CN106791781B - A continuous wave phase measurement type single-pixel three-dimensional imaging system and method - Google Patents
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Abstract
A kind of continuous wave phase measurement formula single pixel 3-D imaging system and method, are related to 3 dimension imaging technology, in order to meet the growth requirement of 3 dimension imaging technology.Light field modulator goes illumination target for the speckle light field that light modulation is spatial stochastically distribution is emitted, single-element detector collects all optical signals returned from target, signal will be received to be mixed with transmitting signal, computer is sent to after integrated device accumulation to be saved, the random distribution of simultaneous computer record speckle light field, random speckle field is varied multiple times, is recorded respectively, the three-dimensional image of target can be finally calculated.System and method of the present invention does not need to carry out high-speed sampling to signal, considerably reduces the hardware spending of system, while improving the image taking speed of system, and the resolution ratio of system is made to get rid of the limitation of high-speed sampling bandwidth.
Description
Technical field
The present invention relates to 3 dimension imaging technologies.
Background technique
Currently used two-dimensional optical imaging means are all based on detector array as CCD, CMOS.And three-dimensional optical
The realization of imaging (3-D image is also referred to as range image, and three-dimensional is tri- dimensions of X, Y, X) is still relatively difficult problem at present.
Because maturation array as CCD, CMOS belongs to integration device, the intensity of optical signal can only be detected, and can not resolved light letter
Number temporal information.And the technology of photodetector array such as APD array with time resolution is not mature enough, not only valence
The expensive and commercial at present only small array as 32 × 32 of lattice, is difficult to realize high-resolution three-dimensional imaging.This year goes out
Existing single pixel image camera provides a promising solution route for this demand.Most of single pixel imaging at present
Technology is towards two-dimensional imaging, and a small number of three-dimensional single pixel imaging techniques require to carry out signal high-speed sampling, subsequent right
A large amount of data carry out complicated operation, substantially increase the hardware spending of system, while reducing the image taking speed of system,
And the resolution ratio of system is limited by high-speed sampling bandwidth.
Summary of the invention
The purpose of the invention is to meet the growth requirement of 3 dimension imaging technology, a kind of continuous wave phase measurement formula is provided
Single pixel 3-D imaging system and method.
A kind of continuous wave phase measurement formula single pixel 3-D imaging system of the present invention includes continuous wave laser 1, list
First detector 2, light field modulator 3, beam expander optical system 4, transmitting/receiving optics 5, continuous signal source 6, frequency mixer 7, product
Divide device 8 and phase delay device 9；
Continuous signal source 6 is for generating the identical sinusoidal signal of two-way, and sinusoidal signal is for driving continuous wave laser all the way
1, change the transmitting light intensity of continuous wave laser 1 according to the frequency of the sinusoidal signal；Another way sinusoidal signal is sent to phase and prolongs
Slow device 9；
The transmitting light of continuous wave laser 1 is incident on light field modulator 3 after beam expander optical system 4 expands；
The light field modulator 3 is for generating random light field under the control for the random matrix that computer 10 generates, the light
Field is launched by transmitting/receiving optics 5, is illuminated to target；
Transmitting/receiving optics 5 receives the light wave that target returns；
Single-element detector 2 is used to carry out photoelectric conversion to the light wave of return；
The detectable signal that the sinusoidal signal and single-element detector 2 that frequency mixer 7 is used to generate continuous signal source 6 export carries out
Mixing；
The mixed frequency signal that integrator 8 is used to export frequency mixer 7 integrates, and the integrated signal of generation is sent to meter
Calculation machine 10；
The sinusoidal signal that phase delay device 9 is used to generate continuous signal source 6 carries out phase delay, and will be after phase delay
Sinusoidal signal be sent to frequency mixer 7.
