CN102062861B - Three-dimensional imaging method based on the principle of single-detector correlation imaging - Google Patents
Three-dimensional imaging method based on the principle of single-detector correlation imaging Download PDFInfo
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Abstract
The invention discloses a three-dimensional imaging method based on a single detector correlated imaging theory. In the method, a digital processor controls a pulse laser to emit intense pulsed light, which is optically processed into the intense pulsed light with a known spatial pattern for irradiating to a spatial optical modulator, and the spatial optical modulator generates a pseudorandom additive phase position for the incident intense pulsed light, wherein the distribution of the pseudorandom additive phase position is known and has been stored already for the subsequent processing of the digital processor; the intense pulsed light passes through an illumination beam expansion system after passing through the spatial optical modulator, irradiates to a target and is reflected, and then is condensed to a high-speed single-point light intensity detector by a condenser lens; detector signals are transmitted to the digital processor after A/D (Analog to Digital) conversion; and after a plurality of times of detection, the digital processor processes the collected information and the stored pseudorandom distribution phase positions to finally produce a three-dimensional image. The method disclosed by the invention can be used for acquiring the three-dimensional information of the target at high speed, and has the advantages of capability of acquiring multiple echo target signals, long detection distance and the like.
Description
Technical field
The present invention relates to the compute associations method for imaging, relate in particular to a kind of three-D imaging method based on simple detector relevance imaging principle.
Background technology
Laser radar technique is as a kind of important three-dimensional ranging technology, have light beam narrow with characteristics such as distance accuracy height, be widely used in three-dimensional remote sensing field and the three-dimension virtual reality field.Such as: people such as Kaiguang
[1]Utilize airborne laser radar to study the biological total amount in the forest, people such as Fricker
[2]Utilize satellite borne laser altimeter device to measure glacier, the Antarctica.Traditional laser radar adopts the single-point range finding to add scan mode and realizes three-dimensional measurement, and measuring point speed receives the restriction of photon flight time.Such as: adjusting the distance is the target of 1.5Km, and light pulse two-way time is 10 μ s, and the maximum limit of measuring point speed is 100KHz.At present practical scan-type three-dimensional laser radar measuring point speed is the 10KHz magnitude, and the data that obtain need more subsequent treatment such as registration to use, and obtains the requirement of three-dimensional information in the time of can not satisfying high-precision real.Become a research direction [1] the Kaiguang Zhaoa in the Remote Sensing Study field, Sorin Popescua, etc.al. so how to increase substantially speed of detection; Lidar remote sensing of forest biomass:A scale-invariant estimation approach using airborne lasers, Remote Sensing of Environment, Vol.113; Pp182-195 (2009) [2] Fricker HA, Scambos T, etc.al.; An active subglacial water system in West Antarcticamapped from space; Science, Vol.315, pp 1544-1548 (2007).
