CN109489559B - Spatial localization method of point light source based on time-frequency analysis and light field imaging technology - Google Patents
Spatial localization method of point light source based on time-frequency analysis and light field imaging technology Download PDFInfo
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Abstract
本发明公开的基于时频分析和光场成像技术的点光源空间定位方法，属于光电测量领域。本发明实现方法如下：建立光场成像系统，标定光场成像系统的光学系统参数；通过光场成像系统获取目标点光源的光场，得到目标点光源的光场图像；对获取的光场图像进行子孔径划分，提取每个子孔径图像的中心坐标；计算子孔径图像中心偏离子孔径光学中心的距离随子孔径位置的变化率；结合光场成像系统的光学系统参数，计算目标点光源至设定参考面的距离；实现散射介质中点光源的空间定位。本发明还具有被动测量、结构简单、随机误差小、可实时跟踪等优点。
The invention discloses a point light source space positioning method based on time-frequency analysis and light field imaging technology, and belongs to the field of photoelectric measurement. The implementation method of the invention is as follows: establishing a light field imaging system, calibrating the optical system parameters of the light field imaging system; acquiring the light field of the target point light source through the light field imaging system, and obtaining the light field image of the target point light source; Perform sub-aperture division and extract the center coordinates of each sub-aperture image; calculate the rate of change of the distance between the sub-aperture image center and the sub-aperture optical center with the sub-aperture position; Determine the distance of the reference surface; realize the spatial positioning of the point light source in the scattering medium. The invention also has the advantages of passive measurement, simple structure, small random error, real-time tracking and the like.
Description
技术领域technical field
本发明涉及一种用于散射介质内点光源空间定位的基于时频分析和光场成像技术的穿散射介质成像方法，属于光电测量领域。The invention relates to a method for imaging through a scattering medium based on time-frequency analysis and light field imaging technology for spatial positioning of a point light source in a scattering medium, and belongs to the field of photoelectric measurement.
背景技术Background technique
散射介质指光通过时会发生显著散射效应的一类介质，对传统光学成像系统而言，散射介质的存在将使得目标的像变得模糊，不利于对目标的观测。典型的散射介质有云、雾、烟尘、毛玻璃和细胞质等。穿过散射介质成像一直是光电测量领域的一大难题，同时又在生物医学、遥感和安防等领域有着巨大的应用价值。散射介质内的点光源空间定位即是该领域内的一种典型需求，具有广阔的应用前景；其具体的案例有浓雾条件下的车辆间距测量，对云层中飞行器的跟踪与定位，以及荧光成像中对细胞的定位等。Scattering medium refers to a type of medium that has significant scattering effect when light passes through. For traditional optical imaging systems, the existence of scattering medium will blur the image of the target, which is not conducive to the observation of the target. Typical scattering media include clouds, fog, smoke, frosted glass and cytoplasm. Imaging through scattering media has always been a major problem in the field of optoelectronic measurement, and at the same time has great application value in biomedicine, remote sensing and security. The spatial positioning of point light sources in scattering media is a typical requirement in this field and has broad application prospects; specific cases include vehicle distance measurement under dense fog conditions, tracking and positioning of aircraft in clouds, and fluorescence Localization of cells in imaging, etc.
时频分析即时频联合域分析的简称，是一种分析时变非平稳信号的有力工具，可以同时反映一个信号的时域特征和频域特征。传统上，常用傅立叶变换来观察一个信号的频谱。然而所述的方法不适合用来分析一个频谱会随著时间而改变的信号。时频分析方法提供了时间域与频率域的联合分布信息，清楚地描述了信号频率随时间变化的关系。Time-frequency analysis, short for frequency joint domain analysis, is a powerful tool for analyzing time-varying non-stationary signals, which can reflect the time-domain and frequency-domain characteristics of a signal at the same time. Traditionally, the Fourier transform is used to observe the spectrum of a signal. However, the method described is not suitable for analyzing a signal whose spectrum changes over time. The time-frequency analysis method provides the joint distribution information of the time domain and the frequency domain, and clearly describes the relationship between the signal frequency and the time change.
