the method for the present invention.
Figure label: 1, camera, the 2, first rotating prism, the 3, second rotating prism.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to
Following embodiments.
Embodiment
The application proposes a kind of axial distributed awareness integrated imaging method for having following function, is divided into two stages:
Image acquisition phase first rotates two prisms for target object and is projected in imaging plane immediate vicinity, then keeps two prisms
Corner it is constant, and two prisms and 1 three relative position of camera remain unchanged, axial while mobile camera 1 and two prisms
And the image (being known as element image in the present embodiment) of the target object of each position is acquired respectively；Reconstruction stage is being calculated, it will
Target object removes, and is substituted for reconstruction plane and carries out back projection, can be by the three-dimensional information back projection in all elements image to weight
In structure plane.
This method realizes that integrated imaging system includes coaxially arranged camera 1 and rotates double ribs by integrated imaging system
Lens device.Camera 1 and host computer connect and compose image collecting device.As shown in Figure 1, rotation double prism arrangement is by the first rotation rib
Mirror 2 and the second rotating prism 3 and corresponding driving, control device composition, the first rotating prism 2 and the second rotating prism 3 can lead to
It crosses respective driving device to rotate about the axis, the objective object object parts that are blocked block.Camera 1 and rotation biprism dress
It sets and is all disposed on translating device, translating device includes sliding rail and sliding block, and camera 1 and rotation double prism arrangement are mounted on same cunning
On block, by sliding rail along common axis axial translation.
Method includes the following steps:
S1, adjustment rotation double prism arrangement the optical axis be directed toward, project target object in the imaging plane of camera 1 and to the greatest extent
Amount is located at the center of imaging plane；
S2, keep the relative position of camera 1 and rotation double prism arrangement constant, it is mobile simultaneously on 1 optical axis direction of camera
Camera 1 and rotation double prism arrangement, successively acquire the image of target object on mobile multiple positions；
S3, by the light back projection of the image of the target object of all acquisitions to reconstruction plane, reconstructed by three-dimensional computations
Obtain the reconstructed image of target object.
In the present embodiment, the first rotating prism 2 is arranged between camera 1 and the second rotating prism 3.First rotating prism 2
It is all prism wedge with the second rotating prism 3, as shown in figs. 2 to 4, between respective size, material, the angle of wedge and prism
The parameters such as relative position can be configured according to specifically used requirement.The prism of each selection has wedge surface and plane two sides, because
This rotation biprism is there are four types of arrangement form, as shown in figures 5-8, respectively wedge it is flat-Flachkeil, Flachkeil-Flachkeil, wedge be flat-wedge is flat,
The flat arrangement of Flachkeil-wedge.Different arrangements are different with deflection rule to the range of deflection of light beam, can be according to different applications
Scene is properly selected.
1 scaling method of camera that can be taken in step S1 have 1 standardization of Zhang Zhengyou camera, direct linear transformation's method,
Tsai two-stage calibration method and neural network scaling method etc., the intrinsic parameter for obtaining camera 1 are stored in host computer.Rotate biprism
Device can using one of torque motor, stepper motor etc. driving method, can be selected gear mechanism, turbine and worm mechanism,
One of synchronous belt mechanism etc. transmission mechanism.Translating device can be using in lead screw transmission, pulley drive, rack pinion
A kind of kind of drive driving sliding block moved along guide rail.
Image acquisition process has following points for attention: and Flachkeil-Flachkeil and the wedge for 1, rotating double prism arrangement be flat-and wedge is two kinds flat
Arrangement form exist tracking blind zone problem, if when both arrangement forms being selected to should ensure that imaging target object be located at blind area it
Outside；2, guarantee that target object is shown within image-region in collected element image every time；3, from rotation biprism to
The incident beam of 1 lens of camera should avoid the occurrence of the case where being parallel to optical axis as far as possible, when this kind of situation occurs, multiple elemental maps
Target object image center convergence as in can not generate parallax information near the same pixel.It is comprehensive in the present embodiment
The problems such as considering imaging viewing field range and scan blind spot, selects arrangement form shown in Fig. 8.
