CN111343368A - Method and device for recovering depth of scattering medium based on polarization - Google Patents
Method and device for recovering depth of scattering medium based on polarization Download PDFInfo
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Abstract
The invention discloses a method and a device for recovering the depth of a scattering medium based on polarization, wherein the method comprises the following steps: a polarized image acquisition system is set up in advance; based on a polarized image acquisition system, fixing a polaroid behind a light source at any position, adjusting the polaroid behind a camera into three different angles, and respectively and continuously acquiring polarization degree images; repeatedly executing the steps on the planar objects with different depths, respectively calculating polarization degree images under different depths, carrying out image filtering on the polarization degree images under the same depth, calculating the distribution condition of the polarization degree of each depth at different positions, and obtaining calibration data according to the distribution condition; and acquiring a plurality of polarization degree images in different scenes according to the same acquired conditions, calculating the polarization degrees of the plurality of polarization degree images, and comparing the polarization degrees with calibration data to estimate the depth of the scattering medium. The method is simple and easy to implement, can resist scattering, can remarkably reduce image noise, and can realize depth recovery.
Description
Technical Field
The invention relates to the technical field of computational photography and image processing, in particular to a method and a device for recovering scattering medium depth based on polarization.
Background
Depth restoration is widely used in computer vision for a variety of tasks. The current scene depth recovery method is mainly based on depth cameras, such as Kinect of microsoft corporation, RealSense camera of Intel corporation, etc., but the scene imaging quality of such cameras in the scattering medium such as foggy day, underwater, etc. is not high. The polarization camera based on polarization imaging combines an image processing defogging technology to obtain a good defogging effect, but cannot obtain the depth information of a scene. Therefore, a method that can simultaneously solve the problems of scattering medium imaging and depth recovery is needed.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, an object of the present invention is to provide a method for depth recovery of a polarization-based scattering medium, which uses a simple system, is easy to implement, and can resist scattering and significantly reduce image noise.
Another object of the present invention is to provide a device for recovering the depth of a scattering medium based on polarization.
In order to achieve the above object, an embodiment of an aspect of the present invention provides a method for depth recovery of a polarization-based scattering medium, including the following steps: step S101, a polarization image acquisition system is set up in advance; step S102, based on the polarized image acquisition system, fixing the polaroid behind the LED light source at any position, adjusting the polaroid behind the industrial camera into three different angles within 180 degrees, and respectively and continuously acquiring polarization degree images; step S103, repeatedly executing the steps S101-S102 on the planar objects with different depths, respectively calculating polarization degree images under different depths, carrying out image filtering on the polarization degree images under the same depth to calculate the distribution condition of the polarization degree of different positions of each depth, and obtaining calibration data according to the distribution condition; and step S104, acquiring a plurality of polarization degree images in different scenes according to the same acquired conditions, calculating the polarization degrees of the plurality of polarization degree images, and comparing the polarization degrees with the calibration data to estimate the depth of the scattering medium.
The scattering medium depth recovery method based on polarization provided by the embodiment of the invention utilizes the fact that the scattering medium has a polarization effect on light transmission, the reflected light of a scene of the scattering medium is approximately unpolarized, and the system is constructed and calibrated by the technologies of active polarized light illumination, image signal acquisition, polarization degree calculation, image processing and the like, so that the depth map of the scene to be detected can be calculated.
In addition, the depth recovery method for the scattering medium based on polarization according to the above embodiment of the present invention may further have the following additional technical features:
further, in one embodiment of the present invention, the polarized image capture system comprises an industrial camera, an LED light source and two polarizers, wherein one polarizer is placed behind the LED light source and the industrial camera, respectively.
Further, in an embodiment of the present invention, the calculation formula of the polarization degree is:
wherein, I0、I45And I90Image data acquired for 0 °, 45 ° and 90 °, respectively, IUP is the degree of polarization, half the total pixel intensity.
Further, in one embodiment of the present invention, the image filtering employs the VBM3D algorithm.
