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CN113156641A - Image space scanning imaging method based on achromatic cascade prism - Google Patents

Image space scanning imaging method based on achromatic cascade prism Download PDF

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CN113156641A
CN113156641A CN202110206239.4A CN202110206239A CN113156641A CN 113156641 A CN113156641 A CN 113156641A CN 202110206239 A CN202110206239 A CN 202110206239A CN 113156641 A CN113156641 A CN 113156641A
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achromatic
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CN113156641B (en
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李安虎
刘兴盛
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Tongji University
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Abstract

本发明涉及一种基于消色差级联棱镜的像方扫描成像方法，成像系统包括沿光轴方向依次设置的光学透镜组、消色差级联棱镜和相机；像方扫描成像方法包括参数匹配与模型系统构建、建立一次成像投影模型、消色差级联棱镜扫描运动规划、像方区域图像采集校正、物方区域图像序列配准，以及大视场高分辨图像生成。与现有技术相比，本发明利用消色差级联棱镜的旋转运动，实现像方扫描二次成像的视轴调整，结合级联棱镜逆向解析和图像粗精配准方法，既可通过简单紧凑的系统组成采集大视场、宽光谱、高分辨率的分区域图像序列，又可通过灵活可靠的处理方法实现高效率、高质量的大范围图像拼接与融合。

Figure 202110206239

The invention relates to an image-side scanning imaging method based on achromatic cascade prisms. The imaging system includes an optical lens group, achromatic cascade prisms and cameras arranged in sequence along the optical axis direction; the image-side scanning imaging method includes parameter matching and model System construction, establishment of an imaging projection model, motion planning of achromatic cascade prism scanning, image acquisition and correction in the image area, image sequence registration in the object area, and generation of high-resolution images in a large field of view. Compared with the prior art, the present invention utilizes the rotational motion of the achromatic cascade prism to realize the boresight adjustment of the image-side scanning secondary imaging. Combined with the cascade prism reverse analysis and the image rough and fine registration method, it can be achieved through simple and compact methods. The system is composed of a large field of view, wide spectrum, high-resolution subregional image sequence, and can achieve high-efficiency, high-quality large-scale image stitching and fusion through flexible and reliable processing methods.

Figure 202110206239

Description

Image space scanning imaging method based on achromatic cascade prism
Technical Field
The invention relates to the field of optical imaging, in particular to an image space scanning imaging method based on an achromatic cascade prism.
Background
In the field of optical imaging, due to the limitation of factors such as the structure of an imaging device, the minimum pixel size and the like, a large field of view and high resolution are generally a pair of performance indexes which are difficult to be considered. The traditional solution idea is to adopt schemes such as multi-camera array imaging, single-camera motion imaging and single-camera scanning imaging, and combine multi-camera distribution information, single-camera motion information or scanner motion information to realize regional acquisition and high-resolution imaging of a large-scale scene. The multi-camera array can increase the cost and the arrangement space of the system, and the fixed configuration form of the multi-camera array can also cause the system to acquire a large amount of redundant information in partial application occasions, so that the system is lack of flexibility and adaptability; the single-camera movement requires the introduction of a two-dimensional driving mechanism to realize the pose adjustment of the sensor, the complexity and the rotational inertia of the movement structure are increased, and the dynamic property and the response capability of the system are reduced. In contrast, the single-camera scanning imaging method only requires the motion of part of the optical elements, namely, the direction of the imaging visual axis of the camera can be effectively changed, so that the camera can sequentially acquire high-resolution image information of a designated area, and the method has good imaging flexibility, dynamic responsiveness and environmental adaptability.
The following prior studies propose several typical large field-of-view high resolution imaging methods:
in the prior art (high cloud, etc., an infinite rotation type large-field scanning imaging system and a control system, publication number: CN110971788A, publication date: 2020, 4 and 7 days), it is proposed that two cameras are driven by a mechanical structure to perform conical rotation motion, so as to realize scanning imaging of a large-field area, and simultaneously, one central camera is used to perform staring imaging on the field center, and finally, the fields of view of three cameras are spliced to generate a complete large-field image. However, this method requires the cooperation of multiple cameras, and scanning imaging is realized by the motion of the cameras themselves, which inevitably increases the complexity and implementation cost of the imaging system, and affects the service cycle and dynamic response characteristics thereof.
In the prior art (Liukai, etc., a common-caliber double-channel infrared scanning imaging optical system, applied optics, 2012,33(2): 395-. However, the reflective scanning mirror generally has a large physical size and a large moment of inertia, and the imaging boresight direction is sensitive to mechanical errors, so that the reflective scanning mirror is difficult to be applied to many applications with high compactness requirements or limited space conditions.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an image space scanning imaging method based on an achromatic cascade prism.
The purpose of the invention can be realized by the following technical scheme:
an image space scanning imaging method based on an achromatic cascade prism is characterized in that an imaging system comprises an optical lens group, an achromatic cascade prism device and a camera which are sequentially arranged, wherein the optical lens group is used for expanding an imaging field range and projecting scattered light from a wide-range target scene onto a virtual primary image surface; the achromatic cascade prism device is used for changing the direction of an imaging visual axis of the camera so as to capture the imaging light of the primary image surface sequentially and regionally; the camera is used for recording image information under different imaging visual angles and generating a high-resolution regional image sequence; the image space scanning imaging method comprises the following steps:
s1, constructing a parameter matching and model system: combining the field angle and the resolution of the imaging system, determining the optical parameters and the structural parameters of the camera, the achromatic cascade prism and the optical lens group, and constructing an image space scanning imaging model system and a working coordinate system thereof according to the relative pose relationship of the camera, the achromatic cascade prism and the optical lens group;
s2, establishing a primary imaging projection model: according to the structural parameters and the arrangement parameters of the optical lens group, describing the process of multiple refractions of the optical lens group to light rays by using geometrical optics, and establishing an imaging projection model and a space mapping relation of the light rays which are incident to the lens group from an object and then emergent to a primary image surface;
s3, achromatic cascade prism scanning motion planning: determining a subregion division strategy of image space scanning secondary imaging by combining the coverage range of the primary image surface and the transient field range of the camera, and calculating a visual axis pointing angle required by the camera for imaging each subregion, thereby designing a corner change rule of the cascade prism in the visual axis adjusting process;
s4, image area image acquisition correction: when the achromatic cascade prism rotates to the appointed corner positions respectively, triggering the camera to perform secondary imaging on the image space subregion under the pointing direction of the visual axis of the camera, and correcting the image space subregion image into an object space subregion image by combining a reverse ray tracing model and a primary imaging projection model;
s5, registering the object region image sequence: the method comprises the steps that the change relation of the direction of adjacent imaging visual axes is utilized, the overlapped area of two object space sub-area images is positioned in advance, a certain number of characteristic point pairs are extracted and matched from the overlapped area, the perspective transformation matrix of the adjacent images is estimated, and the rough and fine two-stage registration relation of an image sequence is established;
s6, generating a large-view-field high-resolution image: and based on the object space subregion image sequence after accurate registration, processing the intensity information of the adjacent subregion images in the overlapping region by using a linear fusion strategy, and finally splicing to obtain a large-field-of-view high-resolution image formed by all the subregion images.