A kind of continuous wave phase measurement formula single pixel three-D imaging method of the present invention are as follows:
Step 1: carrying out Sine Modulated to the continuous light that light source generates, the light after making Sine Modulated is incident to light field modulation
On device 3；
The light field modulator 3 generates random patterns under the control for the random matrix that computer 10 generates, and then generates
Random light field, the light field is for illuminating target；
The light wave that target returns is detected using single-element detector 2；
The detectable signal exported to sinusoidal modulation signal and single-element detector 2 is mixed, and is carried out to the signal after mixing
Integral, obtains integrated value；
The random matrix of every change of computer 10, just obtains an integrated value；
Multiple random matrixes constitute random speckle sequence, and multiple integrated values constitute integral value sequence；
Random speckle sequence and integral value sequence are subjected to related operation or compressed sensing operation, obtain two dimensional image；
The strength formula of each pixel in the two dimensional image are as follows:
Wherein A is intensity, P0For the amplitude of transmitting signal (i.e. the sinusoidal signal of the generation of continuous signal source 6), P1For detection letter
The amplitude of number (i.e. the output signal of single-element detector (2)), m are modulation depth, and φ is the phase of detectable signal；A can basis
Two dimensional image obtains, A, P0It is it is known that P with m1With φ be it is unknown,
Step 2: sinusoidal modulation signal to be carried out to different phase delay, step 1 is repeated, multiple strength formulas are obtained,
The equation group that multiple strength formulas are constituted is solved, the φ value of each pixel is obtained；
Step 3: utilizing formulaThe distance of each pixel is calculated, wherein R is the distance, and c is the light velocity, and f is
The range data of the frequency of sinusoidal modulation signal, all pixels constitutes 3-D image.
Light field modulator 3 goes illumination target for the speckle light field that light modulation is spatial stochastically distribution is emitted, with the unit time
Resolved detector (i.e. single-element detector 2) collects all optical signals returned from target, will receive signal and transmitting signal (i.e.
The sinusoidal modulation signal that continuous signal source 6 generates) it is mixed, computer 10, which is sent to, after integrated device accumulation is saved,
Simultaneous computer 10 records the random distribution of speckle light field, and random speckle field is varied multiple times, is recorded respectively, can finally resolve
The three-dimensional image of target out.System and method of the present invention does not need to carry out high-speed sampling to signal, considerably reduces and is
The hardware spending of system, while the image taking speed of system is improved, and the resolution ratio of system is made to get rid of high-speed sampling bandwidth
Limitation.
Detailed description of the invention
Fig. 1 is a kind of principle frame of continuous wave phase measurement formula single pixel 3-D imaging system described in embodiment one
Figure, wherein 11 indicate transmitting light field, 12 indicate to receive light field；
Fig. 2 is the waveform diagram of transmitting signal and reception signal in embodiment two；
Fig. 3 is the functional block diagram of 3-D image solution process in embodiment two.
Specific embodiment
Specific embodiment 1: embodiment is described with reference to Fig. 1, a kind of continuous wave phase survey described in present embodiment
Amount formula single pixel 3-D imaging system, including continuous wave laser 1, single-element detector 2, light field modulator 3, beam expander optical system 4,
Transmitting/receiving optics 5, continuous signal source 6, frequency mixer 7, integrator 8 and phase delay device 9；
For generating sinusoidal signal, which makes continuous laser for driving continuous wave laser 1 in continuous signal source 6
The transmitting light intensity of device 1 changes according to the frequency of the sinusoidal signal；
The transmitting light of continuous wave laser 1 is incident on light field modulator 3 after beam expander optical system 4 expands；
The light field modulator 3 is for generating random light field under the control for the random matrix that computer 10 generates, the light
Field is launched by transmitting/receiving optics 5, is illuminated to target；
Transmitting/receiving optics 5 receives the light wave that target returns；
Single-element detector 2 is used to carry out photoelectric conversion to the light wave of return；
The detectable signal that the sinusoidal signal and single-element detector 2 that frequency mixer 7 is used to generate continuous signal source 6 export carries out
Mixing；
The mixed frequency signal that integrator 8 is used to export frequency mixer 7 integrates, and the integrated signal of generation is sent to meter
Calculation machine 10；
The sinusoidal signal that phase delay device 9 is used to generate continuous signal source 6 carries out phase delay, and will be after phase delay
Sinusoidal signal be sent to frequency mixer 7.
