CN110231021A - Ripple sensor, ripple method for reconstructing and its application - Google Patents
Ripple sensor, ripple method for reconstructing and its application Download PDFInfo
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Abstract
Present invention discloses a kind of ripple sensor, ripple method for reconstructing and its applications, and wherein the ripple sensor includes sampling array, for sampling to the refracted light for passing through ripple；Reflecting plate, including light receiving surface, light receiving surface is for receiving the refracted light sampled and forming sampling hot spot；First image-forming component, for light receiving surface being imaged to obtain the distributed intelligence of sampling hot spot；Control element, for the location information of array element and the directional information of incident ray corresponding with the refracted light sampled in the relative position information sampling array corresponding with sampling hot spot according to the sampling distributed intelligence of hot spot, reflecting plate and the first image-forming component, rebuilds ripple and be distributed；Hot spot image-forming component by using reflecting plate as sampling refracted light avoids the dislocation hot spot phenomenon of transmission-type imaging, and increasing can be underwater using depth, improves the water surface to the image correction effect in empty imaging applications.
Description
Technical field
The invention belongs to Imaging From Submarine technical fields, and in particular to a kind of ripple sensor, ripple method for reconstructing and
It is applied.
Background technique
For the observation of target on the water surface, can by the water surface land establish monitoring device or under water basis
The principle of reflection application periscope of light is observed in real time.However, the concealment of these observed patterns is poor, it is easy exposure monitoring person
Location information, to limit the application in such as fields such as frontier juncture coast defence.
Correspondingly, then there are some huge challenges to the direct observation of the above target of the water surface under water, join Fig. 7 institute
Show, the ripple of water surface, which rises and falls, to cause random scattering interference to incident light, when ripple is tranquiler compared with small face
When, this interference is negligible (ginseng Fig. 8 (a) water surface chessboard plate figure aerial from underwater photograph technical when being rest plane
Picture), and when ripple fluctuating Shaoxing opera is strong, then scalloping, distortion are serious, and especially on ocean in high-amplitude wave wave situation, image is complete
Full distortion cannot recognize target (ginseng Fig. 8 (b) water surface chessboard plate image aerial from underwater photograph technical when having a fluctuating).
Ripple sensor was proposed that referenmce atomsphere is adaptive in 2014 by Marina Alterman of Israel et al.
Optical Shack-Hartmann Wavefront sensor concept adopts ripple distribution using array of orifices or microlens array
Sample and measurement, and ripple distribution is rebuild from metrical information.Ripple sensor be suitable for outdoor environment, strong antijamming capability,
There is very big application potential in marine environment, become the potential approach that ocean Imaging From Submarine ripple is rebuild with corrected, by
Each side's concern is arrived.But it is limited by the structure design of existing ripple sensor, current ripple sensor is under water imaged sky
Correction it is still not ideal enough, for example, (1) joins Fig. 9 and 10, the ripple sensor of the prior art is scattered using transmission-type focussing glass
Plate is penetrated as hot spot attaching image device, scatterer upper and lower surface can all form dislocation hot spot, and spot identification position error is larger,
And reflection, scattering and the absorption of scatterer have apparent consumption to luminous energy, reduce the available depth under water of sensor, reduce
Its concealment and practicability；(2) water surface ripple reconstruction precision is not high, when especially spatial sampling points are less, reconstruction error
It is larger.
Summary of the invention
One of the objects of the present invention is to provide a kind of ripple sensors to mention for improving the reconstruction precision of water surface ripple
Calibration result in high Imaging From Submarine application, the ripple sensor include:
Sampling array, for being sampled to the refracted light for passing through ripple；
Reflecting plate, including light receiving surface, the light receiving surface is for receiving the refracted light sampled and forming sampled light
Spot；
First image-forming component obtains the distributed intelligence of the sampling hot spot for the light receiving surface to be imaged；
Control element, for the phase according to the distributed intelligence for sampling hot spot, the reflecting plate and the first image-forming component
To location information, with the location information of array element in the corresponding sampling array of the sampling hot spot and with the folding that is sampled
The directional information of the corresponding incident ray of light is penetrated, ripple distribution is rebuild.
In one embodiment, the sampling array is array of orifices or microlens array.
In one embodiment, the control element is specifically used for the distributed intelligence according to the sampling hot spot, the reflecting plate
With the relative position information of the first image-forming component, the location information of the sampling hot spot is calculated；And
According to array element in the location information and sampling array corresponding with the sampling hot spot of the sampling hot spot
Location information, calculate the directional information of the refracted light sampled；And
According to the directional information of the refracted light sampled and it is corresponding with the refracted light sampled enter
The directional information of light is penetrated, the normal vector of corresponding ripple sampled point is calculated, and then rebuilds ripple distribution.
