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CN110086969A - A kind of multi-angle image imaging device and imaging method for three-dimensionalreconstruction - Google Patents

A kind of multi-angle image imaging device and imaging method for three-dimensionalreconstruction Download PDF

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Publication number
CN110086969A
CN110086969A CN201910321629.9A CN201910321629A CN110086969A CN 110086969 A CN110086969 A CN 110086969A CN 201910321629 A CN201910321629 A CN 201910321629A CN 110086969 A CN110086969 A CN 110086969A
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optical fiber
image
bundle
lens
fiber bundle
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王振兴
李奕
周志鹏
孙丽琼
耿英三
王建华
刘志远
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Xian Jiaotong University
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Xian Jiaotong University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/25—Arrangements specific to fibre transmission
    • H04B10/2589—Bidirectional transmission
    • H04B10/25891—Transmission components
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/51—Housings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

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  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

本发明提供了用于三维重构的多角度图像成像装置和成像方法，该成像装置包括工业镜头，镜头转接环、光纤束接收端、传像束光纤、光纤束汇聚端、远心镜头和相机；在进行多角度图像获取时，将多通路光纤上的工业镜头放置在待重构的目标的周围，调整工业镜头的焦距使得待重构目标的像能清晰的汇聚在光纤束接收端上，再通过传像束光纤将所接收的像传输到光纤束汇聚端，位于光纤束汇聚端后的远心镜头具有宽景深，高分辨率和超低畸变率的特性，保证了最终获取图像的准确度，最终通过相机记录光纤传像束汇聚端的图像；该发明将工业镜头和传像束光纤相结合，解决了传像束光纤感光面积小，无法调焦的问题，并将多通路传像束光纤引入到成像装置中，大幅减少了所需要的相机数量。

The invention provides a multi-angle image imaging device and an imaging method for three-dimensional reconstruction. The imaging device includes an industrial lens, a lens adapter ring, an optical fiber bundle receiving end, an image bundle optical fiber, an optical fiber bundle converging end, a telecentric lens and Camera; when acquiring multi-angle images, place the industrial lens on the multi-channel optical fiber around the target to be reconstructed, adjust the focal length of the industrial lens so that the image of the target to be reconstructed can be clearly converged on the receiving end of the fiber bundle , and then transmit the received image to the converging end of the optical fiber bundle through the optical fiber of the image bundle. The telecentric lens located behind the converging end of the optical fiber bundle has the characteristics of wide depth of field, high resolution and ultra-low distortion rate, ensuring the final image acquisition Accuracy, and finally record the image at the converging end of the optical fiber image transmission bundle through the camera; this invention combines the industrial lens and the image transmission bundle optical fiber to solve the problem of small photosensitive area of the image transmission bundle optical fiber and unable to adjust the focus, and integrates multi-channel image transmission A bundle of optical fibers is introduced into the imaging setup, drastically reducing the number of cameras required.

