CN101866056A - 3D imaging method and system based on LED array common lens TOF depth measurement - Google Patents
3D imaging method and system based on LED array common lens TOF depth measurement Download PDFInfo
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Abstract
The invention discloses a 3D imaging method and system based on LED array common lens TOF depth measurement, which is characterized in that a 2D LED array is used as the lighting source, only one LED is in the lightened state every time, the modulated light emitted by the LED is projected onto the surface of the target by a projecting lens, a photoelectric receiver receives the scattered light on the surface of the target, measures the round-trip time of flight (TOF) from the light source to the target, acquires the LED depth pixel value in the lightened state according to the round-trip TOF and completes measurement of the single LED depth pixel value; time division scanning is carried out on the whole 2D LED array, the measurement process of the single LED depth pixel value is repeated and all the LED depth pixel values are acquired and are combined to generate the depth image of the target; a 2D image sensor acquires the 2D image of the target after the scattered light on the surface of the target passes through a 2D imaging lens; the projecting lens and the 2D imaging lens are the same; and the 2D image and the depth image are fused to generate the 3D image of the target. The depth image is fast in acquisition and the depth measurement resolution is high.
Description
Technical field
The present invention relates to find range imaging and three-dimensional imaging technical field, particularly a kind of three-D imaging method and system based on led array common lens TOF depth survey.
Background technology
Existing two-dimentional 2D imaging technique based on CCD/CMOS photograph and Digital Image Processing has been obtained significant progress, and has obtained to use widely.Yet for the real world of three-dimensional, the two dimensional image that uses the conventional two-dimensional imaging technique to obtain is not sufficient to give full expression to all information, has therefore limited its application in a lot of fields.In order to solve the above problems, three-dimensional imaging (3D Imaging) technology is arisen at the historic moment.Three-dimensional imaging is meant to be noted the 3-D view of objective world by certain special method, also finally reproduce objective true picture by processes such as processing, compression, transmission, demonstrations in people's brain then.Owing to compare with the two-dimensional imaging on the ordinary meaning, three-dimensional imaging has comprised the distance or the depth information of the third dimension, the position and the movable information of object in the true three-dimension scene can be described more fully, therefore have many outstanding advantages, be with a wide range of applications in fields such as machine vision, profiling in kind, industrial detection, biomedicine, reverse engineering, virtual realities.
Based on anallatic three-dimensional imaging technology since have differentiate high, need not advantage such as contact, become the domestic and international research focus gradually.At present most of optical 3-dimensional imaging system of research all is based on trigonometry (Triangulation) or flight time (Time-of-Flight:TOF) principle and comes measuring distance.3-D imaging system based on triangle measurement method, comprise passive trigonometry (as stereo vision method) and active trigonometry (as the projecting structural optical method), they all need to handle " shade " effect or projected fringe " fuzzy problem, therefore strict their range of application that limited.For example stereo vision method generally can only be used for contrast higher three-dimensional scenic identification of targets and analysis, because this method is when determining the range information of the third dimension, the coupling that two width of cloth that need obtain different visual directions or multiple image carry out unique point, therefore, need carry out complicated signal Processing and a large amount of data computation consuming time; The reflectivity that target often lacks each point on the structural information of feature or the target in the practical application does not have notable difference in addition, at this moment mates calculating and can become very difficult even produce mistake, and the depth survey precision will be had a strong impact on.
Compare with triangle measurement method, based on the distance-finding method of flight time TOF since transmitter unit and receiving element on same straight line, therefore can not produce incomplete data, not have " shade " effect, this feasible distance-finding method based on flight time TOF has range of application more widely.But, traditional optical 3-dimensional imaging system based on flight time TOF, in fact laser imaging radar for example can only measure any distance (one dimension range finding).In order to obtain three-dimensional information, need to use precision, heaviness and expensive mechanical scanner that laser beam is carried out mechanical scanning to tested scene on other both direction, so the depth image acquisition speed is slow, real-time is poor; Because mechanical scanner itself exists aging and wear phenomenon, utilize between the depth image of this method acquisition and the two dimensional image alignment precision poor.In addition, this system also is difficult to obtain breakthrough raising at aspects such as antivibration, volume, weight and costs.