In one embodiment, the control element is also used to according to the corresponding latitude and longitude information of the refracted light sampled
And sampling instant information, calculate the directional information of the incident ray corresponding with the refracted light sampled；And/or it is described
Control element is also used to determine institute according to the corresponding latitude and longitude information of the refracted light sampled and sampling instant information
State the corresponding relationship of array element in sampling hot spot and sampling array.
In one embodiment, the control element is also used to obtain the wave of multiple historical junctures in the same area target time section
Line distribution；And
According to the distribution of the ripple of the multiple historical juncture and time series models, the regional aim period is calculated
The ripple of interior any time is distributed.
The present invention also provides a kind of Imaging From Submarine systems, comprising:
Ripple sensor as described above；And
Second image-forming component, for imageable target to be imaged, second image-forming component is arranged to imaging mesh
Target imaging ray passes through the ripple that the refracted light sampled is passed through；
Image rectification element, for the location information, the reconstruction ripple and imaging according to second image-forming component
The location information that unit is respectively corrected in pattern, is corrected the imagewise pattern.
In one embodiment, further includes:
Third image-forming component, for the imageable target to be imaged, the third image-forming component is arranged to institute
The imaging ray for stating imageable target passes through the ripple that the refracted light that is sampled is passed through, and second image-forming component and the
Three image-forming components are different to the imaging angle of the imageable target.
In one embodiment,
Described image correcting element is specifically used for the location information according to second image-forming component and third image-forming component
And the location information of unit is respectively corrected in imagewise pattern, calculate the correspondence of second image-forming component and third image-forming component at
As the directional information of light in water；And
According to the correspondence imaging ray of second image-forming component and third image-forming component directional information in water and
The reconstruction ripple calculates the aerial direction letter of correspondence imaging ray of second image-forming component and third image-forming component
Breath, to carry out three-dimensional correction to the imagewise pattern；And/or
The correction unit is pixel.
The present invention also provides a kind of ripple method for reconstructing, comprising:
The refracted light for passing through ripple is sampled；
The refracted light sampled is received using the light receiving surface of reflecting plate and forms sampling hot spot；
The light receiving surface is imaged to obtain the distributed intelligence of the sampling hot spot；
According to the sampling distributed intelligence of hot spot, the reflecting plate and the first image-forming component relative position information, with
In the corresponding sampling array of the sampling hot spot location information of array element and it is corresponding with the refracted light sampled enter
The directional information of light is penetrated, ripple distribution is rebuild.
The present invention also provides a kind of Imaging From Submarine methods, comprising:
The refracted light for passing through ripple is sampled；
The refracted light sampled is received using the light receiving surface of reflecting plate and forms sampling hot spot；
The light receiving surface is imaged to obtain the distributed intelligence of the sampling hot spot；
According to the sampling distributed intelligence of hot spot, the reflecting plate and the first image-forming component relative position information, with
In the corresponding sampling array of the sampling hot spot location information of array element and it is corresponding with the refracted light sampled enter
The directional information of light is penetrated, ripple distribution is rebuild；
Imageable target is imaged, wherein the refracted light sampled is passed through to the imaging ray of imageable target
The ripple of process；
According to the position for respectively correcting unit in the location information of the image-forming component, the reconstruction ripple and imagewise pattern
Information is corrected the imagewise pattern.
Ripple sensor provided by the invention, the hot spot image-forming component by using reflecting plate as sampling refracted light,
The dislocation hot spot phenomenon of transmission-type imaging is avoided, and avoids the luminous energy loss of transmission-type scatterer, increasing can be in water
Under application depth, and compensate for indirectly due to sampled point it is few caused by reconstruction error problem, improve the water surface and sky imaging answered
Image correction effect in.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of ripple sensor in an embodiment of the present invention；
Fig. 2 is the water surface in an embodiment of the present invention to the structural schematic diagram of empty imaging system；
Fig. 3 is the coordinate system established in an embodiment of the present invention according to the refracted light sampled；
Fig. 4 is world coordinate system, camera coordinates system, image coordinate system and image pixel coordinates in an embodiment of the present invention
The schematic diagram of system；
Fig. 5 is the flow chart of ripple method for reconstructing in an embodiment of the present invention；
Fig. 6 is the flow chart of Imaging From Submarine method in an embodiment of the present invention；
Fig. 7 is the schematic illustration of Imaging From Submarine；
The comparison diagram that water surface ripple influences imaging results when Fig. 8 is Imaging From Submarine；
Fig. 9 is in the prior art using scatterer as the ripple sensor structure schematic diagram of hot spot image-forming component；
Figure 10 is to generate hot spot dislocation when sky is imaged under water using frosted glass (diffusion glass) in the prior art to show
It is intended to.