光场成像技术是一种新型成像技术。传统的光学成像系统只能记录来自场景的光强信息，而忽略了光的方向；光场成像系统则可以同时记录光的强度信息和方向信息，即可以记录场景的光场。光场中丰富的信息包含着一些场景通过传统成像方法难以反映的特征。Light field imaging technology is a new imaging technology. The traditional optical imaging system can only record the light intensity information from the scene, while ignoring the light direction; the light field imaging system can record the light intensity information and direction information at the same time, that is, the light field of the scene can be recorded. The rich information in the light field contains some features of the scene that are difficult to reflect by traditional imaging methods.
对于光信号而言，其不同的频率代表不同的传播方向。而光场中同时包含光信号的空间信息和方向信息，故可以用时频分析的方法来处理光场数据，或者说光信号的时频分布代表一个光场。而点光源可以用冲激函数表示，光在自由空间中的传播则等效于对其时频分布的仿射变换，而散射效应可以等效于时频分布中对频率的相关操作，故可以通过提取最终时频分布中的特征信息来求解点光源的空间坐标。For optical signals, different frequencies represent different propagation directions. The optical field contains both spatial information and directional information of the optical signal, so the time-frequency analysis method can be used to process the optical field data, or the time-frequency distribution of the optical signal represents a light field. The point light source can be represented by an impulse function, the propagation of light in free space is equivalent to the affine transformation of its time-frequency distribution, and the scattering effect can be equivalent to the frequency-related operation in the time-frequency distribution, so it can be The spatial coordinates of the point light source are solved by extracting the feature information in the final time-frequency distribution.
发明内容SUMMARY OF THE INVENTION
本发明公开的基于时频分析和光场成像技术的点光源空间定位方法，要解决的技术问题是：在点光源位于散射介质内的条件下，通过建立光场成像系统获取目标点光源的光场图像，并通过时频分析的方法求解目标点光源至设定参考面的距离，能够避免散射介质对点光源距离测量的影响，抑制测量过程中的随机误差。本发明基于时频分析和光场成像技术实现对点光源的空间定位，具有被动测量、结构简单、随机误差小、可实时跟踪等优点。The method for spatial positioning of point light sources based on time-frequency analysis and light field imaging technology disclosed in the present invention aims to solve the technical problem of obtaining the light field of the target point light source by establishing a light field imaging system under the condition that the point light source is located in a scattering medium. image, and solve the distance from the target point light source to the set reference surface by time-frequency analysis method, which can avoid the influence of the scattering medium on the distance measurement of the point light source and suppress the random error in the measurement process. The invention realizes the spatial positioning of the point light source based on time-frequency analysis and light field imaging technology, and has the advantages of passive measurement, simple structure, small random error, real-time tracking and the like.
本发明目的是通过下述技术方案实现的。The object of the present invention is achieved through the following technical solutions.
本发明公开的基于时频分析和光场成像技术的点光源空间定位方法，实现方法如下：建立光场成像系统，标定光场成像系统的光学系统参数；通过光场成像系统获取目标点光源的光场，得到目标点光源的光场图像；对获取的光场图像进行子孔径划分，提取每个子孔径图像的中心坐标；计算子孔径图像中心偏离子孔径光学中心的距离随子孔径位置的变化率；结合光场成像系统的光学系统参数，计算目标点光源至设定参考面的距离；实现散射介质中点光源的空间定位。The method for spatial positioning of a point light source based on time-frequency analysis and light field imaging technology disclosed in the present invention is implemented as follows: establishing a light field imaging system, calibrating the optical system parameters of the light field imaging system; obtaining the light of the target point light source through the light field imaging system Obtain the light field image of the target point light source; divide the acquired light field image into sub-apertures, and extract the center coordinates of each sub-aperture image; ; Combined with the optical system parameters of the light field imaging system, calculate the distance from the target point light source to the set reference surface; realize the spatial positioning of the point light source in the scattering medium.