Further, in step S1, a working coordinate system O-XYZ of the image space scanning imaging model system is established according to the right-hand rule, the origin O is fixed at the optical center position of the camera, the Z axis coincides with the optical axis direction of the camera, the X axis and the Y axis are both orthogonal to the Z axis, and the X axis and the Y axis respectively correspond to the row scanning direction and the column scanning direction of the image sensor in the camera.
Further, in step S2, the projection model from the object to the primary image plane is described by using the vector refraction law to describe the propagation process of the object light sequentially passing through each element in the optical lens group
Figure BDA0002950813950000039
Expressed as:
Figure BDA0002950813950000031
wherein the symbols
Figure BDA00029508139500000310
Representing a process of refracting the projection light propagating along the left vector with the right vector as a normal vector; sobjThe object-side light ray vector incident on the optical lens group,
Figure BDA0002950813950000032
the light vectors are projected to a primary image surface after being refracted for multiple times; n is1,n2,...,n2kRepresenting a normal vector of a lens surface through which primary imaging light passes in sequence; k denotes the number of lens elements included in the optical lens group.
Further, the step S3 specifically includes:
s31, calculating the horizontal angle covered by the primary image surface according to the structural parameters and the optical parameters of the optical lens group
Figure BDA0002950813950000033
And vertical angle
Figure BDA0002950813950000034
Then the horizontal angle with the transient visual field of the camera
Figure BDA0002950813950000035
And vertical angle
Figure BDA0002950813950000036
By comparison, dividing the sub-region of the image space scanning secondary imaging into nv×nhArray, wherein nvAnd nhRespectively the number of rows and columns, ensuring that the system passes through nv×nhThe sub-regional scanning imaging can collect all information on a primary image surface, and a certain size of overlapping region exists between all adjacent sub-regions;
s32, estimating an imaging boresight orientation corresponding to the center of each sub-region in combination with the sub-region division condition of image scanning secondary imaging, which is described by a pitch angle Φ and an azimuth angle Θ, and expressed as:
Figure BDA0002950813950000037
where i and j are the row number and column number of the sub-region, respectively, and atan2 is the value range (-pi, pi)]Of the arctangent function, λvAnd λhRespectively representing the coincidence coefficients of the adjacent subregions in the vertical direction and the horizontal direction;
s33, aiming at the pitch angle and the azimuth angle of each image space scanning sub-region center, solving the corresponding rotation angle of the achromatic cascade prism by using a two-step method to enable the camera imaging visual axis to point to the sub-region center, wherein the analytic form is as follows:
Figure BDA0002950813950000038
wherein theta is1And theta2Angle of rotation, theta, of each of the two prismsdIs the difference between the rotation angles of two prisms, b1And c1Are intermediate variables, respectively expressed as:
Figure BDA0002950813950000041
wherein alpha and n are the wedge angle and the equivalent refractive index of the achromatic cascade prism respectively;
s34, a series of corner data of the achromatic cascade prism is given, the rotation motion rule of the achromatic cascade prism is designed on the basis of the principle that the prism motion time is shortest, and therefore the corner sequence of the cascade prism arriving successively is determined.
Further, the step S4 specifically includes:
s41, when the achromatic cascade prism rotates to an expected group of corner positions each time, triggering the camera to capture image information of the corresponding image sub-area under the pointing direction of the current imaging visual axis through software;
s42, determining secondary imaging light ray vector according to the actually collected image space subregion image by the reverse light ray tracing method
Figure BDA0002950813950000042
And the emergent ray of the achromatic cascade prism
Figure BDA0002950813950000043
Can make the corresponding incident light
Figure BDA0002950813950000044
Expressed as:
Figure BDA0002950813950000045
wherein
Figure BDA0002950813950000046
The normal vector of the prism refraction surface is expressed in the sequence of the reverse tracking light from the camera imaging plane;
s43, in the actual imaging process, the light directly enters the achromatic cascade prism after reaching the primary image surface, so the primary imaging projection light can be determined according to the incident light of the achromatic cascade prism, that is
Figure BDA0002950813950000047
And then the projection model of one-time imaging is utilized to calculate the corresponding object space projection light ray vector sobjExpressed as:
Figure BDA0002950813950000048
wherein
Figure BDA0002950813950000049
Representing a one-time imaging projection model
Figure BDA00029508139500000410
The reverse process of (2);
and S44, acquiring all secondary imaging light ray vectors from the image side subregion image collected by the camera, and substituting the vectors into the steps S42 and S43 to determine the corresponding object side projection light rays, so that the distorted image side subregion image is restored to an undistorted object side subregion image.