Specific embodiment
The application is described in detail below with reference to specific embodiment shown in the drawings.But these embodiments are simultaneously
The application is not limited, structure that those skilled in the art are made according to these embodiments, method or functionally
Transformation is all contained in the protection scope of the application.
Join Fig. 1, introduces an embodiment of ripple sensor 10 of the present invention, in the present embodiment, the ripple sensor
10 include sampling array 101, reflecting plate 102, the first image-forming component 103 and control element (not shown).
Sampling array 101 is used to sample the refracted light for passing through ripple.It should be noted that in reality of the invention
Apply in mode, ripple sensor 10 be usually be configured under the water surface, and then to by air pass through ripple incidence water inlet in
Refracted light sampled, but in the embodiment of some other applications, ripple sensor 10, which can be, is configured in sky
In gas, and then sampled to by being incident on the refracted light in air by ripple in water；Alternatively, ripple sensor 10 can be with
It is the wherein side for being configured in any two kinds of adjacent light transmission mediums.
In some embodiments, which can be array of orifices or microlens array.
Reflecting plate 102 includes light receiving surface 1021, which is used to receive the refracted light sampled and shape
At sampling hot spot.Replace the diffusion glass of transmission-type by the reflecting plate 102 of non-transmissive, the refracted light sampled only can be
Hot spot is formed on the light receiving surface 1021 of reflecting plate 102, avoids the dislocation hot spot phenomenon of transmission-type imaging, and is avoided
The luminous energy loss for penetrating formula scatterer, increases submerged applications depth.
In some embodiments, which can be is made by reflective material, or is in light transmission or impermeable
The surface of finish matter is formed with reflecting layer.
First image-forming component 103 is used to light receiving surface 1021 be imaged to obtain the distributed intelligence of sampling hot spot.One implements
In example, the first image-forming component 103 can be the camera with optical imagery function.
Control element is used for the opposite position according to the sampling distributed intelligence of hot spot, reflecting plate 102 and the first image-forming component 103
Confidence breath, the refracted light with the location information of array element in the corresponding sampling array 101 of hot spot is sampled and with being sampled
The directional information of corresponding incident ray rebuilds ripple distribution.For example, when sampling array 101 is array of orifices, battle array here
Column unit is the multiple loopholes referred in array of orifices.
Specifically, control element is used for distributed intelligence, reflecting plate 102 and the first image-forming component 103 according to sampling hot spot
Relative position information, calculate sampling hot spot location information；And location information and and sampled light according to sampling hot spot
The location information of array element in the corresponding sampling array 101 of spot calculates the directional information of the refracted light sampled；And
According to the directional information of the refracted light sampled and the directional information of incident ray corresponding with the refracted light sampled,
The normal vector of corresponding ripple sampled point is calculated, and then rebuilds ripple distribution.
In one embodiment, control element be can be according to the corresponding latitude and longitude information of the refracted light sampled and sampling
Time information determines the corresponding relationship of array element in sampling hot spot and sampling array 101.
Cooperate and join Fig. 3, in specific determination process, can for example introduce solar elevation γ, i.e. sun light direction and ground
The angle of plane；With solar azimuth φ, the i.e. angle of the sunlight direction vector projection on ground level and due south direction.This
Two angles can be determined according to the corresponding latitude and longitude information of the refracted light sampled and sampling instant, for example, using existing
Software: virtual planetarium Stellarium.Based on the two angles, coordinate system is established, wherein x-axis is Due South to y
Axis is positive east to z-axis numerical value is upward.A point A is taken in sunlight incident direction, is B in horizontally plane projection, in X-axis
Be projected as C, be projected as D in Y-axis, then under xyz coordinate system incident light direction m-cosine (- sin γ), array element position coordinates (x in sampling array 1010, y0, z0), sampling hot spot
Coordinate (x1, y1, z1) meet:
z0-z1=t sin γ
Therefore, according to the coordinate of array element in known sampling hot spot coordinate and sampling array 101, sampling can be determined
The corresponding relationship of array element in hot spot and sampling array 101.And by pair of array element in sampling hot spot and sampling array 101
It should be related to the directional information that can determine each refracted light sampled one by one.
In one embodiment, control element can also be according to the corresponding latitude and longitude information of the refracted light sampled and adopt
Sample time information calculates the directional information of incident ray corresponding with the refracted light sampled.
In specific determination process, the distance due to the sun apart from the earth is similar to infinity, therefore can consider incident light
Line is directional light, i.e., a plurality of incident ray incidence angle all having the same, which can be by the refracted light pair that is sampled
The latitude and longitude information and sampling instant information answered are now uniquely determined.