Summary of the invention
The objective of the invention is at existing three-D imaging method and system have that the depth image acquisition speed is slow, deficiency such as alignment precision difference between depth image and the two dimensional image, a kind of three-D imaging method and system based on led array common lens TOF depth survey proposed, be used for realizing quick, high accuracy three-dimensional imaging, satisfy of the active demand of existing numerous areas the high performance three-dimensional imaging.
The present invention solves the technical scheme that its technical matters takes:
The present invention is based on the three-D imaging method of led array common lens TOF depth survey, be characterized in:
The two-dimentional led array that adopts the luminous power modulation is as lighting source, LEDs in the described two-dimentional led array is only arranged is illuminating state at every turn, the light modulated of described LED emission projects the surface of target through projecting lens, receive the scattered light of described target surface with photelectric receiver, the turnaround time TOF of measurement between from the light source to the target, the described turnaround time TOF of foundation calculates the degree of depth pixel value of the LED of described illuminating state, finishes the measurement of single led degree of depth pixel value;
Time-division is scanned whole two-dimentional led array, repeats the measuring process of described single led degree of depth pixel value, obtains the depth image that whole LED degree of depth pixel values and combination generate target; Simultaneously, the scattered light of target surface is received by two-dimensional CCD/cmos image sensor behind the two-dimensional imaging lens, obtains the two dimensional image of target; Described projecting lens is set and the two-dimensional imaging lens are same lens, depth image and two dimensional image are aimed in real time;
Described two dimensional image and depth image are merged generation Three-dimension Target image.
The characteristics that the present invention is based on the three-D imaging method of led array common lens TOF depth survey also are: beam splitter is set, and the light modulated of described led light source emission arrives projecting lens through the beam splitter transmission; The scattered light of described target surface arrives described two-dimensional CCD/cmos image sensor through described beam splitter reflection again behind the two-dimensional imaging lens.
The characteristics that the present invention is based on the 3-D imaging system of led array common lens TOF depth survey are:
Photoelectricity modulated scanning circuit is set the Output optical power of the led array of N * M is modulated and time-division scanning, at any time, only have a LEDs to be lighted in the whole LED array; The light modulated of LED emission is divided into transmitted light and reflected light after arriving beam splitter, and described transmitted light is projected in the surface of target through lens, the scattered light that produces with photelectric receiver PD1 receiving target surface; Described reflected light is directly received by photelectric receiver PD2;
TOF depth survey circuit (8) is set, handle the photosignal of photelectric receiver PD1 and photelectric receiver PD2 output respectively with described TOF depth survey circuit (8), calculate each LED degree of depth pixel value successively, the degree of depth pixel value of described LED makes up the depth image that generates target in PC; Simultaneously the scattered light of target surface is through lens, received by two-dimensional CCD/cmos image sensor through beam splitter reflection back again, and the two dimensional image of the target of aiming in real time through the acquisition of two dimensional image signal processing circuit and described depth image;
Described depth image and two dimensional image merge generation Three-dimension Target image in PC.