In order to achieve the above object, another embodiment of the present invention provides a depth recovery device for a polarization-based scattering medium, including: the pre-construction module is used for pre-constructing a polarization image acquisition system; the acquisition module is used for fixing the polaroid behind the LED light source at any position based on the polarized image acquisition system, adjusting the polaroid behind the industrial camera into three different angles within 180 degrees, and respectively and continuously acquiring polarization degree images; the data calibration module is used for repeatedly executing the pre-construction module and the acquisition module on the plane objects with different depths, respectively calculating polarization degree images under different depths, carrying out image filtering on the polarization degree images under the same depth so as to calculate the distribution condition of the polarization degree of each depth at different positions, and obtaining calibration data according to the distribution condition; and the comparison estimation module is used for acquiring a plurality of polarization degree images in different scenes according to the same acquired conditions, calculating the polarization degrees of the plurality of polarization degree images, and comparing the polarization degrees with the calibration data to estimate the depth of the scattering medium.
The scattering medium depth recovery device based on polarization provided by the embodiment of the invention has a polarization effect on light transmission by using the scattering medium, the reflected light of a scene of the scattering medium is approximately unpolarized, and the system is constructed and calibrated by the technologies of active polarized light illumination, image signal acquisition, polarization degree calculation, image processing and the like, so that the depth map of the scene to be detected can be calculated, and the system is simple and easy to realize, can resist scattering and reduce image noise.
In addition, the depth recovery device for a scattering medium based on polarization according to the above embodiment of the present invention may further have the following additional technical features:
further, in one embodiment of the present invention, the polarized image capture system comprises an industrial camera, an LED light source and two polarizers, wherein one polarizer is placed behind the LED light source and the industrial camera, respectively.
Further, in an embodiment of the present invention, the calculation formula of the polarization degree is:
wherein, I0、I45And I90Image data acquired for 0 °, 45 ° and 90 °, respectively, IUP is the degree of polarization, half the total pixel intensity.
Further, in one embodiment of the present invention, the image filtering employs the VBM3D algorithm.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow diagram of a method for polarization-based depth recovery of a scattering medium according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of a polarized image acquisition system according to an embodiment of the present invention;
FIG. 3 is a graph of filtering effectiveness according to one embodiment of the present invention;
FIG. 4 is an image of polarization for a depth of 2cm per change from 12cm to 30 cm;
FIG. 5 is a scatter plot of the mean values of the degrees of polarization at different depths;
fig. 6 is a schematic structural diagram of a polarization-based scattering medium depth recovery device according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a depth recovery method and apparatus for a scattering medium based on polarization according to an embodiment of the present invention with reference to the accompanying drawings, and first, a depth recovery method for a scattering medium based on polarization according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a flow chart of a method for depth recovery of a polarization-based scattering medium according to an embodiment of the present invention.
As shown in fig. 1, the method for depth recovery of a polarization-based scattering medium includes the following steps:
in step S101, a polarization image acquisition system is constructed in advance.
Further, the polarized image acquisition system comprises an industrial camera, an LED light source and two polarizing plates, wherein one polarizing plate is respectively arranged behind the LED light source and the industrial camera.
In step S102, based on the polarization image acquisition system, the polarizer behind the LED light source is fixed at an arbitrary position, the polarizer behind the industrial camera is adjusted to three different angles within 180 °, and polarization degree images are respectively and continuously acquired.
For example, a polarized image acquisition system consisting of a JAI GO-5000M-USB industrial camera, an LED light source and two polarizing films is adopted, the polarizing films behind the light source are fixed at any angle, and the polarizing films behind the camera are adjusted to be at three different angles within 180 degrees. The LED light source carries out active illumination, light rays are linearly polarized after passing through the polaroid, the linearly polarized light irradiates an object (such as a white board) after passing through a scattering medium (such as underwater), the linearly polarized light is reflected and then deviated, 10 images are respectively and continuously collected by the industrial camera after passing through the polarizing effect of the scattering medium, and then three images are collected by the polaroid behind the rotating camera for the same scene at three different angles.
In step S103, the steps S101 to S102 are repeatedly performed on the planar objects with different depths, the polarization degree images with different depths are respectively calculated, the polarization degree images with the same depth are subjected to image filtering, so as to calculate the distribution of the polarization degree at different positions of each depth, and calibration data is obtained according to the distribution.