In the identical situation of incidence angle of incident ray, the direction of each refracted light sampled is caused to shift
Reason can be only determined the different planes of incidence of the ripple contacted when incidence.Therefore, according to the direction of the refracted light sampled
The directional information of information and incident ray corresponding with the refracted light sampled can calculate each refraction light sampled
The normal vector of ripple sampled point corresponding to line, and then ripple distribution is rebuild.
In the present embodiment, control element is also used to obtain the wave of multiple historical junctures in the same area target time section
Line distribution, and according to the distribution of the ripple of multiple historical juncture and time series models, it calculates in the regional aim period
The ripple of any time is distributed.Since water surface ripple has continuity in time, time series models can be passed through
Obtain the changes in distribution situation of ripple in target time section in a panel region.In some embodiments, can according to fluid dynamics,
Wave equation modeling is carried out to the distribution of water surface ripple first, obtains the wave height of ripple distribution, the number that gradient function changes over time
Model is learned, then by the mathematical model in conjunction with measurement gradient timetable series model, carries out mathematical model ginseng using swarm intelligence algorithm
Several most has solution；Be continuously added the ripple distribution measuring information of next historical juncture in solution procedure, carry out parameter iteration,
Evaluation is eliminated and is updated, the ripple distribution results approaching to reality ripple distribution finally made.
In the present embodiment, control element can be including microcontroller (MicroControllerUnit, MCU)
Integrated circuit.Well-known to those skilled in the art to be, microcontroller may include central processing unit
(CentralProcessingUnit, CPU), read-only memory module (Read-OnlyMemory, ROM), random storage module
(RandomAccessMemory, RAM), timing module, digital-to-analogue conversion module (A/DConverter) and several defeated
Enter/output port.Certainly, the integrated circuit that control element can also take other form, such as application-specific IC
(ApplicationSpecificIntegratedCircuits, ASIC) or field programmable gate array (Field-
ProgrammableGateArray, FPGA) etc..Control element can be integrated in inside ripple sensor 10；Or be with
Associative cell carries out data/information communication in the form of separate modular and above-mentioned ripple sensor 10, and does not limit and exist each other
Relevance physically.
Join Fig. 2, introduces an embodiment of Imaging From Submarine system of the present invention.In the present embodiment, this is underwater right
Empty imaging system includes ripple sensor 10, the second image-forming component 20 and image rectification element (not shown).
The specific structure and working principle of ripple sensor 10 please join shown in above embodiment, in the present embodiment not
It repeats again.
For imageable target to be imaged, which is arranged to imaging mesh second image-forming component 20
Target imaging ray passes through the ripple that the refracted light sampled by ripple sensor 10 is passed through.Image rectification element is used for according to the
The position of unit is respectively corrected in the location information of two image-forming components 20, the reconstruction ripple and imagewise pattern in ripple sensor 10
Information is corrected imagewise pattern.
The imaging ray of second image-forming component 20 is arranged through to the refracted light sampled by ripple sensor 10 to pass through
Ripple, rebuild, therefore can be distributed according to ripple in turn since ripple sensor 10 can carry out ripple distribution to the piece ripple
Image deformation caused by the fluctuating as ripple is corrected.In the present embodiment, image rectification element is for first
According to the location information for respectively correcting unit in the location information and imagewise pattern of the second image-forming component 20, calculates imaging ray and exist
Directional information in water；Further according to imaging ray directional information in water and ripple is rebuild, calculates imaging ray in air
In directional information, to be corrected to imagewise pattern.
In one embodiment, the second image-forming component 20 can be the camera with optical imagery function, can be in correction course
It is using pixel is basic unit as above-mentioned correction unit.
Cooperation ginseng Fig. 4, is to refer to during specific correcting pattern, such as from optical axis direction, definition space position
Set coordinate system, i.e. world coordinate system (Ow-xwywzw)；Camera coordinates system (Oc-xcyczc), wherein the optical lens of camera is coordinate
Origin, xcycTwo reference axis are parallel to two reference axis of camera imaging instrument, zcDirection is determined by right hand rule；Image coordinate
It is (Op-xpyp), origin is the intersection point of optical axis and imagewise pattern plane, xpypTwo reference axis are parallel to two of imagewise pattern
Adjacent right-angle side；Image pixel coordinates system (Opix-xpixypix), using the imagewise pattern upper left corner as origin, row, column increases direction and makees
Pixel coordinate system is established for two axis.
The coordinate of each coordinate system introduced below is converted.