Description

Multi-angle image imaging device and imaging method for three-dimensional reconstruction
Technical Field
The present application relates to computer vision technologies, and in particular, to a multi-angle image imaging apparatus and an imaging method for three-dimensional reconstruction.
Background
Three-dimensional reconstruction is a mathematical model suitable for computer representation and processing established for three-dimensional objects, is the basis for processing, operating and analyzing the properties of the three-dimensional objects in a computer environment, and is a key technology for establishing virtual reality expressing an objective world in a computer.
At present, a large number of cameras still exist in most three-dimensional reconstruction devices, the placing space has high requirements, and the corresponding cost is also high, so that a system capable of acquiring images of an object to be measured in multiple directions under one camera is needed.
Therefore, how to assemble the imaging of the target under multiple angles into one direction and keep the whole system compact is a problem to be solved by those skilled in the art.
In the current three-dimensional reconstruction patent, such as "transparent target surface three-dimensional reconstruction algorithm, apparatus and system" (CN108416834), a light-emitting end uses a linear light source as incident light to illuminate the transparent target surface through triangulation, and then a camera end is used to obtain light reflected by the transparent target surface, and finally the surface morphology of the transparent target is determined according to the intersection point of the incident light direction vector and the reflected light direction vector of the light-emitting source on the transparent target surface and the position of the camera. The mechanism of the scheme is too complex, the requirement on the measurement precision is extremely high, and the requirement on the working environment of the whole system is high. For example, "a three-dimensional reconstruction method and a three-dimensional imaging system" (CN109087382) photographs a uniform object at different angles by two cameras, extracts feature points in the photographed image, performs matching calculation to obtain the positions of the feature points in the space, and further performs three-dimensional reconstruction of an object. The scheme has high requirements on the morphological characteristics of the target to be reconstructed, each part of the target to be reconstructed needs high discrimination to match the characteristic points, and the characteristic points such as plasma, flame and the like which have low self morphological discrimination cannot be extracted. And the final reconstruction result is a space image consisting of the extracted feature points, and the reconstruction resolution is low.
Disclosure of Invention
The invention provides a multi-angle image imaging device and an imaging method for three-dimensional reconstruction, which are used for solving the problems of overhigh cost and lower efficiency of a reconstruction system when three-dimensional reconstruction is carried out on a three-dimensional target in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multi-angle image imaging device for three-dimensional reconstruction comprises an image capturing and transmitting part consisting of industrial lenses 1, a lens adapter ring 2, an optical fiber bundle receiving end 3 and an image transmission bundle optical fiber 4, wherein the number of the industrial lenses 1 is N, correspondingly, the number of the lens adapter ring 2, the optical fiber bundle receiving end 3 and the image transmission bundle optical fiber 4 is N, one side of the lens adapter ring 2 is connected with the industrial lenses 1 through thread matching, the other side of the lens adapter ring is connected with the optical fiber bundle receiving end 3 through a buckle, the optical fiber bundle receiving end 3 is fixed on the distance of the industrial lenses 1, and the other end of the optical fiber bundle receiving end 3 is connected with the image transmission bundle optical fiber 4; the image receiving and recording part comprises an optical fiber bundle converging end 5, a telecentric lens 6, a camera 7, a shell 8 and a pressing plate 9, wherein the optical fiber bundle converging end 5 is connected with the optical fiber bundle receiving end 3 through an image transmission bundle optical fiber 4, the display area of the optical fiber bundle converging end 5 is divided into a plurality of parts, and the parts are mutually independent and respectively and correspondingly display images shot by each industrial lens 1; the telecentric lens 6 is fixed at the rear end of the fiber bundle convergence end 5, so that the fiber bundle convergence end 5 is above the object distance of the telecentric lens 6, and the camera 7 is installed at the rear end of the telecentric lens 6 and records the imaging of the display area of the fiber bundle convergence end 5.
The fiber bundle convergence end 5 and the telecentric lens 6 are placed on the slot of the shell 8 and fixed by the pressing plate 9, so that the fiber bundle convergence end 5 is above the object distance of the telecentric lens 6.
The telecentric lens 6 has the characteristics of wide depth of field, high resolution and ultralow distortion rate, and ensures the accuracy of the image acquired by the camera 7.
The industrial lens 1 is combined with the image transmitting bundle optical fiber 4, so that the problems that the optical fiber image transmitting bundle is small in photosensitive area and cannot be focused are solved, and the application range of the imaging device is widened.
The combination of the camera 7 and the multipass image bundle fiber 4 enables a single camera to obtain images of the object to be reconstructed in multiple directions.