本发明公开的基于时频分析和光场成像技术的点光源空间定位方法，包括如下步骤：The method for spatial positioning of point light sources based on time-frequency analysis and light field imaging technology disclosed in the present invention includes the following steps:
步骤一：建立光场成像系统，对光学系统的参数进行标定。Step 1: Establish a light field imaging system and calibrate the parameters of the optical system.
步骤一所述光学系统的标定参数根据具体光学系统而定，至少包括微透镜阵列的子孔径周期、主透镜的像方焦平面至微透镜阵列的距离。In step 1, the calibration parameters of the optical system are determined according to the specific optical system, and include at least the sub-aperture period of the microlens array and the distance from the image-side focal plane of the main lens to the microlens array.
作为优选，当步骤一建立的光场成像系统为微透镜阵列式光场成像系统时，其光学系统具体包括主透镜、微透镜阵列、图像探测器。Preferably, when the light field imaging system established in step 1 is a microlens array light field imaging system, its optical system specifically includes a main lens, a microlens array, and an image detector.
所述的微透镜阵列的子孔径周期参数标定公式如公式(1)所示：The calibration formula of the sub-aperture period parameter of the microlens array is shown in formula (1):
其中T为微透镜阵列的子孔径周期，N为子孔径的坐标，M为子孔径邻域的坐标偏移，x为子孔径图像中心在光场图像中的坐标。where T is the sub-aperture period of the microlens array, N is the coordinate of the sub-aperture, M is the coordinate offset of the sub-aperture neighborhood, and x is the coordinate of the center of the sub-aperture image in the light field image.
所述的主透镜的像方焦平面至微透镜阵列的距离参数标定公式如公式(2)所示：The calibration formula of the distance parameter from the image-side focal plane of the main lens to the microlens array is shown in formula (2):
(Dn+A)(B-dn)＝F2 (2)(D n +A)(Bd n )=F 2 (2)
其中Dn为点光源至设定参考面的距离，A为设定参考面至主透镜物方焦平面的距离，B为主透镜像方焦平面至微透镜阵列的距离，dn为点光源的像至微透镜阵列的距离，F为主透镜的焦距。where D n is the distance from the point light source to the set reference surface, A is the distance from the set reference surface to the object focal plane of the main lens, B is the distance from the image focal plane of the main lens to the microlens array, and d n is the point light source The distance from the image to the microlens array, F is the focal length of the main lens.
步骤二：通过光场成像系统获取散射介质中目标点光源的光场，得到目标点光源的光场图像。Step 2: Acquire the light field of the target point light source in the scattering medium through the light field imaging system, and obtain the light field image of the target point light source.
步骤三：对步骤二获取的光场图像进行子孔径划分，提取每个子孔径图像中心的坐标，分别计算子孔径图像中心偏离子孔径光学中心的距离。Step 3: Divide the light field image obtained in
作为优选，步骤三具体实现方法如下：As preferably, the concrete realization method of step 3 is as follows:
步骤3.1：对步骤二获取的光场图像进行子孔径划分；Step 3.1: perform sub-aperture division on the light field image obtained in
步骤3.2：根据公式(3)提取每个子孔径图像中心的坐标；Step 3.2: Extract the coordinates of the center of each sub-aperture image according to formula (3);
其中Pic为子孔径图像中心的坐标，x为子孔径中像素的坐标，I为子孔径中像素的灰度值。where Pic is the coordinate of the center of the sub-aperture image, x is the coordinate of the pixel in the sub-aperture, and I is the gray value of the pixel in the sub-aperture.
步骤3.3：分别计算子孔径图像中心偏离子孔径光学中心的距离；Step 3.3: Calculate the distance between the center of the sub-aperture image and the optical center of the sub-aperture respectively;
步骤四：通过线性回归计算子孔径图像中心偏离子孔径光学中心的距离随子孔径位置的变化率。Step 4: Calculate the rate of change of the distance between the sub-aperture image center deviating from the sub-aperture optical center and the sub-aperture position through linear regression.