Firstly, from world coordinate system to camera coordinates system:
If coordinate of the point in world coordinate system is PW=[xw, yw, zw]T, coordinate of this in camera coordinates system
For Pc=[xc, yc, zc]T, then have
Wherein R is orthogonal spin matrix:
T is translation matrix:
T=[tx ty tz]T(formula 3)
Accordingly, it is determined that R and T needs the external parameter of 6 cameras, when the relative pose of world coordinate system and camera coordinates system
When determining, R and T are just now uniquely determined.
From camera coordinates system to image coordinate system:
According to Similar Principle of Triangle, can obtain
Be converted to matrix form
From image coordinate system to image pixel coordinates system:
Wherein, sxIndicate the pixel number of unit mm in image pixel coordinates system x-axis direction, syIndicate image pixel coordinates system y
The pixel number of unit mm, x in axis direction0,y0Indicate coordinate of the projection plane center in image pixel coordinates system.
Write as matrix form
From world coordinate system to image pixel coordinates system:
Note
Respectively indicate equivalent focal length of the focal length in image pixel coordinates system x-axis and y-axis direction, convolution (1) (5) (7)
(8) it can obtain
fx, fy, x0, y0For camera internal known parameters, due to coordinate information of the imagewise pattern in image pixel coordinates system
For it is known that therefore pixel each in imagewise pattern (i.e. correction unit) coordinate information can be converted to world coordinates by the above process
It is information.
It is possible to further be determined in imagewise pattern in the corresponding water of each pixel according to obtained world coordinate system information
The direction of refracted light, and then the intersection point of each refracted light and the reconstruction ripple of ripple sensor 10 is obtained, and according to the law of refraction
Calculate the directional information of inverse incident ray；Here a virtual objective plane is drafted again, above-mentioned inverse incident ray and virtual
The intersection point of objective plane is the actual position for being regarded as each point in imageable target, namely completes the correction to imagewise pattern.
It should be noted that the above embodiments only exemplarily explain image correction process of the invention,
In actual application, it can also be with reference to other camera calibration modes to reach same image rectification effect, this
In not reinflated narration.
As preferred embodiment, in order to realize the correction to imagewise pattern on three dimension scale, the Submarine at
As system further includes third image-forming component 30, third image-forming component 30 is also used for that imageable target is imaged.Third is at pixel
Part 30 is arranged to pass through the ripple that the refracted light sampled by ripple sensor 10 is passed through to the imaging ray of imageable target, and
Second image-forming component 20 and third image-forming component 30 are different to the imaging angle of imageable target.
Correspondingly, image rectification element be used for according to the location information of the second image-forming component 20 and third image-forming component 30 with
And the location information of unit is respectively corrected in imagewise pattern, calculate the corresponding imaging of the second image-forming component 20 and third image-forming component 30
The directional information of light in water；And existed according to the correspondence imaging ray of the second image-forming component 20 and third image-forming component 30
Directional information and above-mentioned reconstruction ripple in water calculate the corresponding imaging of the second image-forming component 20 and third image-forming component 30
The aerial directional information of light, to carry out three-dimensional correction to imagewise pattern.Here, the original of binocular stereo vision is utilized
Reason is carried out the acquisition of three-dimensional information by trigonometry principle, since the position of the second image-forming component 20 and third image-forming component 30 is closed
System is it is known that the three-dimensional dimension and three-dimensional coordinate of object in the two image-forming component public view fields can be obtained.
In one embodiment, third image-forming component 30 can be the camera with optical imagery function, can be in correction course
It is using pixel is basic unit as above-mentioned correction unit.
Join Fig. 5, introduces an embodiment of ripple method for reconstructing of the present invention.In the present embodiment, this method comprises:
S11, the refracted light for passing through ripple is sampled.
In one embodiment, it can be and the refracted light for passing through ripple is sampled by sampling array, the sampling array
It can be array of orifices or microlens array.
S12, the refracted light sampled is received using the light receiving surface of reflecting plate and forms sampling hot spot.
Replace the diffusion glass of transmission-type by the reflecting plate of non-transmissive, the refracted light sampled only can be in reflecting plate
Light receiving surface on form hot spot, avoid the dislocation hot spot phenomenon of transmission-type imaging, and avoid transmission-type scatterer
Luminous energy loss, increases submerged applications depth.
S13, the light receiving surface is imaged to obtain the distributed intelligence of the sampling hot spot.
In one embodiment, it can be and the light receiving surface is imaged by the first image-forming component, the first image-forming component can be
Camera with optical imagery function.
S14, believed according to the relative position of the distributed intelligence of the sampling hot spot, the reflecting plate and the first image-forming component
Breath, with it is described sample the location information of array element in the corresponding sampling array of hot spot and with the refracted light pair that is sampled
The directional information for the incident ray answered rebuilds ripple distribution.