Further, the step S5 specifically includes:
s51, combining the deflection characteristic of the achromatic cascade prism to the camera imaging visual axis direction, establishing secondaryImaging light vector
Figure BDA0002950813950000051
Reverse solving primary imaging light vector
Figure BDA0002950813950000052
Is expressed as:
R(Φ,Θ)＝A(Θ)+[I-A(Θ)]·cosΦ+B(Θ)·sinΦ
where I is a third order identity matrix, both matrices A and B are related to the azimuth angle Θ and are represented as:
Figure BDA0002950813950000053
s52, determining the relative position of one image in the other image according to the approximate transformation matrix between the images of the adjacent subregions on the image side, thereby determining the boundary of the overlapped region of the two images; the sub-area image I in the ith row and the jth columnijAnd the adjacent sub-area image I of the ith row and the (j + 1) th columni(j+1)As an example, image Ii(j+1)Is in the image IijIs expressed as:
Figure BDA0002950813950000054
wherein is pi(j+1)Representing an image Ii(j+1)Homogeneous image coordinates of any point on the boundary,
Figure BDA0002950813950000055
to convert it to image IijThe coordinates of subsequent homogeneous images under a coordinate system, wherein omega is a scale factor; in picture IijIn a coordinate system of (1) comparing adjacent images IijAnd Ii(j+1)The boundary position of the two can be determined, namely the boundary of the overlapped area of the two is determined
Figure BDA0002950813950000056
S53, use ofA primary imaging projection model, namely overlapping region boundary E of images of adjacent subregions in image spaceimgOverlapped area boundary E mapped into object space adjacent subarea imagesobjExpressed as:
Figure BDA0002950813950000057
wherein EobjCoarse registration constraints for images of object-side neighboring subregions can be provided;
s54, extracting a certain number of image features in the overlapping area of the images of the adjacent sub-areas of the object space, and establishing a feature matching relationship between the two images, thereby estimating a projection transformation matrix M of the two images, wherein the fine registration relationship is expressed as:
Figure BDA0002950813950000058
wherein Ki(j+1)And
Figure BDA0002950813950000059
respectively representing the homogeneous image coordinates of the object subregion images of the ith row and the jth +1 column and the homogeneous image coordinates after the homogeneous image coordinates are registered to the object subregion images of the ith row and the jth column.
Further, in step S6, for any two object-side adjacent subregion images, the intensity information in the overlapped region is processed by using a linear fusion strategy, that is, the distance from a certain point to the centers of the two images is taken as the weight of the fusion intensity, and is expressed as:
Figure BDA0002950813950000061
where (x, y) is the image coordinate of a particular image point within the overlap region, DijAnd Di(j+1)Respectively represent two images of adjacent subregions of the object space,
Figure BDA0002950813950000062
representing the image after the two have been fused, omegaijAnd ωi(j+1)The value ranges are [0,1 ] respectively along with the Euclidean distance between the image point and the centers of the two images]。
Furthermore, the achromatic cascade prism device comprises a pair of achromatic prisms and respective rotary driving mechanisms, and the two achromatic prisms keep optical axes aligned with each other and adopt an arrangement form of plane opposition or wedge surface opposition.
Furthermore, the rotary driving mechanism adopts a torque motor direct drive or gear drive, synchronous belt drive or worm and gear drive mode.
Furthermore, the camera, the achromatic cascade prism and the optical lens group all satisfy the coaxial arrangement relationship, and the imaging target surface of the camera is parallel to the plane sides of the two achromatic prisms.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the achromatic cascade prism and the optical lens group are introduced in front of the single camera, and the object space view field expansion function of the optical lens group and the image space scanning imaging function of the achromatic cascade prism are combined, so that large-range, high-efficiency and wide-spectrum imaging is realized on the basis of ensuring the compactness of the overall structure and the flexibility of moving parts.
2. The invention provides an automatic division strategy of image scanning imaging subregions, and the corresponding achromatic cascade prism rotation angle is quickly obtained by utilizing a reverse analysis method, so that the scanning motion of the imaging visual axis of a camera is controlled, the image information of each image scanning subregion is captured in the shortest time, and the real-time property and the adaptability of the whole imaging process are improved.
3. The invention utilizes the vector refraction law and the reverse ray tracing method to establish the vector mapping relation of the object space projection ray, the primary imaging ray and the secondary imaging ray, can correct the actually collected image space scanning image into an undistorted object space image, and overcomes the problem of image degradation caused by introducing a refraction optical element.
4. The invention provides a coarse and fine two-stage image registration method facing cascaded prism scanning imaging, which comprises the steps of firstly positioning the overlapping area of images of adjacent subregions in advance to realize coarse registration, and then estimating a transformation matrix from an image characteristic matching relation to realize fine registration, so that the accuracy and the reliability of the image space scanning image sequence splicing process can be fully ensured.
5. The invention restrains the information fusion process of the image space scanning image sequence in the pre-positioned overlapping area, does not need to cover the whole range of each sub-area image, can greatly reduce the time complexity of fusion operation, and improves the generation efficiency of the large-view-field high-resolution image.
Drawings
Fig. 1 is a schematic composition diagram of an imaging system.
FIG. 2 is a flow chart of an image space scanning imaging method based on an achromatic cascade prism.
Fig. 3 is a schematic diagram of the light deflection achieved by an achromatic cascaded prism.
FIG. 4 is a schematic diagram of an image scanning system acquiring an image at a single image plane.
FIG. 5 is a schematic diagram of an image side scanning secondary imaging distortion generation and correction process.
Reference numerals: 1-camera, 21-first achromatic prism, 22-second achromatic prism, 3-optical lens group.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
The embodiment provides an image space scanning imaging method based on an achromatic cascade prism.
As shown in fig. 1, the imaging system includes an optical lens group 3, an achromatic cascade prism apparatus, and a camera 1, which are arranged in this order.
The camera 1 includes an image sensor and a lens, parameters such as a target surface size and a pixel size of the image sensor, a focal length and a depth of field of the lens are determined by a range of a target scene, and a detection band of the image sensor is determined by an attribute of the target scene and is a visible light band or an infrared light band.
The achromatic cascade prism includes a first achromatic prism 21 and a second achromatic prism 22, each of which is composed of a combination of elements made of two different materials (e.g., germanium and silicon, lithium fluoride, zinc sulfide, etc.). The two achromatic prisms keep optical axes aligned with each other, adopt an arrangement form of plane opposite or wedge surface opposite, and simultaneously keep the plane sides of the two prisms parallel to the sensor target surface of the camera 1; the two achromatic prisms are fixed on respective supporting structures in an optical glue bonding mode and are driven by an independent rotating mechanism to realize rotating motion around the optical axis direction; the rotating mechanism adopts the modes of torque motor direct drive or gear drive, synchronous belt drive, worm and gear drive and the like.