作为优选，步骤四中以子孔径图像中心偏离子孔径光学中心的距离为y轴，以子孔径的位置为x轴，y与x的关系应满足公式(4)。通过最小二乘法进行线性回归得到一拟合直线方程y＝kx+b。其中k即为子孔径图像中心偏离子孔径光学中心的距离随子孔径位置的变化率。Preferably, in
其中△p为子孔径图像中心偏离子孔径光学中心的距离，T为微透镜阵列的子孔径周期，f为微透镜阵列的焦距，α为图像探测器单元的尺寸，d为点光源的像点至微透镜阵列的距离，N为子孔径的坐标。where Δp is the distance between the sub-aperture image center and the sub-aperture optical center, T is the sub-aperture period of the microlens array, f is the focal length of the microlens array, α is the size of the image detector unit, and d is the image point of the point light source The distance to the microlens array, N is the coordinate of the sub-aperture.
步骤五：结合建立的光场成像系统参数求解点光源像点至微透镜阵列的距离，再计算目标点光源至设定参考面的距离，即实现点光源空间定位。Step 5: Calculate the distance from the point light source image point to the microlens array in combination with the established light field imaging system parameters, and then calculate the distance from the target point light source to the set reference surface, that is, to realize the point light source spatial positioning.
作为优选，步骤五所述结合建立的光场成像系统参数求解点光源像点至微透镜阵列的距离具体实现方法如下：结合微透镜阵列的像素周期T、微透镜阵列的焦距f和孔径图像中心偏离子孔径光学中心的距离随子孔径位置的变化率k，根据公式(5)求得点光源像点至微透镜阵列的距离d。Preferably, the method of calculating the distance from the point light source image point to the microlens array in combination with the established light field imaging system parameters in
步骤五所述计算目标点光源至设定参考面的距离通过公式(6)实现。The calculation of the distance from the target point light source to the set reference surface in
其中D为目标点光源至设定参考面的距离，A为设定参考面至主透镜物方焦平面的距离，B为主透镜像方焦平面至微透镜阵列的距离，d为点光源的像至微透镜阵列的距离，F为主透镜的焦距。Where D is the distance from the target point light source to the set reference surface, A is the distance from the set reference surface to the object focal plane of the main lens, B is the distance from the image focal plane of the main lens to the microlens array, and d is the distance of the point light source The distance from the image to the microlens array, F is the focal length of the main lens.
所述的主透镜为单个透镜或多个透镜组成的透镜组。The main lens is a single lens or a lens group composed of multiple lenses.
有益效果：Beneficial effects:
1、本发明公开的基于时频分析和光场成像技术的点光源空间定位方法，通过建立光场成像系统，以时频分析的方法，解决散射介质内点光源空间定位的问题，所述测量过程为完全被动测量，不需要向测量目标发射电磁波、超声波等能量载体，能够确保测量过程的隐秘性。1. The method for spatial positioning of point light sources based on time-frequency analysis and light field imaging technology disclosed in the present invention solves the problem of spatial positioning of point light sources in scattering media by establishing a light field imaging system and using time-frequency analysis methods. The measurement process For completely passive measurement, there is no need to transmit energy carriers such as electromagnetic waves and ultrasonic waves to the measurement target, which can ensure the privacy of the measurement process.