In one embodiment, it can be through control element according to the distributed intelligence of sampling hot spot, reflecting plate and the first imaging
The relative position information of element calculates the location information of sampling hot spot；And according to sampling hot spot location information and with adopt
The location information of array element in the corresponding sampling array of sample hot spot calculates the directional information of the refracted light sampled；And
According to the directional information of the refracted light sampled and the directional information of incident ray corresponding with the refracted light sampled,
The normal vector of corresponding ripple sampled point is calculated, and then rebuilds ripple distribution.
In one embodiment, control element be can be according to the corresponding latitude and longitude information of the refracted light sampled and sampling
Time information determines the corresponding relationship of array element in sampling hot spot and sampling array.
In one embodiment, control element can also be according to the corresponding latitude and longitude information of the refracted light sampled and adopt
Sample time information calculates the directional information of incident ray corresponding with the refracted light sampled.
In specific determination process, the distance due to the sun apart from the earth is similar to infinity, therefore can consider incident light
Line is directional light, i.e., a plurality of incident ray incidence angle all having the same, which can be by the refracted light pair that is sampled
The latitude and longitude information and sampling instant information answered are now uniquely determined.
In the identical situation of incidence angle of incident ray, the direction of each refracted light sampled is caused to shift
Reason can be only determined the different planes of incidence of the ripple contacted when incidence.Therefore, according to the direction of the refracted light sampled
The directional information of information and incident ray corresponding with the refracted light sampled can calculate each refraction light sampled
The normal vector of ripple sampled point corresponding to line, and then ripple distribution is rebuild.
In one embodiment, control element is also used to obtain the ripple point of multiple historical junctures in the same area target time section
Cloth, and according to the distribution of the ripple of multiple historical juncture and time series models, it calculates any in the regional aim period
The ripple at moment is distributed.Since water surface ripple has continuity in time, can be obtained by time series models
In one panel region in target time section ripple changes in distribution situation.It, can be according to fluid dynamics, to water in some embodiments
The distribution of surface wave line carries out wave equation modeling first, obtains the wave height of ripple distribution, the mathematical modulo that gradient function changes over time
Type, then by the mathematical model in conjunction with measurement gradient timetable series model, mathematical model parameter is carried out using swarm intelligence algorithm
Most there is solution；It is continuously added the ripple distribution measuring information of next historical juncture in solution procedure, carries out parameter iteration, comment
Valence is eliminated and is updated, the ripple distribution results approaching to reality ripple distribution finally made.
Join Fig. 6, introduces an embodiment of Imaging From Submarine method of the present invention.In the present embodiment, this method packet
It includes:
S21, the refracted light for passing through ripple is sampled.
In one embodiment, it can be and the refracted light for passing through ripple is sampled by sampling array, the sampling array
It can be array of orifices or microlens array.
S22, the refracted light sampled is received using the light receiving surface of reflecting plate and forms sampling hot spot.
Replace the diffusion glass of transmission-type by the reflecting plate of non-transmissive, the refracted light sampled only can be in reflecting plate
Light receiving surface on form hot spot, avoid the dislocation hot spot phenomenon of transmission-type imaging, and avoid transmission-type scatterer
Luminous energy loss, increases submerged applications depth.
S23, the light receiving surface is imaged to obtain the distributed intelligence of the sampling hot spot.
In one embodiment, it can be and the light receiving surface is imaged by the first image-forming component, the first image-forming component can be
Camera with optical imagery function.
S24, believed according to the relative position of the distributed intelligence of the sampling hot spot, the reflecting plate and the first image-forming component
Breath, with it is described sample the location information of array element in the corresponding sampling array of hot spot and with the refracted light pair that is sampled
The directional information for the incident ray answered rebuilds ripple distribution.
In one embodiment, it can be through control element according to the distributed intelligence of sampling hot spot, reflecting plate and the first imaging
The relative position information of element calculates the location information of sampling hot spot；And according to sampling hot spot location information and with adopt
The location information of array element in the corresponding sampling array of sample hot spot calculates the directional information of the refracted light sampled；And
According to the directional information of the refracted light sampled and the directional information of incident ray corresponding with the refracted light sampled,
The normal vector of corresponding ripple sampled point is calculated, and then rebuilds ripple distribution.
In one embodiment, control element be can be according to the corresponding latitude and longitude information of the refracted light sampled and sampling
Time information determines the corresponding relationship of array element in sampling hot spot and sampling array.
In one embodiment, control element can also be according to the corresponding latitude and longitude information of the refracted light sampled and adopt
Sample time information calculates the directional information of incident ray corresponding with the refracted light sampled.