The characteristics of system of the present invention also are to include a reaction type automatic gain control agc circuit in described TOF depth survey circuit, described reaction type agc circuit adopts the squared magnitude testing circuit that input signal is carried out amplitude detection, its output signal is behind the second fixed gain amplifying circuit, be admitted to the higher hamonic wave that inductance resistance LR low-pass filter produces with filtering, the DC level of its output is used to control the gain of variable-gain amplification circuit; Input signal obtains the output signal of reaction type agc circuit after variable-gain amplification circuit and the amplification of the first fixed gain amplifying circuit.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, the present invention adopt swift electron scanning two-dimentional led array as lighting source, imaging without any need for machinery move and rotary part;
2, the present invention by adopt high precision, fast squared magnitude testing circuit and short LR low-pass filter of response time to have made up the gain control precision high and respond reaction type agc circuit fast, and use it for quick TOF depth survey, the depth image acquisition speed of imaging system is fast, and depth survey resolution height;
3, the shared same lens imaging of two dimensional image and depth image among the present invention can overcome the intrinsic Aberration Problem of using different lens imagings to bring, can realize that depth image aims at the real-time high-precision between the two dimensional image;
4, by intensive encapsulation can obtain highdensity two-dimentional led array to the LED tube core, therefore, the depth image pixel quantity of imaging system of the present invention is big, the spatial resolution height;
5, the DC component of imaging system by producing by the surround lighting effect in the AC coupling filtering reception photosignal of little electric capacity among the present invention, so imaging system has very strong anti-ambient light interference ability.
6, imaging system of the present invention is simple in structure, volume is little, cost is low.
Description of drawings
Fig. 1 is a structural principle synoptic diagram of the present invention.
Fig. 2 is a reaction type agc circuit block diagram.
The specific embodiments that Fig. 3 obtains for depth image.
Embodiment
Three-D imaging method based on led array common lens TOF depth survey in the present embodiment carries out as follows:
1, adopt the two-dimentional led array of luminous power modulation as lighting source, LEDs in the two-dimentional led array is only arranged is illuminating state at every turn, the light modulated of LED emission projects the surface of target 1 through projecting lens, scattered light with photelectric receiver 6 receiving targets 1 surface, measurement is the turnaround time TOF between 1 from the light source to the target, calculate the degree of depth pixel value of the LED of illuminating state according to turnaround time TOF, finish the measurement of single led degree of depth pixel value;
2, the time-division is scanned whole two-dimentional led array, repeats the measuring process of single led degree of depth pixel value, obtains the depth image that whole LED degree of depth pixel values and combination generate target 1; Simultaneously, the scattered light on target 1 surface is received by two-dimensional CCD/cmos image sensor 9 behind the two-dimensional imaging lens, obtains the two dimensional image of target 1; It is same lens 2 that projecting lens and two-dimensional imaging lens are set, and depth image and two dimensional image are aimed in real time;
3, two dimensional image and depth image are merged the 3-D view that generates target 1.
In concrete the enforcement, beam splitter 3 is set, the light modulated of led light source emission arrives projecting lens through beam splitter 3 transmissions; The scattered light on target 1 surface arrives described two-dimensional CCD/cmos image sensor 9 through beam splitter 3 reflections again behind the two-dimensional imaging lens.
Being embodied as based on the 3-D imaging system of led array common lens TOF depth survey in the present embodiment:
Referring to Fig. 1, the Output optical power that the led array 4 of 5 couples of N * M of photoelectricity modulated scanning circuit is set is modulated and time-division scanning, at any time, only has a LEDs to be lighted in the whole LED array 4; The light modulated of LED emission is divided into transmitted light and reflected light after arriving beam splitter 3, and transmitted light is projected in the surface of target 1 through lens 2, the scattered light that produces with PD1 photelectric receiver 6 receiving targets 1 surface; Reflected light is directly received by PD2 photelectric receiver 7; TOF depth survey circuit 8 is set, handle the photosignal of PD1 photelectric receiver 6 and 7 outputs of PD2 photelectric receiver respectively with TOF depth survey circuit 8, calculate each LED degree of depth pixel value successively, the degree of depth pixel value of LED makes up the depth image that generates target 1 in PC 11; Simultaneously, the scattered light on target 1 surface is received by two-dimensional CCD/cmos image sensor 9 through beam splitter 3 reflection back through lens 2 again, and the two dimensional image of the target 1 of aiming in real time through 10 acquisitions of two dimensional image signal processing circuit and depth image; Depth image and two dimensional image merge the 3-D view that generates target 1 in PC.