The optical lens group 3 comprises a plurality of lens elements in different forms, all the elements meet the coaxial relationship with the camera 1 and the achromatic cascade prism, the optical parameters and the arrangement scheme are designed and matched according to the range requirement of an imaging view field, and the film coating treatment is carried out on the detection waveband of the camera 1 so as to increase the light transmittance.
The imaging system of the embodiment introduces the achromatic cascade prism and the optical lens group in front of the camera, can capture large-range target scene information through the visual field expansion and the primary imaging action of the optical lens group, projects the target scene information onto a primary image surface, collects all information on the primary image surface in different areas through the visual axis adjustment and the secondary imaging action of the achromatic cascade prism, and finally splices to obtain a large-visual-field high-resolution image. Compared with the existing multi-camera imaging system and single-camera imaging system, the image space scanning imaging system of the embodiment does not need the camera body to move in any form, does not introduce a reflecting element sensitive to error disturbance, and can simultaneously meet the performance requirements of structural compactness, imaging field range, image resolution, imaging efficiency, flexibility and the like.
As shown in fig. 2 to 5, the image space scanning imaging method includes the specific steps of:
step S1, parameter matching and model system construction
Determining optical parameters and structural parameters of the camera 1, the first achromatic prism 21, the second achromatic prism 22 and the optical lens group 3 according to requirements of the field angle, the resolution and the like of the imaging system, and constructing an image space scanning imaging model system based on the achromatic cascade prism according to the coaxial arrangement relationship of the three;
and establishing a working coordinate system O-XYZ of the image space scanning imaging model system according to a right-hand rule, wherein an origin O is fixed at the optical center position of the camera 1, a Z axis is overlapped with the optical axis direction of the camera 1, and an X axis and a Y axis are both orthogonal to the Z axis and respectively correspond to the row scanning direction and the column scanning direction of the image sensor.
Step S2, establishing a primary imaging projection model
According to the structural parameters and the arrangement parameters of the optical lens group, the propagation process of the object light rays sequentially passing through each element in the optical lens group is described by using a vector refraction law, the process of multiple refractions of the light rays is described by using a geometric optics optical lens group, and an imaging projection model of the light rays which are incident from the object to the lens group and then emergent to a primary image surface is established
Figure BDA0002950813950000081
Expressed as:
Figure BDA0002950813950000082
wherein the symbols
Figure BDA0002950813950000088
Representing a process of refracting the projection light propagating along the left vector with the right vector as a normal vector; sobjThe object-side light ray vector incident on the optical lens group,
Figure BDA0002950813950000083
the light vectors are projected to a primary image surface after being refracted for multiple times; n is1,n2,...,n2kRepresenting a normal vector of a lens surface through which primary imaging light passes in sequence; k denotes the number of lens elements included in the optical lens group.
Step S3, planning the scanning motion of the cascaded prism
Step S31, calculating the horizontal angle covered by the primary image plane according to the structural parameters and the optical parameters of the optical lens group
Figure BDA0002950813950000084
And vertical angle
Figure BDA0002950813950000085
Then the horizontal angle with the transient visual field of the camera
Figure BDA0002950813950000086
And vertical angle
Figure BDA0002950813950000087
And comparing, dividing the sub-regions of the image space scanning secondary imaging into 4 multiplied by 4 arrays, ensuring that the system can collect all information on the primary image surface through the sub-region scanning imaging, and ensuring that a certain size of overlapping region exists between all adjacent sub-regions.
Step S32, estimating an imaging boresight orientation corresponding to the center of each sub-region according to the sub-region division condition of image scanning secondary imaging, where the pitch angle Φ and the azimuth angle Θ are expressed as:
Figure BDA0002950813950000091
where i and j are the row number and column number of the sub-region, respectively, and atan2 is the value range (-pi, pi)]Arctangent function of, nv4 and nh4 denotes the number of rows and columns, λ, respectively, of the subdivision into subregionsv0.15 and λhThe coincidence coefficient of the adjacent subregions in the vertical direction and the horizontal direction is represented by 0.15.
Step S33, aiming at the pitch angle and the azimuth angle of each image space scanning sub-region center, solving the corresponding cascade prism rotation angle by using a two-step method to make the camera imaging visual axis point to the sub-region center, wherein the analytic form is as follows:
Figure BDA0002950813950000092
wherein theta is1And theta2Angle of rotation, theta, of each of the two prismsdIs the difference between the rotation angles of two prisms, b1And c1Are intermediate variables, respectively expressed as:
Figure BDA0002950813950000093
the wedge angle of the achromatic cascade prism in this embodiment is 5 °, and the equivalent refractive index is 3.
Step S34, giving 4 x 4 groups of corner data of the achromatic cascade prism, designing the rotation motion rule of the achromatic cascade prism based on the principle that the prism motion time is shortest, and determining the corner sequence (theta) of the cascade prism arriving successively1}ijAnd { theta [ ]2}ij。
Step S4, image area image capture correction
Step S41, controlling the achromatic cascade prism to rotate to the expected rotation angle position [ theta ]1}ijAnd { theta [ ]2}ijAnd triggering the camera to capture the image information of the corresponding image side sub-area by the software when the current imaging visual axis points downwards.
Step S42, determining secondary imaging light ray vector according to the actually collected image space subregion image by a reverse light ray tracing method
Figure BDA0002950813950000094
Outgoing ray vector incorporating achromatic cascaded prisms
Figure BDA0002950813950000095
Determine its corresponding incident ray
Figure BDA0002950813950000096
Expressed as:
Figure BDA0002950813950000101
wherein
Figure BDA0002950813950000102
And the normal vector of the prism refraction surface is shown, wherein the reverse tracking light rays sequentially pass through the normal vector from the camera imaging plane.
Step S43, because the light directly enters the achromatic cascade prism after reaching the primary image surface in the actual imaging process, the primary imaging projection light can be determined according to the incident light of the cascade prism, that is to say
Figure BDA0002950813950000103
Calculating the corresponding object space projection light ray vector s by using the primary imaging projection modelobjExpressed as:
Figure BDA0002950813950000104
wherein
Figure BDA0002950813950000105
Representing a one-time imaging projection model
Figure BDA00029508139500001013
The reverse process of (2).