In specific determination process, the distance due to the sun apart from the earth is similar to infinity, therefore can consider incident light
Line is directional light, i.e., a plurality of incident ray incidence angle all having the same, which can be by the refracted light pair that is sampled
The latitude and longitude information and sampling instant information answered are now uniquely determined.
In the identical situation of incidence angle of incident ray, the direction of each refracted light sampled is caused to shift
Reason can be only determined the different planes of incidence of the ripple contacted when incidence.Therefore, according to the direction of the refracted light sampled
The directional information of information and incident ray corresponding with the refracted light sampled can calculate each refraction light sampled
The normal vector of ripple sampled point corresponding to line, and then ripple distribution is rebuild.
Control element is also used to obtain the ripple distribution of multiple historical junctures in the same area target time section, and according to this
The ripple of multiple historical junctures is distributed and time series models, calculates the ripple point of any time in the regional aim period
Cloth.Since water surface ripple has continuity in time, mesh in a panel region can be obtained by time series models
Mark the changes in distribution situation of ripple in the period.In some embodiments, water surface ripple can be distributed first according to fluid dynamics
Advanced traveling wave moves equation Modeling, obtains wave height, the mathematical model that changes over time of gradient function of ripple distribution, then by the mathematics
Model most has solution in conjunction with measurement gradient timetable series model, using swarm intelligence algorithm progress mathematical model parameter；It is asking
It is continuously added the ripple distribution measuring information of next historical juncture in solution preocess, carries out parameter iteration, evaluation, eliminate and update,
The ripple distribution results approaching to reality ripple distribution finally made.
S25, imageable target is imaged, wherein the refraction sampled is passed through to the imaging ray of imageable target
The ripple that light passes through.
In one embodiment, it can be and imageable target is imaged by the second image-forming component, which is set
The ripple passed through by the refracted light of ripple sensor sample is passed through for the imaging ray to imageable target.By image-forming component at
As light is arranged through by the ripple of the refracted light process of ripple sensor sample, since ripple sensor can be to the piece
Ripple carry out ripple distribution rebuild, therefore in turn can according to ripple be distributed to the fluctuating as ripple and caused by image deformation into
Row correction.
S26, unit is respectively corrected according in the location information, the reconstruction ripple and imagewise pattern of the image-forming component
Location information is corrected the imagewise pattern.
In one embodiment, it can be and imagewise pattern is corrected by image rectification element, which can
For example according to the location information for respectively correcting unit in the location information of image-forming component and imagewise pattern, to calculate imaging ray and exist
Directional information in water；Further according to imaging ray directional information in water and ripple is rebuild, calculates imaging ray in air
In directional information, to be corrected to imagewise pattern.
In another embodiment, can also be in above-mentioned steps S25 by setting two to imageable target have it is different at
The second image-forming component and third image-forming component of image angle degree are respectively imaged the imageable target.Image rectification element is used for root
According to the location information for respectively correcting unit in the location information and imagewise pattern of the second image-forming component and third image-forming component, calculate
The directional information of the correspondence imaging ray of second image-forming component and third image-forming component in water；And according to the second one-tenth pixel
The correspondence imaging ray of part and third image-forming component directional information in water and above-mentioned reconstruction ripple calculate the second imaging
The aerial directional information of the correspondence imaging ray of element and third image-forming component, to carry out three-dimensional school to imagewise pattern
Just.Here, the principle of binocular stereo vision is utilized, the acquisition of three-dimensional information is carried out by trigonometry principle, due to the second imaging
The positional relationship of element and third image-forming component is it is known that the three-dimensional ruler of object in the two image-forming component public view fields can be obtained
Very little and three-dimensional coordinate.
The present invention is had the advantages that by above embodiment
Hot spot image-forming component by using reflecting plate as sampling refracted light avoids the dislocation light of transmission-type imaging
Spot phenomenon, and the luminous energy loss of transmission-type scatterer is avoided, increasing can be underwater using depth, and compensates for indirectly
Due to the few caused reconstruction error problem of sampled point, the water surface is improved to the image correction effect in empty imaging applications.
It should be appreciated that although this specification is described in terms of embodiments, but not each embodiment only includes one
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solution in each embodiment may also be suitably combined to form those skilled in the art can for bright book
With the other embodiments of understanding.
The series of detailed descriptions listed above only for the application feasible embodiment specifically
Bright, they are not the protection scope to limit the application, all without departing from equivalent implementations made by the application skill spirit
Or change should be included within the scope of protection of this application.