2、本发明公开的基于时频分析和光场成像技术的点光源空间定位方法，所述的光场图像处理方法针对提取子孔径的图像中心，由于散射介质只导致子孔径图像的模糊，但不改变子孔径的图像中心，因此，本发明可应用于对散射介质中点光源的空间定位，具体包括车辆间距测量，对云层中飞行器的跟踪与定位，以及荧光成像中对细胞的定位等案例。2. The point light source space positioning method based on time-frequency analysis and light field imaging technology disclosed in the present invention, the light field image processing method is aimed at extracting the image center of the sub-aperture, because the scattering medium only causes the blur of the sub-aperture image, but not the image center of the sub-aperture. The image center of the sub-aperture is changed. Therefore, the present invention can be applied to the spatial positioning of point light sources in scattering media, including the measurement of vehicle distance, the tracking and positioning of aircraft in clouds, and the positioning of cells in fluorescence imaging.
3、本发明公开的基于时频分析和光场成像技术的点光源空间定位方法，通过建立光场成像系统获取目标的光场图像，并时频分析的方法求解，由于光场图像中每个子孔径均为目标点光源在不同视角上的像，对光场图像的处理相当于对图像进行了平均操作，能够有效抑制光学系统的随机误差，提高测量精度。3. The point light source spatial positioning method based on time-frequency analysis and light field imaging technology disclosed in the present invention obtains the light field image of the target by establishing a light field imaging system, and solves the problem by the time-frequency analysis method. They are all images of the target point light source at different viewing angles. The processing of the light field image is equivalent to averaging the images, which can effectively suppress the random error of the optical system and improve the measurement accuracy.
4、本发明公开的基于时频分析和光场成像技术的点光源空间定位方法，通过建立光场成像系统获取目标的光场图像，在处理光场数据时，子孔径像素中心的求取只与该子孔径内的像素有关，而与其他子孔径的像素无关，因此，不同子孔径的处理相互不存在依赖关系，易于实现并行化，故能够通过多线程或GPU计算等方式有效提高计算速度，以实现对目标的实时定位与跟踪。4. The point light source space positioning method based on time-frequency analysis and light field imaging technology disclosed in the present invention obtains the light field image of the target by establishing a light field imaging system. When processing light field data, the calculation of the sub-aperture pixel center is only related to The pixels in this sub-aperture are related to the pixels of other sub-apertures. Therefore, the processing of different sub-apertures is not mutually dependent, and it is easy to achieve parallelization. Therefore, the calculation speed can be effectively improved through multi-threading or GPU computing. In order to achieve real-time positioning and tracking of the target.
附图说明Description of drawings
图1为本发明公开的基于时频分析和光场成像技术的点光源空间定位方法流程图。FIG. 1 is a flowchart of a method for spatial positioning of point light sources based on time-frequency analysis and light field imaging technology disclosed in the present invention.
图2是实验系统结构图；Fig. 2 is the structure diagram of the experimental system;
图3是光场图像；Figure 3 is a light field image;
图4是光场图像的子孔径划分；Fig. 4 is the sub-aperture division of light field image;
其中：1—LED光源，2—毛玻璃，3—主透镜，4—微透镜阵列，5—图像探测器。Among them: 1—LED light source, 2—frosted glass, 3—main lens, 4—microlens array, 5—image detector.
具体实施例specific embodiment
为了更好的说明本发明的目的和优点，下面结合附图和实例对发明内容做进一步说明。In order to better illustrate the purpose and advantages of the present invention, the content of the invention will be further described below with reference to the accompanying drawings and examples.
实施例1：以毛玻璃2后的LED光源1测量为例。Example 1: Take the measurement of LED light source 1 behind
本实施例公开的基于时频分析和光场成像技术的点光源空间定位方法，包括如下步骤：The method for spatial positioning of point light sources based on time-frequency analysis and light field imaging technology disclosed in this embodiment includes the following steps:
步骤一：建立微透镜阵列式光场成像系统，对光学系统的参数进行标定。Step 1: Establish a microlens array light field imaging system, and calibrate the parameters of the optical system.