Step S44, acquiring all secondary imaging light ray vectors from the image side subregion image collected by the camera, and substituting the vectors into steps S42 and S43 to determine the corresponding object side projection light rays, so as to obtain the distorted image side subregion image { I }img}ijRestored to undistorted object space subregion image { Iobj}ij。
Step S5, object region image sequence registration
Step S51, combining the deflection characteristic of the achromatic cascade prism to the camera imaging visual axis direction, establishing secondary imaging light ray vector
Figure BDA0002950813950000106
Reverse solving primary imaging light vector
Figure BDA0002950813950000107
Is expressed as:
R(Φ,Θ)＝A(Θ)+[I-A(Θ)]·cosΦ+B(Θ)·sinΦ
where I is a third order identity matrix, both matrices A and B are related to the azimuth angle Θ and are represented as:
Figure BDA0002950813950000108
step S52, determining the relative position of one image in the other image according to the approximate transformation matrix between the adjacent subarea images on the image side, thereby determining the boundary of the overlapping area of the two images; the sub-area image I in the ith row and the jth columnijAnd the adjacent sub-area image I of the ith row and the (j + 1) th columni(j+1)As an example, image Ii(j+1)Is in the image IijCan be expressed as:
Figure BDA0002950813950000109
wherein is pi(j+1)Representing an image Ii(j+1)Homogeneous image coordinates of any point on the boundary,
Figure BDA00029508139500001010
to convert it to image IijThe coordinates of subsequent homogeneous images under a coordinate system, wherein omega is a scale factor; in picture IijIn a coordinate system of (1) comparing adjacent images IijAnd Ii(j+1)The boundary position of the two can be determined, namely the boundary of the overlapped area of the two is determined
Figure BDA00029508139500001011
Step S53, overlapping area boundary E of the sub-area images adjacent to the image space by using the primary imaging projection modelimgOverlapped area boundary E mapped into object space adjacent subarea imagesobjExpressed as:
Figure BDA00029508139500001012
wherein EobjA coarse registration constraint for the object-side neighboring subregion images can be provided.
Step S54, in the overlapping area of the images of the adjacent sub-areas of the object space, respectively extracting image features with the quantity not less than 4 from the two images by using a Scale Invariant Feature Transform (SIFT) algorithm, and establishing an accurate matching relation between the features by combining a fast approximate nearest neighbor matching algorithm and a random sampling consistency method, thereby estimating a projection transformation matrix M of the two images, wherein the accurate registration relation is expressed as:
Figure BDA0002950813950000111
wherein Ki(j+1)And
Figure BDA0002950813950000112
respectively representing the homogeneous image coordinates of the object subregion images of the ith row and the jth +1 column and the homogeneous image coordinates after the homogeneous image coordinates are registered to the object subregion images of the ith row and the jth column.
Step S6, generating high resolution image with large visual field
For the object subregion image sequence after accurate registration, processing the intensity information of the adjacent subregion images in the overlapping region by using a linear fusion strategy, namely taking the distance from the image point to the centers of the two images as weight, calculating the intensity value of the fused image at the position, and expressing the intensity value as follows:
Figure BDA0002950813950000113
wherein (x, y) is the image coordinate of any image point in the overlapping region, DijAnd Di(j+1)Respectively representing intensity images of two adjacent sub-areas of the object space,
Figure BDA0002950813950000114
representing the image after the two have been fused, omegaijAnd ωi(j+1)The value ranges are [0,1 ] respectively along with the Euclidean distance between the image point and the centers of the two images]。
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims (10)

1.一种基于消色差级联棱镜的像方扫描成像方法，其特征在于，成像系统包括依次设置的光学透镜组、消色差级联棱镜装置和相机，所述光学透镜组用于扩大成像视场范围，将来自大范围目标场景的散射光线投影到虚拟的一次像面上；所述的消色差级联棱镜装置用于改变相机的成像视轴指向，使其依次、分区域地捕获一次像面的成像光线；所述的相机用于在不同成像视角下记录图像信息，生成高分辨率的区域图像序列；所述像方扫描成像方法包括以下步骤：1. an image-side scanning imaging method based on achromatic cascaded prism, it is characterized in that, imaging system comprises optical lens group, achromatic cascaded prism device and camera that are arranged successively, and described optical lens group is used for expanding imaging vision. The field range is to project the scattered light from a wide range of target scenes onto the virtual primary image plane; the achromatic cascaded prism device is used to change the direction of the camera's imaging boresight, so that it can sequentially and sub-regionally capture the primary image The imaging light of the surface; the camera is used to record image information under different imaging viewing angles to generate a high-resolution regional image sequence; the image-side scanning imaging method includes the following steps: S1、参数匹配与模型系统构建：结合成像系统的视场角和分辨率，确定相机、消色差级联棱镜及光学透镜组的光学参数和结构参数，按照三者的相对位姿关系构建像方扫描成像模型系统及其工作坐标系；S1. Parameter matching and model system construction: Combine the field of view and resolution of the imaging system, determine the optical parameters and structural parameters of the camera, the achromatic cascade prism and the optical lens group, and construct the image square according to the