In the present embodiment, in TOF depth survey circuit 8, include a reaction type automatic gain control agc circuit, reaction type automatic gain control agc circuit adopts 15 pairs of input signals of squared magnitude testing circuit to carry out amplitude detection, its output signal is behind the first fixed gain amplifying circuit 16, be admitted to the higher hamonic wave that inductance resistance LR low-pass filter 14 produces with filtering, the DC level of its output is used to control the gain of variable-gain amplification circuit 12.Input signal finally obtains the output signal of reaction type agc circuit 22 after variable- gain amplification circuit 12 and 13 amplifications of the second fixed gain amplifying circuit.
TOF range finding is to use constant and flight time t measuring light of light velocity c to obtain tested distance.The depth value of each LED pixel can adopt photoelectricity phase-shift type TOF distance-finding method to obtain in the led array, promptly uses frequency to be f
mContinuous sine wave the Output optical power of LED in the array is modulated, the phase shifts ΔΦ that the turnaround time t of direct measuring light is converted into the indirect measurement modulation signal corresponding with t obtains tested apart from d:
Because the flying speed of light is very fast, adopts this method can avoid the extremely of short duration difficulty that flight time brought of direct measuring light, can obtain very high resolution of ranging again simultaneously.
Fig. 3 is the specific embodiments that depth image obtains, and also is an embodiment of TOF depth survey circuit 8.At first frequency of utilization is f
mThe continuous sine wave that produces of modulation source 17 behind driver 18, the Output optical power of LED in N * M led array 4 is modulated, and with output light modulated project on the target 1 through lens 2, then use the scattered light signal on photelectric receiver PD1 receiving target 1 surface, after being translated into corresponding electric signal, by main produce and DC component that influence depth survey resolution in this signal of AC coupling effect filtering of little electric capacity by the surround lighting effect, use the alternating component in 19 pairs of these signals of low noise amplifier to amplify then, and and f
o Local oscillator 21 is carried out difference frequency and is handled to obtain Low Medium Frequency signal f
IAdopt quick reaction type agc circuit 22 that it is carried out automatic gain then and control and send into bandpass filter 23 and carry out Filtering Processing, in phase shift detection module 24, adopt the intermediate-freuqncy signal f of " 4 points " phase algorithm at last the high s/n ratio of acquisition
ICarry out phase-detection.
Other one road PD2 reception treatment channel is used as reference channel in the imaging system, be used for directly receiving LED light signal without the lens projection, the signal processing flow of this reference channel and last one tunnel identical its objective is for the temperature that reduces circuit and floats the error that phase-shift measurement is introduced.In concrete the enforcement, it is little that the temperature of ifs circuit is floated the error that phase-shift measurement is introduced, also can in system, remove photelectric receiver PD2 and receive treatment channel accordingly, directly use the reference signal of the sinusoidal modulation signal of modulation source 17 generations as phase measurement.
In addition, the faint light electric signal that two-way PD receiving cable all adopts the fully differential mode to handle to obtain, purpose is in order to suppress common mode interference signal, to improve the signal to noise ratio (S/N ratio) of imaging system, improving final depth survey resolution.
After the phase place that records the two-way intermediate-freuqncy signal respectively, in phase shift detection module 24, both are made difference and can obtain phase shift ΔΦ corresponding to the light flight time.Bring the phase shift ΔΦ that obtains into formula (1) at last, just can obtain final testedly by the processing unit circuit, and corresponding results mail to PC 11 apart from d.After the distance that obtains single led degree of depth pixel,, finally realize obtaining of entire depth image by two-dimentional led array being carried out time-division scanning.