Traditional door gating Active Imaging can be surveyed the target in the setpoint distance.Because the pel array of door gating image device is very big, can obtain the two-dimensional signal (gray level image) of target fast.Time slice (Time-Slicing) technology
[3]The distance accuracy of 0.2mm can be obtained at 8 meters, the distance accuracy of 5mm can be obtained at 500 meters.If but directly adopt the door gating technique to carry out the three-dimensional range finding; Then to survey many times target; Just generate a width of cloth 3-D view like the tens of width of cloth door of so-called time slice (Time-Slicing) Technology Need gating gray level image, therefore only suitable static object is surveyed and can't be applied to the remote sensing field.2008, Zhejiang University (application seminar) developed the face battle array imaging three-dimensional laser radar system based on the irrelevant telemetry of optical pulse shape
[5]These face battle array imaging laser radars can provide very high speed of detection, but its distance accuracy all receives the restriction of intensity image signal to noise ratio (S/N ratio), and its detection principle determines it can not obtain many echoes target.[3]Joachim?F.Andersen，Jens?Busck，etc.al，Pulsed?Raman?fiber?laser?andmultispectral?imaging?in?three?dimensions，Applied?Optics，Vol.45，pp6198-6204(2006)[5]Zhang?Xiuda，Yan?Huimin，etc.al，Pulse-shape-free?method?for?long-rangethree-dimensional?active?imaging?with?high?linear?accuracy，Optics?Letters，Vol.33，pp1219-1221(2008)
Relevance imaging
[6]Be a kind of new imaging that development in recent years is got up, this method only need be used single-point light intensity detector detection of a target echo light intensity, surveys and can form images and reference light is carried out two-dimentional light intensity, and can accomplish the spatial resolution of ultra sharp keen diffraction limit.The distance owing to reference edge when but this method is applied to three-dimensional the range finding can not longly limit detection range; Once survey will carry out Polaroid; Therefore will carry out thousands of times to each time (distance) section surveys; And three-dimensional range finding need be surveyed up to a hundred times (distance) section; Total detection times surpasses 100,000 times, and this will cause detection time long and can't reach the requirement of real-time detection.The someone proposed the so-called method for imaging of calculating afterwards
[7], this method also can be accomplished the spatial resolution of ultra sharp keen diffraction limit, need not true reference edge, needs only the light distribution that just can obtain reference edge through computing.It is few that this detection mode has a sniffer, surveys the high characteristics of dirigibility.Because high speed single-point light intensity detector has better temporal resolution; Can once survey the echo intensity signal of a plurality of distance; And the reference edge two-dimensional illumination intensity distribution at different distance place can calculate, and only needs to handle (like relevance imaging recovery algorithms or compressed sensing recovery algorithms) through suitable data and just can obtain Three-dimension Target information.This just provides possibility for obtaining Three-dimension Target information at a high speed.[6]F.Ferri，D.Magatti，A.Gatti，etc?al.，High-Resolution?Ghost?Image?and?Ghost?Diffraction?Experiments?with?Thermal?Light，Physical?Review?Letters，Vol.94，p183602(2005)[7]Yaron?Bromberg，Ori?Katz，and?Yaron?Silberberg，Ghost?imaging?with?a?single?detector，Physical?Review?A，Vol.79，p053840(2009)。
Summary of the invention
The object of the present invention is to provide a kind of three-D imaging method, improve the performance of three-dimensional range finding based on simple detector relevance imaging principle.
The technical scheme that the present invention adopts is following:
The digital processor controls pulsed laser sends the pulsed light of frequency range at 1～100KHz; Modulate through spatial light modulator again through the optical processing system processing; This spatial light modulator gives the pulsed light of incident additional pseudo-random phase under digital processor controls; This pseudo-random phase distribution is known and has stored confession digital processing unit subsequent treatment; Add the pulsed light irradiation objective of pseudo-random phase, after collector lens is surveyed by high speed single-point light intensity detector, obtained by digital processing unit behind the detector signal process A/D unscented transformation through the objective reflection; After repeatedly surveying, digital processing unit is handled the information of collecting, and finally produces a width of cloth 3-D view.
The flow process that described digital processing unit is handled the information of collecting does; The echoed signal of being returned by target is obtained by high speed single-point light intensity detector; High speed single-point light intensity detector temporal resolution is up to 100ns; Be bandwidth greater than 10MHz, thereby differentiate the echo strength that the different distance target is returned; The reference light intensity at said different distance place is calculated by digital processing unit; Therefore the reference light intensity that calculates through echo strength and digital processing unit; The two-dimensional silhouette that recovers each distance with relevance imaging recovery algorithms or compressed sensing algorithm distributes; The two-dimensional silhouette distribution plan is carried out the Two dimensional Distribution that binary conversion treatment obtains this distance, and being stitched together by the two-dimensional distribution of each distance promptly obtains the Three-dimension Target distributed image.