As shown in figure 9, using identical two prism wedges, angle of wedge α in the present embodiment.When enabling original state,
The Bao Duanchao X-axis positive direction of two prisms.If the angle of two prisms rotation is respectively θr1And θr2, 3 plane of incidence of the second rotating prism
Normal vector be N11, the normal vector of exit facet is N12；The normal vector of first rotating prism, 2 plane of incidence is N21, the normal direction of exit facet
Amount is N22, then according to the angle of wedge of the angle of two prisms rotation and prism wedge, have:
N11=(0,0,1)T
N12=(cos θr1sinα,sinθr1sinα,cosα)T
N21=(- cos θr2sinα,-sinθr2sinα,cosα)T
N22=(0,0,1)T。
Assuming that 3 incident light vector of the second rotating prism is A0=(xr0,yr0,zr0)TIf through 3 plane of incidence of the second rotating prism
Refraction light vector be Ar1, the emergent light vector of the second rotating prism 3 is Ar2, Ar2It is simultaneously also 2 plane of incidence of the first rotating prism
Incident light vector, the refraction light vector through 2 plane of incidence of the first rotating prism be Ar3, the emergent light vector of the first rotating prism 2
For Arf.The emergent light vector A after rotating refraction of biprism can be acquired according to ray tracing methodrf:
Wherein,
Wherein, two rotating prisms select same material in the present embodiment, and n is the refractive index of two rotating prisms.
The influence of 1 internal structure parameter of camera subject, inevitably generates image deformation when shooting picture, need by
Collected element image carries out distortion and handles, so in step S3 that the light of the image of the target object of all acquisitions is anti-
Before projection to reconstruction plane, distortion first is carried out to the image of the target object of acquisition and is handled.
In the present embodiment, as shown in Figure 10, this method specific steps are as follows:
1): individually camera 1 is demarcated, is demarcated using Zhang Zhengyou gridiron pattern standardization, obtains the intrinsic parameter of camera 1,
The distortion parameter k of Intrinsic Matrix M, camera 1 including camera 11、k2Deng.
2): as shown in figure 11, in the initial position of image acquisition phase, i.e. position 1, using single-chip microcontroller control moment motor
Driving rotation double prism arrangement is chosen best according to the density degree of the difference of target object spatial position and the region that is blocked
The optical axis be directed toward photographic subjects object, record at this time two prisms rotation angle be θr1And θr2；Adjustment rotation double prism arrangement
The optical axis is directed toward, and the vector A for being incident on image sensing plane is sought according to ray tracing calculation formularf, by vector ArfExpression formula and
The spatial plane equation integration of the imaging plane of camera 1 calculates intersection point P between the two, as shown in Figure 9；With spatial point away from
From the distance between the center O that formula finds out point P and imaging plane LOP, judge LOP(threshold epsilon is being imaged < ε according to target object
The actual size size of plane is chosen, guarantee in the extreme position being axially distributed target image without departing from imaging plane, from
And collect sufficient three-dimensional information) and it whether is very, to be followed the steps below when being true, continue to adjust double prism arrangement for fictitious time
Angle is rotated until LOP< ε is true；
3): as shown in figure 11, camera 1 and rotation double prism arrangement axially being arranged into N number of Image Acquisition position along z-axis together
It sets, the relative position between camera 1 in sliding block moving process and rotation double prism arrangement remains unchanged, and two adjacent images are adopted
It is divided into Δ z between collection position, Image Acquisition is carried out to target object in each image capture position, acquires N group element altogether
Picture, and whole element pictures are saved into host computer, camera 1 by corresponding data interface (common 1 interface of industrial camera:
GIGE gigabit network interface, USB interface, Camera Link interface, 1394 interfaces etc.) it is connected with host computer；
4): relevant parameter M, k are demarcated according to the camera 1 that step 1) acquires1、k2, element image is gone in host computer
Distortion processing；
5): the three-dimensional computations reconstruct of target object is the inverse process of Image Acquisition, and collected N group elemental map piece is calculated
Light back projection is reconstructed, because rotating the distance z of double prism arrangement and target object during each element image acquiresnNo
Together, so needing to use corresponding magnification M in calculating restructuring procedureN=Zn/g (is camera 1 referring to Figure 12 and Figure 13, g
Focal length) come to element image normalize；
6): the distance z of adjustment reconstruction plane distance rotation double prism arrangementn, there are an optimum distance zbestSo that clear
, go the target object blocked to be shown in reconstruction plane, acquire in zbestThe image reconstructed at distance is saved into host computer.