Claims (10)
1. a kind of ripple sensor characterized by comprising
Sampling array, for being sampled to the refracted light for passing through ripple；
Reflecting plate, including light receiving surface, the light receiving surface is for receiving the refracted light sampled and forming sampling hot spot；
First image-forming component obtains the distributed intelligence of the sampling hot spot for the light receiving surface to be imaged；
Control element, for the opposite position according to the distributed intelligence for sampling hot spot, the reflecting plate and the first image-forming component
Confidence breath, with it is described sample the location information of array element in the corresponding sampling array of hot spot and with the refraction light that is sampled
The directional information of the corresponding incident ray of line rebuilds ripple distribution.
2. ripple sensor according to claim 1, which is characterized in that the sampling array is array of orifices or lenticule
Array.
3. ripple sensor according to claim 1, which is characterized in that the control element is specifically used for adopting according to
The distributed intelligence of sample hot spot, the reflecting plate and the first image-forming component relative position information, calculate it is described sampling hot spot position
Confidence breath；And
According to the position of array element in the location information of the sampling hot spot and sampling array corresponding with the sampling hot spot
Confidence breath, calculates the directional information of the refracted light sampled；And
According to the directional information of the refracted light sampled and incident light corresponding with the refracted light sampled
The directional information of line, calculates the normal vector of corresponding ripple sampled point, and then rebuilds ripple distribution.
4. ripple sensor according to claim 1 or 3, which is characterized in that the control element is also used to according to
The corresponding latitude and longitude information of the refracted light sampled and sampling instant information calculate refracted light pair that is described and being sampled
The directional information for the incident ray answered；And/or the control element be also used to it is corresponding according to the refracted light sampled
Latitude and longitude information and sampling instant information determine the corresponding relationship of array element in the sampling hot spot and sampling array.
5. ripple sensor according to claim 1, which is characterized in that the control element is also used to obtain the same area
The ripple distribution of multiple historical junctures in target time section；And
According to the distribution of the ripple of the multiple historical juncture and time series models, calculates in the regional aim period and appoint
The ripple distribution at meaning moment.
6. a kind of Imaging From Submarine system characterized by comprising
Ripple sensor as described in claim 1 to 5 any one；And
Second image-forming component, for imageable target to be imaged, second image-forming component is arranged to imageable target
Imaging ray passes through the ripple that the refracted light sampled is passed through；
Image rectification element, for the location information, the reconstruction ripple and imagewise pattern according to second image-forming component
In respectively correct the location information of unit, the imagewise pattern is corrected.
7. Imaging From Submarine system according to claim 6, which is characterized in that further include:
Third image-forming component, for the imageable target to be imaged, the third image-forming component be arranged to it is described at
As the imaging ray of target passes through the ripple that the refracted light that is sampled is passed through, and second image-forming component and third at
Element is different to the imaging angle of the imageable target.
8. Imaging From Submarine system according to claim 7, which is characterized in that
Described image correcting element be specifically used for according to the location information of second image-forming component and third image-forming component and
The location information of unit is respectively corrected in imagewise pattern, calculates the correspondence imaging of second image-forming component and third image-forming component
The directional information of line in water；And
According to the correspondence imaging ray of second image-forming component and third image-forming component directional information in water and described
Ripple is rebuild, the aerial directional information of correspondence imaging ray of second image-forming component and third image-forming component is calculated,
To carry out three-dimensional correction to the imagewise pattern；And/or
The correction unit is pixel.
9. a kind of ripple method for reconstructing characterized by comprising
The refracted light for passing through ripple is sampled；
The refracted light sampled is received using the light receiving surface of reflecting plate and forms sampling hot spot；
The light receiving surface is imaged to obtain the distributed intelligence of the sampling hot spot；
According to the sampling distributed intelligence of hot spot, the reflecting plate and the first image-forming component relative position information, with it is described
Sample the location information and incident light corresponding with the refracted light sampled of array element in the corresponding sampling array of hot spot
The directional information of line rebuilds ripple distribution.
10. a kind of Imaging From Submarine method characterized by comprising
The refracted light for passing through ripple is sampled；
The refracted light sampled is received using the light receiving surface of reflecting plate and forms sampling hot spot；
The light receiving surface is imaged to obtain the distributed intelligence of the sampling hot spot；
According to the sampling distributed intelligence of hot spot, the reflecting plate and the first image-forming component relative position information, with it is described
Sample the location information and incident light corresponding with the refracted light sampled of array element in the corresponding sampling array of hot spot
The directional information of line rebuilds ripple distribution；
Imageable target is imaged, wherein the refracted light sampled is passed through to the imaging ray of imageable target and is passed through
Ripple；
According to the position letter for respectively correcting unit in the location information of the image-forming component, the reconstruction ripple and imagewise pattern
Breath, is corrected the imagewise pattern.
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