relative pose relationship of the three. Scanning imaging model system and its working coordinate system; S2、建立一次成像投影模型：根据光学透镜组的结构参数和布置参数，利用几何光学描述光学透镜组对光线产生多次折射的过程，建立光线从物方入射至透镜组再出射至一次像面的成像投影模型和空间映射关系；S2. Establish a primary imaging projection model: According to the structural parameters and arrangement parameters of the optical lens group, use geometric optics to describe the process of multiple refraction of light by the optical lens group, and establish that the light is incident from the object side to the lens group and then exits to the primary image plane. The imaging projection model and spatial mapping relationship; S3、消色差级联棱镜扫描运动规划：结合一次像面的覆盖范围与相机的瞬态视场范围，确定像方扫描二次成像的子区域划分策略，计算相机对各个子区域成像所需的视轴指向角度，由此设计视轴调整过程中级联棱镜的转角变化规律；S3. Achromatic cascade prism scanning motion planning: Combine the coverage of the primary image surface and the transient field of view of the camera to determine the sub-region division strategy for the secondary imaging of the image-side scanning, and calculate the required imaging of each sub-region by the camera. The boresight pointing angle, thus designing the changing law of the rotation angle of the cascaded prisms in the boresight adjustment process; S4、像方区域图像采集校正：当消色差级联棱镜分别旋转至指定的转角位置时，触发相机在其视轴指向下对像方子区域进行二次成像，结合逆向光线追迹和一次成像投影模型，将像方子区域图像校正为物方子区域图像；S4. Image acquisition and correction in the image area: when the achromatic cascade prisms are rotated to the specified corner positions, trigger the camera to perform secondary imaging on the image area with its boresight pointing down, combining reverse ray tracing and primary imaging Projection model, which corrects the image of the sub-region of the image to the image of the sub-region of the object; S5、物方区域图像序列配准：利用相邻成像视轴指向的变化关系，预先定位两幅物方子区域图像的重合区域，并从中提取和匹配一定数量的特征点对，以此估计相邻图像的透视变换矩阵，建立图像序列的粗精两级配准关系；S5. Image sequence registration in the object-side area: using the changing relationship of the directions of the adjacent imaging axes, pre-locate the overlapping area of the two object-side sub-area images, and extract and match a certain number of feature point pairs from them, so as to estimate the relative Perspective transformation matrix of adjacent images to establish the coarse and fine two-level registration relationship of the image sequence; S6、大视场高分辨图像生成：基于精确配准之后的物方子区域图像序列，利用线性融合策略处理相邻子区域图像在重合区域的强度信息，最终拼接得到所有子区域图像构成的大视场高分辨率图像。S6. Large field of view high-resolution image generation: Based on the image sequence of the sub-region of the object square after accurate registration, the linear fusion strategy is used to process the intensity information of the adjacent sub-region images in the overlapping region, and finally a large image composed of all sub-region images is obtained by splicing. High-resolution images of the field of view. 2.根据权利要求1所述的一种基于消色差级联棱镜的像方扫描成像方法，其特征在于，所述步骤S1中，根据右手定则建立像方扫描成像模型系统的工作坐标系O-XYZ，原点O固定于相机的光心位置，Z轴与相机的光轴方向重合，X轴和Y轴均与Z轴正交，X轴和Y轴分别对应相机内图像传感器的行扫描方向和列扫描方向。2. a kind of image-side scanning imaging method based on achromatic cascade prism according to claim 1, is characterized in that, in described step S1, establishes the working coordinate system 0 of image-side scanning imaging model system according to right-hand rule -XYZ, the origin O is fixed at the optical center position of the camera, the Z axis coincides with the optical axis direction of the camera, the X axis and the Y axis are both orthogonal to the Z axis, and the X axis and the Y axis respectively correspond to the line scanning direction of the image sensor in the camera and column scan direction. 3.根据权利要求1所述的一种基于消色差级联棱镜的像方扫描成像方法，其特征在于，所述步骤S2中，利用矢量折射定律描述物方光线依次通过光学透镜组中各个元件的传播过程，从物方到一次像面的投影模型
Figure FDA0002950813940000021
表示为：3. a kind of image-side scanning imaging method based on achromatic cascade prism according to claim 1, is characterized in that, in described step S2, utilizes vector refraction law to describe object-side light rays to pass through each element in optical lens group successively The propagation process of , the projection model from the object side to the primary image plane
Figure FDA0002950813940000021
Expressed as:
Figure FDA0002950813940000022
Figure FDA0002950813940000022
 其中符号
Figure FDA0002950813940000023
表示以右侧向量为法向量，对沿着左侧向量传播的投影光线进行折射作用的过程；sobj为入射到光学透镜组的物方光线向量，
Figure FDA0002950813940000024
为经过多次折射之后投影到一次像面的光线向量；n1,n2,...,n2k表示一次成像光线先后通过的透镜面的法向量；k表示光学透镜组包含的透镜元件数量。where the symbol
Figure FDA0002950813940000023
Represents the process of refraction of the projection light propagating along the left vector with the right vector as the normal vector; s obj is the object-side light vector incident on the optical lens group,
Figure FDA0002950813940000024
is the light vector projected to the primary image surface after multiple refraction; n 1 , n 2 ,...,n 2k represents the normal vector of the lens surface through which the primary imaging light passes successively; k represents the number of lens elements included in the optical lens group . 4.根据权利要求1所述的一种基于消色差级联棱镜的像方扫描成像方法，其特征在于，所述步骤S3具体包括：4. a kind of image-side scanning imaging method based on achromatic cascade prism according to claim 1, is characterized in that, described step S3 specifically comprises: S31、根据光学透镜组的结构参数和光学参数，计算一次像面所覆盖的水平角
Figure FDA0002950813940000025
和垂直角
Figure FDA0002950813940000026
再与相机瞬态视场的水平角
Figure FDA0002950813940000027
和垂直角
Figure FDA0002950813940000028
比较，将像方扫描二次成像的子区域划分为nv×nh阵列，其中nv和nh分别为行数和列数，保证系统经过nv×nh次分区域扫描成像能够收集一次像面上的全部信息，且所有相邻子区域之间存在一定大小的重合区域；S31. Calculate the horizontal angle covered by the primary image surface according to the structural parameters and optical parameters of the optical lens group
Figure FDA0002950813940000025
and vertical angle