步骤一所述的微透镜阵列式光场成像系统结构如图(2)所示，其光学系统具体包括主透镜3、微透镜阵列4、图像探测器5。The structure of the microlens array type light field imaging system described in step 1 is shown in FIG. 2 , and its optical system specifically includes a main lens 3 , a
步骤一所述的光学系统标定参数具体包括微透镜阵列4的子孔径周期、主透镜3的像方焦平面至微透镜阵列4的距离。其中子孔径周期参数标定公式如公式(1)，主透镜3的像方焦平面至微透镜阵列4的距离参数标定公式如公式(2)所示。The optical system calibration parameters described in step 1 specifically include the sub-aperture period of the
步骤二：通过光场成像系统获取散射介质中目标点光源的光场，得到目标点光源的光场图像。Step 2: Acquire the light field of the target point light source in the scattering medium through the light field imaging system, and obtain the light field image of the target point light source.
步骤三：对步骤二获取的光场图像进行子孔径划分，提取每个子孔径图像中心的坐标，分别计算子孔径图像中心偏离子孔径光学中心的距离。Step 3: Divide the light field image obtained in
步骤三的具体实现方法如下：The specific implementation method of step 3 is as follows:
步骤3.1：对步骤二获取的光场图像进行子孔径划分；Step 3.1: perform sub-aperture division on the light field image obtained in
步骤3.2：根据公式(3)提取每个子孔径图像中心的坐标；Step 3.2: Extract the coordinates of the center of each sub-aperture image according to formula (3);
步骤3.3：分别计算子孔径图像中心偏离子孔径光学中心的距离；Step 3.3: Calculate the distance between the center of the sub-aperture image and the optical center of the sub-aperture respectively;
步骤四：通过线性回归计算子孔径图像中心偏离子孔径光学中心的距离随子孔径位置的变化率。Step 4: Calculate the rate of change of the distance between the sub-aperture image center deviating from the sub-aperture optical center and the sub-aperture position through linear regression.
步骤四的具体实现方法如下：The specific implementation method of
以子孔径图像中心偏离子孔径光学中心的距离为y轴，以子孔径的位置为x轴，y与x的关系应满足公式(4)。通过最小二乘法进行线性回归得到一拟合直线方程y＝kx+b。其中k即为子孔径图像中心偏离子孔径光学中心的距离随子孔径位置的变化率。Taking the distance between the sub-aperture image center and the sub-aperture optical center as the y-axis, and taking the position of the sub-aperture as the x-axis, the relationship between y and x should satisfy formula (4). Linear regression is performed by the least squares method to obtain a fitted straight line equation y=kx+b. where k is the rate of change of the distance from the center of the sub-aperture image from the optical center of the sub-aperture with the position of the sub-aperture.
步骤五：结合建立的光场成像系统参数求解点光源像点至微透镜阵列4的距离，再计算目标点光源至设定参考面的距离，即实现点光源空间定位。Step 5: Calculate the distance from the point light source image point to the
步骤五所述结合建立的光场成像系统参数求解点光源像点至微透镜阵列4的距离具体实现方法如下：结合微透镜阵列4的像素周期、微透镜阵列4的焦距和子孔径图像中心偏离子孔径光学中心的距离随子孔径位置的变化率，根据公式(5)求得点光源像点至微透镜阵列4的距离。In
步骤五所述计算目标点光源至设定参考面的距离通过公式(6)实现。The calculation of the distance from the target point light source to the set reference surface in
本实施例公开的一种基于时频分析和光场成像技术的点光源空间定位方法，通过建立光场成像系统获取目标的光场图像，并时频分析的方法求解，能够避免散射介质对点光源距离测量的影响，抑制测量过程中的随机误差。This embodiment discloses a point light source spatial positioning method based on time-frequency analysis and light field imaging technology. By establishing a light field imaging system to obtain a light field image of a target, and solving the time-frequency analysis method, it is possible to avoid scattering media to point light sources. The influence of distance measurement to suppress random errors in the measurement process.
以上所述的具体描述，对发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施例而已，并不用于限定本发明的保护范围，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above-mentioned specific descriptions further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above-mentioned descriptions are only specific embodiments of the present invention, and are not intended to limit the protection of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.
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