Present embodiment is using continuous wave laser 1 as lighting source, and single-element detector 2 is using with time resolution
Device such as APD, photomultiplier tube etc..LCD space light modulator or digital micromirror array (DMD) can be selected in light field modulator 3
Deng.Continuous signal source 6 can produce the sine wave signal of various frequencies, and in present embodiment, frequency is MHz or more.
Above-mentioned 3-D imaging system is divided into transmitting and receives two parts.Emitting portion is by continuous wave laser 1, continuous signal
Source 6, beam expander optical system 4, light field modulator 3 and transmitting/receiving optics 5 form.Continuous signal source 6 generates certain frequency
Sinusoidal signal drive continuous wave laser 1, make continuous wave laser 1 emit light intensity change according to modulating frequency.Continuous laser
The laser beam that device 1 is emitted directly is beaten on light field modulator 3 after beam expander optical system 4 expands.Light field modulator 3 is transmitting
The core component of system, for realizing the control to transmitting Photofield Emission pattern.It is generated at random in this programme by computer 10
(each element in matrix is corresponding with each pixel of final 3-D image, and each element in random matrix is random for matrix
Variation), and random matrix is transferred in the memory of light field modulator 3 in real time, enable 3 real-time update Random Graph of light field modulator
Sample realizes the illumination to target with such random light field to make to emit the speckle pattern that light field generates random distribution.System
Receiving portion be made of single-element detector 2, frequency mixer 7, integrator 8, phase delay device 9 and transmitting/receiving optics 5.
The light scattered in target is transmitted/received the reception of optical system 5, and converges to and carry out photoelectric conversion on single-element detector 2.Unit
The high speed avalanche diode APD of high-gain can be selected in detector 2.The signal and transmitting signal that single-element detector 2 exports are (i.e. continuous
Signal source 6 generate sine wave signal) pass sequentially through frequency mixer 7 and integrator 8, be equivalent to two signals be multiplied it is laggard
Row integral, the integrated value of acquisition is the function of two signal delays.
Image-forming principle:
Continuous signal source 6 carries out Sine Modulated to the continuous light that continuous wave laser 1 generates, and the light after Sine Modulated is incident to
On light field modulator 3；Light field modulator 3 generates random patterns under the control for the random matrix that computer 10 generates, and then produces
Raw random light field, the light field is for illuminating target；Single-element detector 2 detects the light wave that target returns；To Sine Modulated
The detectable signal that signal and single-element detector 2 export is mixed, and is integrated to the signal after mixing, is obtained integrated value；
The random matrix of every change of computer 10, just obtains an integrated value；
Multiple random matrixes constitute random speckle sequence, and multiple integrated values constitute integral value sequence；
Random speckle sequence and integral value sequence are subjected to related operation or compressed sensing operation, obtain two dimensional image；
The strength formula of each pixel in the two dimensional image are as follows:
Wherein A is intensity, P0For the amplitude of transmitting signal (sinusoidal signal that continuous signal source 6 generates), P1For detectable signal
Amplitude, m is modulation depth, and φ is the phase of detectable signal；A can be obtained according to two dimensional image, A, P0It is it is known that P with m1With
φ be it is unknown,
Sinusoidal modulation signal is subjected to phase delay, obtains another strength formula after the same method, solves two
The equation group that strength formula is constituted, obtains the φ value of each pixel；
Utilize formulaThe distance of each pixel is calculated, wherein R is the distance, and c is the light velocity, and f is sinusoidal adjusts
The frequency of signal processed；
The range information of each pixel is fused in the two dimensional image that step 1 obtains, obtains 3-D image.