The imaging method of the multi-angle image imaging device for three-dimensional reconstruction comprises the steps that when three-dimensional reconstruction images are obtained, N industrial lenses 1 are placed around a self-luminous target to be reconstructed, the focal length and the position of each industrial lens 1 are adjusted to enable the industrial lens 1 to clearly receive the image of the self-luminous target to be reconstructed, and after an optical fiber bundle receiving end 3 located at a distance from a lens adapter ring 2 receives the image captured by the industrial lens 1, the received image formed by each industrial lens 1 is transmitted to a display area of an optical fiber bundle converging end 5 through an image transmission bundle optical fiber 4; each part in the display area of the fiber bundle convergence end 5 respectively displays an image shot by the corresponding industrial lens 1, the camera 7 acquires multi-angle imaging after the fiber bundle convergence end 5 is integrated through the telecentric lens 6, and then three-dimensional information of light intensity form and intensity of a self-luminous target to be reconstructed is obtained.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention introduces the multi-channel image-transmitting bundle optical fiber into the imaging device, thereby greatly reducing the number of required cameras.
(2) The invention combines the industrial lens and the image transmission bundle fiber, solves the problems of small photosensitive area and incapability of focusing of the image transmission bundle fiber, and improves the application range of the system.
(3) The invention has the advantages of simple structure, convenient use and high adjustability of the whole device.
Drawings
FIG. 1 is a schematic diagram of the operation of the imaging device of the present invention.
Fig. 2 is a working schematic diagram of a multi-channel image bundle fiber.
Fig. 3 is an assembly view of an image receiving and recording portion.
Wherein,
1, industrial lens; 2, a lens adapter ring; 3, receiving end of optical fiber bundle; 4, image transmission bundle optical fiber; 5, converging end of the optical fiber bundle; 6, a telecentric lens; 7, a camera; 8, a housing; and 9, pressing a plate.
The specific implementation mode is as follows:
embodiments of the present invention will be described in detail below with reference to the drawings, but the present invention is not limited thereto.
As shown in fig. 1, the multi-angle image imaging device for three-dimensional reconstruction of the present invention comprises an image capturing and transmitting portion composed of an industrial lens 1, a lens adapter ring 2, a fiber bundle receiving end 3 and a image bundle transmitting fiber 4, wherein the number of the industrial lens 1 is N, correspondingly, the number of the lens adapter ring 2, the fiber bundle receiving end 3 and the image bundle transmitting fiber 4 is N, one side of the lens adapter ring 2 is connected with the industrial lens 1 by screw thread fit, the other side is connected with the fiber bundle receiving end 3 by a buckle, the fiber bundle receiving end 3 is fixed on the distance of the industrial lens 1, and the other end of the fiber bundle receiving end 3 is connected with the image bundle transmitting fiber 4; the image receiving and recording part comprises an optical fiber bundle converging end 5, a telecentric lens 6, a camera 7, a shell 8 and a pressing plate 9, wherein the optical fiber bundle converging end 5 is connected with the optical fiber bundle receiving end 3 through an image transmission bundle optical fiber 4, the display area of the optical fiber bundle converging end 5 is divided into a plurality of parts, and the parts are mutually independent and respectively and correspondingly display images shot by each industrial lens 1; the telecentric lens 6 is fixed at the rear end of the fiber bundle convergence end 5, so that the fiber bundle convergence end 5 is above the object distance of the telecentric lens 6, and the camera 7 is installed at the rear end of the telecentric lens 6 and records the imaging of the display area of the fiber bundle convergence end 5.
Fig. 2 is a working schematic diagram of a multi-channel image bundle fiber. The fiber bundle converging end (5) is divided into nine parts, and the nine parts are independent from each other and respectively correspond to the nine fiber bundle receiving ends (3). When the imaging device works, the optical fiber bundle receiving end (3) receives an image acquired by the industrial lens (1) and transmits the image to a display area of the optical fiber bundle converging end (5) through the image transmitting bundle optical fiber (4). The images a, B, C acquired at the receiving end (3) of each bundle are shown. . . Corresponding to the respective portions A, B, C displayed to the converging end (5) of the image transmission beam. . . .
As shown in fig. 3, the fiber bundle converging end 5 and the telecentric lens 6 are placed on the slot of the housing 8 and fixed by the pressing plate 9, so that the fiber bundle converging end 5 is above the object distance of the telecentric lens 6.
The invention relates to an imaging method of a multi-angle image imaging device for three-dimensional reconstruction, which comprises the steps of placing N industrial lenses 1 around a self-luminous target to be reconstructed when three-dimensional reconstruction images are obtained, adjusting the focal length and the position of the industrial lenses 1 to enable the industrial lenses to clearly receive the image of the self-luminous target to be reconstructed, and transmitting the received image formed by each industrial lens 1 to a display area of an optical fiber bundle convergence end 5 through an image transmission bundle optical fiber 4 after an optical fiber bundle receiving end 3 positioned at a distance of a lens adapter ring 2 receives the image captured by the industrial lenses 1; each part in the display area of the fiber bundle convergence end 5 respectively displays an image shot by the corresponding industrial lens 1, the camera 7 acquires multi-angle imaging after the fiber bundle convergence end 5 is integrated through the telecentric lens 6, and then three-dimensional information of light intensity form and intensity of a self-luminous target to be reconstructed is obtained.