Figure FDA0002950813940000026
Again with the horizontal angle of the camera's transient field of view
Figure FDA0002950813940000027
and vertical angle
Figure FDA0002950813940000028
For comparison, the sub-regions of the image-side scanning secondary imaging are divided into n v ×n h arrays, where n v and n h are the number of rows and columns, respectively, to ensure that the system can collect n v ×n h sub-regional scanning imaging. All the information on the image surface at one time, and there is a certain size of overlapping area between all adjacent sub-areas; S32、结合像方扫描二次成像的子区域划分情况，估计各个子区域中心对应的成像视轴指向，由俯仰角Φ和方位角Θ描述，表示为：S32. Combined with the sub-region division of the image scanning secondary imaging, estimate the direction of the imaging boresight corresponding to the center of each sub-region, which is described by the elevation angle Φ and the azimuth angle Θ, expressed as:
Figure FDA0002950813940000029
Figure FDA0002950813940000029
 其中i和j分别为子区域所在行号和列号，atan2是值域为(-π,π]的反正切函数，λv和λh分别表示相邻子区域在垂直方向和水平方向的重合系数；where i and j are the row and column numbers of the sub-regions, respectively, atan2 is the arctangent function with a value range of (-π, π], λ v and λ h represent the vertical and horizontal coincidence of adjacent sub-regions, respectively. coefficient; S33、针对各个像方扫描子区域中心的俯仰角和方位角，利用两步法求解相应的消色差级联棱镜转角，使相机成像视轴指向该子区域中心，其解析形式为：S33. According to the pitch angle and azimuth angle of the center of each image scanning sub-area, use the two-step method to solve the corresponding achromatic cascaded prism rotation angle, so that the camera imaging boresight points to the center of the sub-area, and its analytical form is:
Figure FDA00029508139400000210
Figure FDA00029508139400000210
 其中θ1和θ2分别为两棱镜的转角值，θd为两棱镜转角之差，b1和c1均为中间变量，分别表示为：where θ 1 and θ 2 are the rotation angles of the two prisms, respectively, θ d is the difference between the rotation angles of the two prisms, and b 1 and c 1 are intermediate variables, which are expressed as:
Figure FDA0002950813940000031
Figure FDA0002950813940000031
 其中α和n分别为消色差级联棱镜的楔角和等效折射率；where α and n are the wedge angle and equivalent refractive index of the achromatic cascaded prism, respectively; S34、给定消色差级联棱镜的一系列转角数据，以棱镜运动时间最短为原则设计其旋转运动规律，由此确定级联棱镜先后到达的转角序列。S34. Given a series of rotation angle data of the achromatic cascade prism, design its rotation motion law on the principle of the shortest prism motion time, thereby determining the sequence of rotation angles that the cascade prism arrives successively. 5.根据权利要求1所述的一种基于消色差级联棱镜的像方扫描成像方法，其特征在于，所述步骤S4具体包括：5. A kind of image-side scanning imaging method based on achromatic cascade prism according to claim 1, is characterized in that, described step S4 specifically comprises: S41、每次消色差级联棱镜旋转到预期的一组转角位置时，通过软件触发相机在当前成像视轴指向下捕获对应像方子区域的图像信息；S41, every time the achromatic cascade prism rotates to an expected set of corner positions, trigger the camera through the software to capture the image information corresponding to the sub-region of the image square with the current imaging boresight pointing downward; S42、通过逆向光线追迹方法，可根据实际采集的像方子区域图像确定二次成像光线向量
Figure FDA0002950813940000032
又因消色差级联棱镜的出射光线
Figure FDA0002950813940000033
可将其对应的入射光线
Figure FDA0002950813940000034
表示为：S42. Through the reverse ray tracing method, the secondary imaging ray vector can be determined according to the actually collected sub-region image of the image square
Figure FDA0002950813940000032
And due to the outgoing light of the achromatic cascade prism
Figure FDA0002950813940000033
its corresponding incident light
Figure FDA0002950813940000034
Expressed as:
Figure FDA0002950813940000035
Figure FDA0002950813940000035
 其中
Figure FDA0002950813940000036
表示逆向追迹光线从相机成像平面出发，依次通过的棱镜折射面的法向量；in
Figure FDA0002950813940000036
Represents the normal vector of the prism refraction surface that the reverse tracing ray starts from the camera imaging plane and passes through in turn; S43、由于实际成像过程中，光线到达一次像面后直接入射消色差级联棱镜，故一次成像投影光线可根据消色差级联棱镜入射光线确定，即
Figure FDA0002950813940000037
再利用一次成像投影模型，可计算其对应的物方投影光线向量sobj，表示为：S43. In the actual imaging process, the light directly enters the achromatic cascade prism after reaching the primary image plane, so the projection light for primary imaging can be determined according to the incident light of the achromatic cascade prism, that is,
Figure FDA0002950813940000037
Using the imaging projection model again, the corresponding object-side projection ray vector s obj can be calculated, which is expressed as:
Figure FDA0002950813940000038
Figure FDA0002950813940000038
 其中
Figure FDA0002950813940000039
表示一次成像投影模型
Figure FDA00029508139400000310
的逆过程；in
Figure FDA0002950813940000039
Represents a one-shot projection model
Figure FDA00029508139400000310
the reverse process; S44、从相机采集的像方子区域图像获取所有的二次成像光线向量，代入步骤S42和S43以确定对应的物方投影光线，从而将有畸变的像方子区域图像恢复为无畸变的物方子区域图像。S44: Acquire all secondary imaging light vectors from the image sub-region image collected by the camera, and substitute in steps S42 and S43 to determine the corresponding object-side projection light, so as to restore the distorted image sub-region image to a non-distorted object Square sub-region image. 6.根据权利要求1所述的一种基于消色差级联棱镜的像方扫描成像方法，其特征在于，所述步骤S5具体包括：6. A kind of image-side scanning imaging method based on achromatic cascade prism according to claim 1, is characterized in that, described step S5 specifically comprises: S51、结合消色差级联棱镜对相机成像视轴指向的偏转特性，建立从二次成像光线向量
Figure FDA0002950813940000041
反求一次成像光线向量
Figure FDA0002950813940000042
的近似变换矩阵R，表示为：S51. Combine the deflection characteristics of the achromatic cascade prism to the camera's imaging boresight to establish a light vector from the secondary imaging