Specific embodiment 2: embodiment is described with reference to Fig. 2, a kind of continuous wave phase survey described in present embodiment
Amount formula single pixel three-D imaging method are as follows:
Step 1: carrying out Sine Modulated to the continuous light that light source generates, the light after making Sine Modulated is incident to light field modulation
On device 3；
The light field modulator 3 generates random patterns under the control for the random matrix that computer 10 generates, and then generates
Random light field, the light field is for illuminating target；
The light wave that target returns is detected using single-element detector 2；
The detectable signal exported to sinusoidal modulation signal and single-element detector 2 is mixed, and is carried out to the signal after mixing
Integral, obtains integrated value；
The random matrix of every change of computer 10, just obtains an integrated value；
Multiple random matrixes constitute random speckle sequence, and multiple integrated values constitute integral value sequence；
Random speckle sequence and integral value sequence are subjected to related operation or compressed sensing operation, obtain two dimensional image；
The strength formula of each pixel in the two dimensional image are as follows:
Wherein A is intensity；P0For the amplitude of transmitting signal (i.e. the sinusoidal signal of the generation of continuous signal source 6)；P1For detection letter
The amplitude of number (i.e. the output signal of single-element detector 2), the signal are the average amplitude of multiframe signal, reflect the reflection of target
Rate；M is modulation depth；φ is the phase of detectable signal；A can be obtained according to two dimensional image, A, P0It is it is known that P with m1It is with φ
It is unknown,
Step 2: sinusoidal modulation signal to be carried out to different phase delay, step 1 is repeated, multiple strength formulas are obtained,
The equation group that multiple strength formulas are constituted is solved, the φ value of each pixel is obtained；
Step 3: utilizing formulaThe distance of each pixel is calculated, wherein R is the distance, and c is the light velocity, and f is
The frequency of sinusoidal modulation signal obtains 3-D image according to the range data of all pixels.The range data of all pixels is constituted
Matrix be three-dimensional image matrix.
Method described in present embodiment can be realized using 3-D imaging system described in embodiment one.
As shown in Fig. 2, transmitting signal is sine wave, due to there is a certain distance between target and 3-D imaging system, because
It is the phase delay of φ that this detectable signal, which has size relative to transmitting signal, can be calculated according to the relationship of phase delay and distance
The distance of each pixel distance 3-D imaging system out.
A light field modulator random patterns of every change, integrator complete a signal integration and are defeated by computer.By
Hundreds and thousands of patterns change and signal integration, perform mathematical calculations eventually by by pattern data and integration data, so that it may
The phase code image of target (i.e. step 1 obtained two dimensional image) is resolved.For this kind of modulation system, need more
The different phase code image of width can just resolve the three-dimensional distance picture of target.The specific process that resolves is as follows, for
Each pixel, it is assumed that:
Emit signal are as follows:
PT=P0[1+msin(ωt)]
Receive signal are as follows:
PR=P1[1+msin(ωt+φ)]
After mixing are as follows:
To the output valve after the mixed frequency signal integral mean of multiple number of cycles are as follows:
Wherein A, P0, m is it is known that P1It is unknown with φ, φ is solved, the distance of target can be conversed:
In order to acquire φ, two equations (1) are at least needed, transmitting signal can be carried out to the delay of multiple fixed bit phases,
It again with reception signal mixing, gets back multiple equations (1), carries out joint solution and obtain φ.In practice, mostly use delay pi/2, π,
3 pi/2s establish equation, and four equations carry out joint solution.
Specific embodiment 3: embodiment is described with reference to Fig. 1, present embodiment is to two the method for embodiment
Further limit, in present embodiment, in random matrix the value of each element be 0 or 1.
P1The reflectivity of target is reflected, it can be considered that transmitting signal out of phase postpones lower P1Value it is constant.At random
When some element of matrix takes 0, corresponding pixel no light.When limiting the value of element as 0 or 1, data-handling efficiency is most
It is high.
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| CN111323826A (en) * | 2020-03-29 | 2020-06-23 | 哈尔滨工程大学 | An Underwater Current Field Detection System Based on Amplitude and Phase Joint Detection |
| CN112834431B (en) * | 2020-12-31 | 2024-03-19 | 之江实验室 | Single-pixel imaging method and device |
| CN116609794B (en) * | 2023-07-21 | 2023-09-26 | 中国人民解放军国防科技大学 | Single-pixel imaging method, device and equipment based on radial Chebyshev light field |
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