Further, in one embodiment of the present invention, the calculation formula of the polarization degree is:
wherein, I0、I45And I90Image data acquired for 0 °, 45 ° and 90 °, respectively, IUP is the degree of polarization, half the total pixel intensity.
Further, in one embodiment of the present invention, the image filtering employs the VBM3D algorithm.
That is to say, the polarization degree images at different depths are calculated, the polarization degree images at the same depth are filtered by adopting the VBM3D algorithm, the distribution of the polarization degree at different positions at each depth is calculated, and calibration is performed.
And step S104, acquiring a plurality of polarization degree images in different scenes according to the same acquired conditions, calculating the polarization degrees of the plurality of polarization degree images, and comparing the polarization degrees with calibration data to estimate the depth of the scattering medium.
That is, after calibration is completed, different scenes are collected under the collection conditions set in steps S101 to S103, the polarization degree of each collected polarization degree image is calculated, and the polarization degree image is compared with calibration data to recover the depth of the scattering medium, that is, the depth of different scenes can be recovered under the same scattering medium conditions by using the same system and method.
The depth recovery method for a scattering medium based on polarization according to an embodiment of the present invention is further described with reference to the following embodiments.
Step one, as shown in fig. 2, a polarized image acquisition system is built, and the system is fixed after being built without adjustment, and in this embodiment, milk is added to the scattering medium in water.
Step two, adjusting the polarizer behind the camera to make the polarizer in any three different angles within 180 degrees, and performing image acquisition, wherein three directions of 0 °, 45 ° and 90 ° are selected in the embodiment, and the calculation formula of the polarization degree is as follows:
wherein, I0、I45And I90Image data acquired for 0 °, 45 ° and 90 °, respectively, IUP is the degree of polarization, half the total pixel intensity.
Step three, as shown in fig. 3, at the same depth, since 10 images are acquired, 10 polarization degree images can be calculated by using the above formula, and filtering is performed by using VBM3D algorithm, so that noise amplitude changing with time can be suppressed.
Step four, as shown in fig. 4, a group of data is measured every 2cm from the depth of 12cm to 30cm, and the polarization degree is respectively calculated, so that the farther the depth is, the greater the polarization degree is, and the longer the polarization degree is, the same as the theoretical analysis is performed. FIG. 5 is a scatter plot of the average of the polarization of the entire image for each depth.
According to the method for recovering the depth of the scattering medium based on the polarization, provided by the embodiment of the invention, the scattering medium has a polarization effect on the transmission of light, and the polarization effect of the light reflected by the scenery is weak and can be approximate to nonpolarized light, so that the light reflected by the scenery at different depths has different polarization effects through the scattering medium, the stronger the polarization effect of the scenery reflected light at the deeper depth is, the larger the polarization degree is, and the image depth information can be recovered by measuring the polarization degree of the image through image signal acquisition, polarization degree calculation and image processing; the degree of polarization is calculated for each point of the image and averaged, reducing errors.
Next, a polarization-based scattering medium depth recovery apparatus proposed according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 6 is a schematic structural diagram of a polarization-based scattering medium depth recovery device according to an embodiment of the present invention.
As shown in fig. 6, the apparatus 10 includes: the system comprises a pre-building module 100, an acquisition module 200, a data calibration module 300 and a comparison estimation module 400.
The pre-construction module 100 is used for pre-constructing the polarization image acquisition system. The collecting module 200 is used for fixing the polarizer behind the LED light source at any position based on a polarization image collecting system, adjusting the polarizer behind the industrial camera to three different angles within 180 degrees, and respectively and continuously collecting polarization degree images. The data calibration module 300 is configured to repeatedly execute the pre-building module and the acquisition module on planar objects at different depths, calculate polarization degree images at different depths respectively, perform image filtering on the polarization degree images at the same depth to calculate distribution conditions of the polarization degrees at different positions of each depth, and obtain calibration data according to the distribution conditions; the comparison and estimation module 400 is configured to collect a plurality of polarization degree images in different scenes according to the same collection conditions, calculate polarization degrees of the plurality of polarization degree images, and compare the polarization degrees with calibration data to estimate the depth of the scattering medium.