Figure FDA0002950813940000041
Reverse the imaging ray vector once
Figure FDA0002950813940000042
The approximate transformation matrix R of , expressed as: R(Φ,Θ)＝A(Θ)+[I-A(Θ)]·cosΦ+B(Θ)·sinΦR(Φ,Θ)=A(Θ)+[I-A(Θ)]·cosΦ+B(Θ)·sinΦ 其中I为三阶单位矩阵，矩阵A和B均与方位角Θ有关，表示为：where I is the third-order unit matrix, and the matrices A and B are both related to the azimuth angle Θ, which is expressed as:
Figure FDA0002950813940000043
Figure FDA0002950813940000043
 S52、根据像方相邻子区域图像之间的近似变换矩阵，确定其中一幅图像在另一幅图像中的相对位置，从而确定两者的重合区域边界；以第i行、第j列的子区域图像Iij及其相邻的第i行、第j+1列的子区域图像Ii(j+1)为例，图像Ii(j+1)的边界在图像Iij的坐标系下表示为：S52. Determine the relative position of one of the images in the other image according to the approximate transformation matrix between the images of the adjacent sub-regions on the image side, so as to determine the overlapping region boundary of the two; Take the image I ij and its adjacent sub-region image I i(j+1) in the ith row and the j+1th column as an example, the boundary of the image I i(j+1) is represented in the coordinate system of the image I ij for:
Figure FDA0002950813940000044
Figure FDA0002950813940000044
 其中为pi(j+1)表示图像Ii(j+1)边界上任意一点的齐次图像坐标，
Figure FDA0002950813940000045
为将其转换到图像Iij坐标系下之后的齐次图像坐标，ω为尺度因子；在图像Iij的坐标系下比较相邻图像Iij和Ii(j+1)的边界位置，即可确定两者的重合区域边界
Figure FDA0002950813940000046
where p i(j+1) represents the homogeneous image coordinates of any point on the boundary of the image I i(j+1) ,
Figure FDA0002950813940000045
In order to convert it to the homogeneous image coordinates in the image I ij coordinate system, ω is the scale factor; in the image I ij coordinate system, compare the boundary positions of the adjacent images I ij and I i(j+1) , namely The boundary of the overlapping area of the two can be determined
Figure FDA0002950813940000046
 S53、利用一次成像投影模型，将像方相邻子区域图像的重合区域边界Eimg映射为物方相邻子区域图像的重合区域边界Eobj，表示为：S53. Using the primary imaging projection model, map the overlapping region boundary E img of the adjacent sub-region images on the image side to the overlapping region boundary E obj of the adjacent sub-region images on the object side, expressed as:
Figure FDA0002950813940000047
Figure FDA0002950813940000047
 其中Eobj可以提供物方相邻子区域图像的粗配准约束；Among them, E obj can provide the coarse registration constraints of the adjacent sub-region images of the object side; S54、在物方相邻子区域图像的重合区域中，提取一定数量的图像特征，并建立两幅图像之间的特征匹配关系，由此估计两幅图像的投影变换矩阵M，其精配准关系表示为：S54. Extract a certain number of image features in the overlapping area of the adjacent sub-region images on the object side, and establish a feature matching relationship between the two images, thereby estimating the projection transformation matrix M of the two images, and the precise registration relationship represents for:
Figure FDA0002950813940000048
Figure FDA0002950813940000048
 其中Ki(j+1)和
Figure FDA0002950813940000049
分别表示第i行、第j+1列的物方子区域图像的齐次图像坐标及其配准到第i行、第j列的物方子区域图像之后的齐次图像坐标。where K i(j+1) and
Figure FDA0002950813940000049
respectively represent the homogeneous image coordinates of the object-side sub-region image in the i-th row and the j+1-th column and the homogeneous image coordinates after they are registered to the object-space sub-region image in the i-th row and the j-th column. 7.根据权利要求1所述的一种基于消色差级联棱镜的像方扫描成像方法，其特征在于，所述步骤S6中，对于任意两幅物方相邻子区域图像，利用线性融合策略处理其在重合区域中的强度信息，即以某点到两幅图像中心的距离为融合强度的权重，表示为：7. a kind of image-side scanning imaging method based on achromatic cascade prism according to claim 1, is characterized in that, in described step S6, for any two pieces of object side adjacent sub-region images, utilize linear fusion strategy to process its. The intensity information in the overlapping area, that is, the distance from a certain point to the center of the two images as the weight of the fusion intensity, is expressed as:
Figure FDA0002950813940000051
Figure FDA0002950813940000051
 其中(x,y)为重合区域内某特定像点的图像坐标，Dij和Di(j+1)分别表示两幅物方相邻子区域图像，
Figure FDA0002950813940000052
表示两者融合之后的图像，ωij和ωi(j+1)分别随着该像点与两幅图像中心的欧式距离线性变化，取值范围为[0,1]。where (x, y) are the image coordinates of a specific image point in the overlapping area, and D ij and D i(j+1) represent two adjacent sub-area images on the object side, respectively.
Figure FDA0002950813940000052
Represents the image after the fusion of the two, ω ij and ω i(j+1) respectively change linearly with the Euclidean distance between the image point and the center of the two images, and the value range is [0,1]. 8.根据权利要求1所述的一种基于消色差级联棱镜的像方扫描成像方法，其特征在于，所述的消色差级联棱镜装置包括一对消色差棱镜及各自的旋转驱动机构，两块消色差棱镜保持光轴相互对准，并采取平面相对或楔面相对的布置形式。8. The image-side scanning imaging method based on an achromatic cascaded prism according to claim 1, wherein the achromatic cascaded prism device comprises a pair of achromatic prisms and a respective rotational drive mechanism, The two achromatic prisms keep the optical axes aligned with each other, and take the form of plane facing or wedge facing arrangement. 9.根据权利要求8所述的一种基于消色差级联棱镜的像方扫描成像方法，其特征在于，所述的旋转驱动机构采用力矩电机直驱或齿轮传动、同步带传动或蜗轮蜗杆传动方式。9. A kind of image-side scanning imaging method based on achromatic cascade prism according to claim 8, is characterized in that, described rotary drive mechanism adopts torque motor direct drive or gear drive, synchronous belt drive or worm gear drive Way. 10.根据权利要求8所述的一种基于消色差级联棱镜的像方扫描成像方法，其特征在于，所述的相机与消色差级联棱镜、光学透镜组均满足同轴布置关系，相机的成像靶面与两块消色差棱镜的平面侧相互平行。10. The image-side scanning imaging method based on an achromatic cascade prism according to claim 8, wherein the camera, the achromatic cascade prism and the optical lens group all satisfy the coaxial arrangement relationship, and the camera The imaging target surface is parallel to the plane sides of the two achromatic prisms.
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