Claims (8)
1. a kind of axial distributed awareness integrated imaging method for having following function, which is characterized in that this method is by being integrated into
As system realization, the integrated imaging system includes coaxially arranged camera and rotation double prism arrangement, and this method includes following
Step:
S1, adjustment rotation double prism arrangement the optical axis be directed toward, project target object in the imaging plane of camera and as far as possible position
In the center of imaging plane；
S2, keep camera and rotate double prism arrangement relative position it is constant, on camera optical axis direction simultaneously mobile camera and
Double prism arrangement is rotated, the image of target object is successively acquired on mobile multiple positions；
S3, by the light back projection of the image of the target object of all acquisitions to reconstruction plane, reconstruct to obtain by three-dimensional computations
The reconstructed image of target object.
2. a kind of axial distributed awareness integrated imaging method for having following function according to claim 1, feature exist
In the rotation double prism arrangement includes the first rotating prism and the second rotating prism, and first rotating prism is arranged in phase
Between machine and the second rotating prism, the camera is connect with host computer, and the camera and rotation double prism arrangement are all disposed within flat
On moving device, each rotating prism is respectively equipped with rotation drive device and control device.
3. a kind of axial distributed awareness integrated imaging method for having following function according to claim 2, feature exist
In first rotating prism and the second rotating prism are all prism wedge.
4. a kind of axial distributed awareness integrated imaging method for having following function according to claim 2, feature exist
In the process that the optical axis of adjustment rotation double prism arrangement is directed toward in the step S1 specifically includes:
Rotate and record the rotation angle, θ of two prisms of rotation double prism arrangementr1And θr2, asked according to ray tracing calculation formula
The vector A of the imaging plane of camera is incident on from rotation double prism arrangement outrf, according to vector ArfExpression formula and camera at
As the spatial plane equation of plane obtains intersection point P between the two, judge between point P and the imaging plane center O of camera away from
From LOPWhether the distance threshold ε that the sufficient three-dimensional information of target object can be obtained is less than, if it is not, then adjusting rotation biprism dress
The rotation angle for two prisms set is until LOP< ε.
5. a kind of axial distributed awareness integrated imaging method for having following function according to claim 4, feature exist
In the vector ArfAre as follows:
Wherein,
N11、N12The respectively normal vector of the second rotating prism plane of incidence and exit facet, N21、N22Respectively the first rotating prism enters
The normal vector in face and the normal vector of exit facet are penetrated, the refractive index of two rotating prisms is all n, A0=(xr0,yr0,zr0)TIt is second
The incident light vector of rotating prism.
6. a kind of axial distributed awareness integrated imaging method for having following function according to claim 1, feature exist
In further including carrying out intrinsic parameter calibration to camera in the step S1, the method for intrinsic parameter calibration is Zhang Zhengyou camera mark
Determine the one of which in method, direct linear transformation's method, Tsai two-stage calibration method and neural network scaling method.
7. a kind of axial distributed awareness integrated imaging method for having following function according to claim 1, feature exist
In by before the light back projection to reconstruction plane of the image of the target object of all acquisitions in the step S3, first to acquisition
The image of target object carry out distortion and handle.
8. a kind of axial distributed awareness integrated imaging method for having following function according to claim 1, feature exist
In, the translating device using the one way in which in lead screw transmission, pulley drive, rack pinion realize camera and
Rotate the movement of double prism arrangement.
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| CN111416972A (en) * | 2020-01-21 | 2020-07-14 | 同济大学 | Three-dimensional imaging system and method based on axially adjustable cascade rotating mirror |
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| CN110243283A (en) * | 2019-05-30 | 2019-09-17 | 同济大学 | A kind of variable optical axis vision measurement system and method |
| CN111416972A (en) * | 2020-01-21 | 2020-07-14 | 同济大学 | Three-dimensional imaging system and method based on axially adjustable cascade rotating mirror |
| CN111416972B (en) * | 2020-01-21 | 2021-03-26 | 同济大学 | Three-dimensional imaging system and method based on axially adjustable cascade rotating mirror |
| CN111311688A (en) * | 2020-01-22 | 2020-06-19 | 同济大学 | Calibration method based on dual-sensor variable visual axis monitoring device |
| US11509822B2 (en) | 2020-05-07 | 2022-11-22 | Guangzhou Luxvisions Innovation Technology Limited | Imaging device and imaging method |
| CN113156641A (en) * | 2021-02-24 | 2021-07-23 | 同济大学 | Image space scanning imaging method based on achromatic cascade prism |
| CN113156641B (en) * | 2021-02-24 | 2022-09-16 | 同济大学 | Image space scanning imaging method based on achromatic cascade prism |
| CN117714840A (en) * | 2023-08-16 | 2024-03-15 | 荣耀终端有限公司 | Image processing method, device, chip, electronic equipment and medium |
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