The beneficial effect that the present invention has is:
Experimental provision of the present invention is simple; Temporal resolution realizes the real time high-speed imaging up to 100ns (being that bandwidth is greater than 10MHz), can reach the spatial resolution of ultra sharp keen diffraction limit; Eliminate the influence of bias light, improved the contrast and the signal to noise ratio (S/N ratio) of image effectively.
Description of drawings
Fig. 1 is a theory diagram of the present invention.
Fig. 2 is that image of the present invention recovers schematic diagram.
Among the figure: 1, digital processing unit, 2, pulsed laser, 3, optical processing system, 4, spatial light modulator, 5, the illumination beam-expanding system, 6, collector lens, 7, high speed single-point light intensity detector, 8, the A/D modular converter.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
Specific embodiments:
1, the principle of traditional reflective two dimension relevance imaging is: digital processor controls pulsed laser emission laser pulse; Handle the back through optical system and form the known pulsed light of spatial model; Beam splitter through a 50-50 is divided into the same light wave of two bundles again; Directly by being placed on the high spatial resolution CCD reception that distance is the L place, a branch of in addition flashlight shines distance and returns to be received by high speed single-point light intensity detector for the two dimension target plane back reflection at L place a branch of reference light.Through after repeatedly surveying with the stack of multiplying each other of both light intensity, for coordinate on the target object be (x, y, some L), the light intensity that detects for the i time and with reference to light intensity multiply each other for:
C
i(x，y)＝I
i(x，y)×B
i-------------------------------------------------(1)
B
i＝∫∫I
i(x，y)r(x，y)dxdy--------------------------------------------(2)
C wherein
i(x y) is single light intensity product, B
iBe the light intensity value that high speed single-point light intensity detector detects, I
i((x y) is the reflectivity distribution function on two dimension target plane to r for x, the two-dimensional illumination intensity distribution that y) receives for CCD (light intensity of promptly throwing light on).
Light intensity product accumulation for N detection:
When N trends towards when infinite, C (x, y) trend towards r (x, y)
2, because the distance of reference edge can not be long, therefore can the CCD that survey the reference path light intensity be removed, the control through digital processing unit calculates the illumination light intensity I here
i(x y), thereby has reduced experimental provision, and Here it is is calculated to be the picture scheme.Be calculated to be the spatial resolution that picture also can reach ultra sharp keen diffraction limit, the method for comparing the reflectivity distribution function that obtains the two dimension target plane with the traditional association imaging is the same, but I
i(x is not to be obtained but through calculating by detection y).Not only experimental provision is simple to be calculated to be picture, and has reduced the shot noise that is produced by CCD, can improve the signal to noise ratio (S/N ratio) of imaging.
3, be calculated to be picture (being called the simple detector relevance imaging again) based on the three-D imaging method of simple detector relevance imaging principle with two dimension and be the basis; The pulse laser that has added pseudo-random phase returns after surveyed by high speed single-point light intensity detector through the objective object; This detector has very high temporal resolution; Can survey the light intensity that the different distance place is returned, as shown in Figure 2, the echoed signal of single-point detector has formed a time dependent curve of light intensity through after the computing of digital processing unit; Each light intensity constantly is the target echo total intensity at respective distances place, corresponding to the B in the formula (3)
iAs shown in Figure 2, digital processing unit can also calculate the light distribution at different distance place, corresponding to the I in the formula (3)
i(x, y).For same distance, repeatedly survey the back just can obtain this distance through formula (3) light distribution.Through binary conversion treatment, can obtain the two-dimensional silhouette figure of this distance.The two-dimensional silhouette figure at different distance place is merged, just can obtain the 3-D view of target object.