Further, in one embodiment of the present invention, a polarized image capture system includes an industrial camera, an LED light source, and two polarizers, wherein one polarizer is placed behind each of the LED light source and the industrial camera.
Further, in one embodiment of the present invention, the calculation formula of the polarization degree is:
wherein, I0、I45And I90Image data acquired for 0 °, 45 ° and 90 °, respectively, IUP is the degree of polarization, half the total pixel intensity.
Further, in one embodiment of the present invention, the image filtering employs the VBM3D algorithm.
According to the polarization-based scattering medium depth recovery device provided by the embodiment of the invention, the scattering medium has a polarization effect on light transmission, and the polarization effect of light reflected by a scene is weak and can be approximate to nonpolarized light, so that the light reflected by scenes with different depths has different polarization effects through the scattering medium, the polarization effect of the light reflected by the scene with deeper depth is stronger, the polarization degree is higher, and the image depth information can be recovered by measuring the polarization degree of an image through image signal acquisition, polarization degree calculation and image processing.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (8)
1. A method for polarization-based depth recovery of a scattering medium, comprising the steps of:
step S101, a polarization image acquisition system is set up in advance;
step S102, based on the polarized image acquisition system, fixing the polaroid behind the LED light source at any position, adjusting the polaroid behind the industrial camera into three different angles within 180 degrees, and respectively and continuously acquiring polarization degree images;
step S103, repeatedly executing the steps S101-S102 on the planar objects with different depths, respectively calculating polarization degree images under different depths, carrying out image filtering on the polarization degree images under the same depth to calculate the distribution condition of the polarization degree of different positions of each depth, and obtaining calibration data according to the distribution condition; and
and step S104, acquiring a plurality of polarization degree images in different scenes according to the same acquired conditions, calculating the polarization degrees of the plurality of polarization degree images, and comparing the polarization degrees with the calibration data to estimate the depth of the scattering medium.
2. The method according to claim 1, wherein the polarized image acquisition system comprises an industrial camera, an LED light source and two polarizers, wherein the two polarizers are respectively placed behind the LED light source and the industrial camera.
3. The method according to claim 1, wherein the degree of polarization is calculated by the formula:
wherein, I0、I45And I90Image data acquired for 0 °, 45 ° and 90 °, respectively, IUP is the degree of polarization, half the total pixel intensity.
4. The method for polarization-based depth recovery of scattering media of claim 1, wherein said image filtering employs VBM3D algorithm.
5. A polarization-based depth recovery apparatus for a scattering medium, comprising:
the pre-construction module is used for pre-constructing a polarization image acquisition system;
the acquisition module is used for fixing the polaroid behind the LED light source at any position based on the polarized image acquisition system, adjusting the polaroid behind the industrial camera into three different angles within 180 degrees, and respectively and continuously acquiring polarization degree images;
the data calibration module is used for repeatedly executing the pre-construction module and the acquisition module on the plane objects with different depths, respectively calculating polarization degree images under different depths, carrying out image filtering on the polarization degree images under the same depth so as to calculate the distribution condition of the polarization degree of each depth at different positions, and obtaining calibration data according to the distribution condition; and
and the comparison estimation module is used for acquiring a plurality of polarization degree images in different scenes according to the same acquired conditions, calculating the polarization degrees of the plurality of polarization degree images, and comparing the polarization degrees with the calibration data to estimate the depth of the scattering medium.
6. The polarization-based scattering medium depth recovery device of claim 5, wherein the polarized image acquisition system comprises an industrial camera, an LED light source, and two polarizers, wherein the two polarizers are disposed behind the LED light source and the industrial camera, respectively.
7. The polarization-based scattering medium depth recovery device of claim 5, wherein the degree of polarization is calculated by the formula:
wherein, I0、I45And I90Image data acquired for 0 °, 45 ° and 90 °, respectively, IUP is the degree of polarization, half the total pixel intensity.
8. The polarization-based scattering medium depth recovery device of claim 5, wherein the image filtering employs the VBM3D algorithm.
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