Claims (6)

1.一种用于三维重构的多角度图像成像装置，其特征在于，包括由工业镜头(1)、镜头转接环(2)、光纤束接收端(3)和传像束光纤(4)组成的图像捕获和传输部分，其中，由工业镜头(1)的数量为N个，对应的，镜头转接环(2)、光纤束接收端(3)和传像束光纤(4)的数量也为N个，镜头转接环(2)的一侧由螺纹配合与工业镜头(1)相连接，另一侧由卡扣与光纤束接收端(3)相连接，将光纤束接收端(3)固定于工业镜头(1)的相距上，光纤束接收端(3)另一端连接传像束光纤(4)；还包括由光纤束汇聚端(5)、远心镜头(6)、相机(7)、外壳(8)和压板(9)组成的图像接收和记录部分，其中，光纤束汇聚端(5)通过传像束光纤(4)与光纤束接收端(3)连接，光纤束汇聚端(5)的显示区域被划分为多个部分，这些部分相互独立，分别对应显示着每个工业镜头(1)所拍摄的图像；远心镜头(6)固定在光纤束汇聚端(5)的后端，使得光纤束汇聚端(5)在远心镜头(6)的物距之上，相机(7)安装在远心镜头(6)后端，记录光纤束汇聚端(5)显示区域的成像。1. A multi-angle image imaging device for three-dimensional reconstruction, characterized in that it comprises an industrial lens (1), a lens adapter ring (2), an optical fiber bundle receiving end (3) and an image bundle optical fiber (4 ) composed of image capture and transmission parts, wherein the number of industrial lenses (1) is N, corresponding to the lens adapter ring (2), optical fiber bundle receiving end (3) and image bundle optical fiber (4) The number is also N. One side of the lens adapter ring (2) is connected with the industrial lens (1) by thread fit, and the other side is connected with the optical fiber bundle receiving end (3) by a buckle, and the optical fiber bundle receiving end (3) fixed on the distance from the industrial lens (1), the other end of the optical fiber bundle receiving end (3) is connected to the image transmission bundle optical fiber (4); An image receiving and recording part composed of a camera (7), a housing (8) and a pressure plate (9), wherein the optical fiber bundle converging end (5) is connected to the optical fiber bundle receiving end (3) through an image transmission optical fiber (4), and the optical fiber bundle The display area of the beam converging end (5) is divided into multiple parts, these parts are independent of each other, correspondingly displaying the images taken by each industrial lens (1); the telecentric lens (6) is fixed on the optical fiber bundle converging end ( 5), so that the optical fiber bundle converging end (5) is above the object distance of the telecentric lens (6), the camera (7) is installed at the rear end of the telecentric lens (6), and the optical fiber bundle converging end (5) is recorded Imaging of the region shown. 2.根据权利要求1所述的一种用于三维重构的多角度图像成像装置，其特征在于，所述光纤束汇聚端(5)和远心镜头(6)放置于外壳(8)的开槽上，由压板(9)固定，使得光纤束汇聚端(5)在远心镜头(6)的物距之上。2. A kind of multi-angle image imaging device for three-dimensional reconstruction according to claim 1, characterized in that, said optical fiber bundle converging end (5) and telecentric lens (6) are placed in the shell (8) On the slot, it is fixed by a pressure plate (9), so that the converging end of the optical fiber bundle (5) is above the object distance of the telecentric lens (6). 3.根据权利要求1所述的一种用于三维重构的多角度图像成像装置，其特征在于，所述远心镜头(6)具有宽景深、高分辨率和超低畸变率的特性，保证了相机(7)所获取图像的准确度。3. A kind of multi-angle image imaging device for three-dimensional reconstruction according to claim 1, characterized in that, the telecentric lens (6) has the characteristics of wide depth of field, high resolution and ultra-low distortion rate, The accuracy of the images acquired by the camera (7) is guaranteed. 