Time-division scan control flow process:
When imaging system was worked, the certain time interval of being separated by was lighted each LEDs in the array successively, up to traversal whole LED array.At any time, only there is a LEDs to be in illuminating state in the whole array, and other LED extinguishes, and the duration that every LEDs is lighted also fixes, this fixedly duration be to determine according to the demand of what and practical application of imaging system depth image pixel.N=M=10 for example promptly is 10 * 10 led array for degree of depth pixel, if practical application needs the kinetic measurement speed of 10 frame/seconds, the fixedly duration that every LEDs is lighted in the array is 1ms so; At this 1ms in the time, imaging system need be finished the quick TOF range observation of a LED degree of depth pixel and result's transmission work, imaging system is extinguished this LEDs after this, lights next adjacent LED lamp, and the degree of depth pixel that enters the next 1ms cycle is measured and result's transmission; By that analogy, the circulation measurement of finishing the measurement of a whole frame depth image and entering next frame up to traversal whole LED array.
In TOF depth survey circuit 8, adopt the intermediate-freuqncy signal after 22 pairs of mixing of reaction type agc circuit to handle, can prevent that photosignal that photelectric receiver PD1 receives is owing to the difference of self amplitude size is introduced phase shift or range observation error.Because need in a short period of time this intermediate-freuqncy signal to be carried out automatic gain control, this agc circuit requires to have the extremely short response time.For example be 10 * 10 led array, if practical application needs the kinetic measurement speed of 10 frame/seconds, the measurement time t of each LED degree of depth pixel so for degree of depth pixel
S=1ms is in order to guarantee high depth survey resolution, the response time t of agc circuit
RShould be far smaller than t
S, for example desirable t
R=t
S/ 10=0.1ms.And traditional reaction type agc circuit often needs the long response time (generally greater than level second), for example uses diode detection, and the agc circuit of RC filtering does not meet application requirements herein; Although existing feed forward type agc circuit has the very short response time, can not be used for high-precision phase shift or distance detecting occasion here because its gain control precision is relatively poor.
Fig. 2 is for gain control precision height and respond reaction type agc circuit block scheme fast, and amplitude and the frequency of wherein importing intermediate-freuqncy signal are about 0.5～20mV
P-pAnd 10KHz～1MHz.Input signal is carried out the squared magnitude testing circuit 15 of amplitude detection and can select very short two balance simulation multipliers of response time for use, and variable-gain amplification circuit 12 can adopt difference current modal gain control circuit, and the first fixed gain amplifying circuit 13 and the second fixed gain amplifying circuit 16 are common differential amplifier.Signal through 16 outputs of the second fixed gain amplifying circuit is admitted to the higher hamonic wave that LR low-pass filter 14 produces with filtering, this is to have utilized the induction reactance of inductance along with frequency input signal raises and the characteristic of increase, therefore this wave filter is except having good low-pass filter effect, also have the very short response time, can obviously be better than 0.1ms.The flat gain that is used to control variable-gain amplification circuit 12 of the output DC of LR low-pass filter 14.Input signal finally can obtain the output signal of reaction type agc circuit 22 after variable- gain amplification circuit 12 and 13 amplifications of the first fixed gain amplifying circuit.
Two-dimensional CCD/cmos image sensor 9 can be selected ripe two-dimensional image sensor MI360 for use, two dimensional image signal processing circuit 10 can be used existing special image process chip ZC0301, by both obtaining in conjunction with the two dimensional image of finishing real-time high pixel jointly.
By 3 couples of N of application beam splitter * M led array 4 projection optical transmission effects with to tested objective 1 surface scattering reflection of light effect, lens 2 not only are used as the projecting lens of led array depth survey, simultaneously also be used to collect the scattered light on target 1 surface, two-dimensional imaging lens as target 1, realize depth image and shared same lens 2 imagings of two dimensional image, use the intrinsic Aberration Problem that different lens imaging brought thereby overcome, realize the real-time high-precision aligning between two dimensional image and the depth image, detailed light channel structure as shown in Figure 1.