Elaborate in the face of specific embodiments down:
As shown in Figure 1, comprise digital processing unit 1, pulsed laser 2, beam shaping system 3, spatial light modulator 4, illumination beam-expanding system 5, collector lens 6, high speed single-point light intensity detector 7 and A/D modular converter 8; Digital processing unit 1 gating pulse laser instrument 2 produces frequencies adjustable pulse laser between 1～100KHz, handles forming the known pulsed light of spatial models through optical processing system 3, and incides spatial light modulator 4; Digital processing unit 1 also is connected with spatial light modulator; Under digital processor controls, give additional pseudo-random phase of pulsed light of incident, this pseudo-random phase distribution is known and has stored confession digital processing unit subsequent treatment that the pulsed light of additional pseudo-random phase sends after illumination beam-expanding system 5 is handled; Irradiation objective back reflection; Collect high speed single-point light intensity detector 7 through collector lens 6 again, after the conversion of A/D modular converter post-sampling, obtain, after repeatedly surveying by digital processing unit 1; Digital processing unit is handled the information of collecting, and finally produces a width of cloth 3-D view.
Described digital processing unit 1 is personal computer, DSP digital information processing system or flush bonding processor; Described pulsed laser 2 is a frequency adjustable, and the I of optical pulse width reaches the laser instrument of 10 nanoseconds; Described optical processing system 3 is the optical systems that can produce the known pulsed light of spatial model; Described spatial light modulator 4 can be to the additional pseudo-random distribution phase place of pulsed light under the control of digital processing unit, and this pseudo-random distribution phase place is known and has stored confession digital processing unit subsequent treatment; Described high speed single-point light intensity detector 7 is a very high temporal resolutions that have, and the pulsewidth response is used for surveying the light intensity that different echoes return less than the detector of tens nanoseconds.
Specific embodiment:
1, digital processing unit 1 gating pulse laser instrument 2 produces pulsed light; Frequency is adjustable between 1～100KHZ, and the I of pulsewidth reaches 10ns, is handled by 3 pairs of said pulsed lights of optical processing system; Make this pulsed light spatial model known; The pulsed light of known spatial pattern is through spatial light modulator 4, and additional certain pseudo-random phase supposes that the i time pulsed light light field after the said additional pseudo-random phase of detection is E
i(x, y, t).
2, the light field that is radiated on the object behind the fresnel diffraction of above-mentioned pulsed light through the L distance is::
Then light intensity is:
I
i＝|E
1i(x
1，y
1，t)|
2--------------------------------------------------(5)
K wherein
0=2 π/λ is the light source wave number, and L is a target range, and (x y) is the light source coordinate, (x
1, y
1) be coordinates of targets.
3, collector lens converges above-mentioned light field; Light intensity after the collection is surveyed by high speed single-point light intensity detector 7, supposes that the distance L that objective farthest and laser radar shorten into is 1.5km, then the photon spread time length need 10us; Just carry out the time of a time (distance) slice probing; Therefore its look-in frequency can reach 100KHz, supposes that carrying out 1000 times for each time (distance) section surveys, and then per second can be surveyed 100 time slices.The light intensity data that above-mentioned high speed single-point light intensity detector is detected carries out the A/D conversion and handles the different light intensity value that obtains corresponding different distance (time) by digital processing unit 1 through A/D modular converter 8; With the relevant stack with above-mentioned light intensity value of two-dimentional light intensity that the flashlight that calculates is located in objective respective distances (time), the light intensity that just can obtain corresponding different distance (time) L place multiplies each other and is superposed to:
When N trends towards when infinite,
r(x，y)≈C(x，y)------------------------------------------------------(7)
4, above-mentioned formula is carried out binary conversion treatment, establish C ' (x, y, L)>and be the function after the L distance binary conversion treatment, threshold value is δ,
< if C ' (x, y, L)>δ, then r (x, y, L)=1, on the contrary r (x, y, L)=0.
Thereby obtain the contoured profile of target in the L distance; With objective by be divided into N part apart from distance; Corresponding different distance is done above-mentioned processing to obtain the contoured profile at respective place; The contoured profile of N distance is stitched together just can obtains the contoured profile of target in all distance, just needed 3-D view.