4.根据权利要求1所述的一种用于三维重构的多角度图像成像装置，其特征在于，所述工业镜头(1)和传像束光纤(4)相结合，解决了光纤传像束感光面积小，无法调焦的问题，提高了成像装置的适用范围。4. A kind of multi-angle image imaging device for three-dimensional reconstruction according to claim 1, characterized in that, the combination of the industrial lens (1) and the image transmission bundle optical fiber (4) solves the problem of optical fiber image transmission The beam photosensitive area is small and the problem of being unable to adjust the focus improves the application range of the imaging device. 5.根据权利要求1所述的一种用于三维重构的多角度图像成像装置，其特征在于，将相机(7)和多通路的传像束光纤(4)相结合，使得单个相机能够获得多个方向上待重构对象的像。5. A kind of multi-angle image imaging device for three-dimensional reconstruction according to claim 1, characterized in that, the camera (7) is combined with the image bundle optical fiber (4) of multi-path, so that a single camera can Obtain images of the object to be reconstructed in multiple directions. 6.权利要求1至5任一项所述的用于三维重构的多角度图像成像装置的成像方法，其特征在于：在进行三维重构图像获取的时候，将N个工业镜头(1)放置在待重构的自发光目标的周围，调整工业镜头(1)的焦距和位置使得其能清楚地接收到待重构的自发光目标的像，位于镜头转接环(2)相距上的光纤束接收端(3)接收到工业镜头(1)所捕获的成像后，再通过传像束光纤(4)将所接收的每个工业镜头(1)所成的像传输到光纤束汇聚端(5)显示区域中；光纤束汇聚端(5)的显示区域中的每个部分分别显示对应工业镜头(1)所拍摄的图像，相机(7)通过远心镜头(6)获取光纤束汇聚端(5)整合后的多角度成像,然后求取待重构的自发光目标光强形态和强度的三维信息。6. The imaging method for a multi-angle image imaging device for three-dimensional reconstruction according to any one of claims 1 to 5, characterized in that: when performing three-dimensional reconstruction image acquisition, N industrial lenses (1) Place it around the self-illuminating target to be reconstructed, adjust the focal length and position of the industrial lens (1) so that it can clearly receive the image of the self-illuminating target to be reconstructed, and the distance between the lens adapter ring (2) After receiving the image captured by the industrial lens (1), the optical fiber bundle receiving end (3) transmits the received image formed by each industrial lens (1) to the optical fiber bundle converging end through the image transmission bundle optical fiber (4) (5) In the display area; each part in the display area of the fiber bundle converging end (5) displays the images taken by the corresponding industrial lens (1), and the camera (7) acquires the fiber bundle convergence through the telecentric lens (6). (5) integrated multi-angle imaging, and then obtain the three-dimensional information of the light intensity shape and intensity of the self-illuminating target to be reconstructed.
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CN110967115A (en) * 2019-11-25 2020-04-07 西安交通大学 Single-camera measurement and imaging system and method for 3D temperature field based on multispectral diagnosis
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CN115077714A (en) * 2022-05-26 2022-09-20 东南大学 Flame multispectral imaging measurement device, system and method based on optical fiber image transmission bundle
CN116659416A (en) * 2023-06-05 2023-08-29 中国科学技术大学 A torsion meter system, a method for measuring torsion angle, and related devices

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