Claims (1)
1. three-D imaging method based on simple detector relevance imaging principle; It is characterized in that: the digital processor controls pulsed laser sends the pulsed light of frequency range at 1～100KHz; Modulate through spatial light modulator again through the optical processing system processing; This spatial light modulator gives the pulsed light of incident additional pseudo-random phase under digital processor controls; This pseudo-random phase distribution is known and has stored confession digital processing unit subsequent treatment; Add the pulsed light irradiation objective of pseudo-random phase, after collector lens is surveyed by high speed single-point light intensity detector, obtained by digital processing unit behind the detector signal process A/D unscented transformation through the objective reflection; After repeatedly surveying, digital processing unit is handled the information of collecting, and finally produces a width of cloth 3-D view;
The flow process that described digital processing unit is handled the information of collecting does; The echoed signal of being returned by target is obtained by high speed single-point light intensity detector; High speed single-point light intensity detector temporal resolution is up to 100ns; Be bandwidth greater than 10MHz, thereby differentiate the echo strength that the different distance target is returned; The reference light intensity at said different distance place is calculated by digital processing unit; The reference light intensity that calculates for echo strength and digital processing unit; The two-dimensional silhouette that recovers each distance with relevance imaging recovery algorithms or compressed sensing algorithm distributes; The two-dimensional silhouette distribution plan is carried out the Two dimensional Distribution that binary conversion treatment obtains this distance, and being stitched together by the two-dimensional distribution of each distance promptly obtains the Three-dimension Target distributed image.
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| CN102680959B (en) * | 2012-05-15 | 2014-04-02 | 中国科学院上海光学精密机械研究所 | Transmitting module of correlated imaging laser radar |
| CN102865833B (en) * | 2012-10-17 | 2015-04-15 | 南京理工大学 | Three-dimensional imaging device and method based on contour information sparse measurement |
| CN103064076B (en) * | 2012-12-26 | 2014-06-25 | 南京理工大学 | System and method for correction of distance walking error of photon counting three-dimensional imaging laser radar |
| CN104284180B (en) * | 2013-07-03 | 2016-06-29 | 西安交通大学 | CCD camera intensity-fluctuation relevance imaging method |
| CN103412313B (en) * | 2013-07-30 | 2015-03-25 | 桂林理工大学 | Small low-altitude light area array laser radar measuring system |
| CN103674264A (en) * | 2013-12-17 | 2014-03-26 | 上海交通大学 | Image fusion device and method based on period diffraction correlated imaging |
| CN106125315B (en) * | 2016-06-24 | 2019-02-15 | 北京国承万通信息科技有限公司 | Display device and method |
| CN106791781B (en) * | 2016-12-15 | 2019-04-09 | 哈尔滨工业大学 | A continuous wave phase measurement type single-pixel three-dimensional imaging system and method |
| CN108037512B (en) * | 2017-11-24 | 2019-09-17 | 上海机电工程研究所 | Half active correlation imaging tracking detection system of laser and method |
| CN108922570B (en) * | 2018-07-13 | 2020-11-13 | 豪威科技(上海)有限公司 | Phase offset detection method, training method, circuit and system for reading DQS signal |
| CN110441780B (en) * | 2019-08-21 | 2021-09-28 | 中国海洋大学 | Ultrasonic phased array correlation imaging method |
| CN112924983B (en) * | 2021-03-18 | 2022-06-21 | 哈尔滨工业大学 | Target velocity image detection system and method based on calculation correlation imaging |
| CN119620106A (en) * | 2025-02-14 | 2025-03-14 | 中国科学院空天信息创新研究院 | Underwater double-pulse laser compression imaging method and system |
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| CN101776760A (en) * | 2010-02-09 | 2010-07-14 | 中国科学院上海技术物理研究所 | Laser three-dimensional imaging device based on single-photon detector |
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