Fig. 1 has provided a kind of light channel structure of depth image and shared same lens 2 imagings of two dimensional image, in concrete the enforcement, at least another kind of light channel structure can also be arranged: keep the putting position and the angle of beam splitter 3 among Fig. 1 constant, the position of N among Fig. 1 * M led array 4 and two-dimensional CCD/cmos image sensor 9 is exchanged, make the light modulated of led light source emission arrive lens 2 through beam splitter 3 reflections; The scattered light on target 1 surface arrives two-dimensional CCD/cmos image sensor 9 through beam splitter 3 transmissions again behind lens 2.
In order to meet the requirement of common lens imaging, beam splitter 3 needs to provide same visual field to N * M led array 4 and two-dimensional CCD/cmos image sensor 9 after installation, and the area of N * M led array 4 size must be identical with the area size of two-dimensional CCD/cmos image sensor 9.Can utilize existing ripe microelectronic technique, LED tube core to small size carries out intensive encapsulation, to form the led array chip of high pixel small size, this is not only the effective ways that reduce the led array area, simultaneously also be to increase LED depth image pixel quantity, improve the effective way of imaging system spatial resolution.The LED tube core of all modulated emissions has identical temperature environment in the array when the small size led array of intensive encapsulation can also guarantee carrying out depth survey, can reduce the influence of temperature effect to depth survey resolution, can also reduce simultaneously the diameter of projection imaging lens 2, dwindle the volume of whole optical imaging system.In addition, if when the LED tube core is carried out intensive encapsulation, be integrated into some simple LED array ranks gating and driving circuits, can further improve the integrated level of system and make up the 3-D imaging system of compact more.
In PC, based on the image processing algorithm of maturation, with the two dimensional image that obtains with the depth image data " fusions " be in the same place, can obtain finally required high-performance real time 3-D image.In addition, if the depth image pixel quantity that obtains in the actual imaging system is less than the pixel quantity of two dimensional image, can be at first depth image be carried out carrying out after the interpolation processing the two Data Fusion again.
Claims (4)
1. three-D imaging method based on led array common lens TOF depth survey is characterized in that:
The two-dimentional led array that adopts the luminous power modulation is as lighting source, LEDs in the described two-dimentional led array is only arranged is illuminating state at every turn, the light modulated of described LED emission projects the surface of target (1) through projecting lens, receive the scattered light on described target (1) surface with photelectric receiver (6), measurement is the turnaround time TOF between (1) from the light source to the target, the described turnaround time TOF of foundation calculates the degree of depth pixel value of the LED of described illuminating state, finishes the measurement of single led degree of depth pixel value;
Time-division is scanned whole two-dimentional led array, repeats the measuring process of described single led degree of depth pixel value, obtains the depth image that whole LED degree of depth pixel values and combination generate target (1); Simultaneously, the scattered light on target (1) surface is received by two-dimensional CCD/cmos image sensor (9) behind the two-dimensional imaging lens, obtains the two dimensional image of target (1); It is same lens (2) that described projecting lens and two-dimensional imaging lens are set, and depth image and two dimensional image are aimed in real time;
Described two dimensional image and depth image are merged the 3-D view that generates target (1).
2. the three-D imaging method based on led array common lens TOF depth survey according to claim 1 is characterized in that: beam splitter (3) is set, and the light modulated of described led light source emission arrives projecting lens through beam splitter (3) transmission; The scattered light on described target (1) surface arrives described two-dimensional CCD/cmos image sensor (9) through described beam splitter (3) reflection again behind the two-dimensional imaging lens.
3. 3-D imaging system based on led array common lens TOF depth survey is characterized in that:
Photoelectricity modulated scanning circuit (5) is set the Output optical power of the led array (4) of N * M is modulated and time-division scanning, at any time, only have a LEDs to be lighted in the whole LED array (4); The light modulated of LED emission is divided into transmitted light and reflected light after arriving beam splitter (3), and described transmitted light is projected in the surface of target (1) through lens (2), the scattered light that produces with photelectric receiver PD1 (6) receiving target (1) surface; Described reflected light is directly received by photelectric receiver PD2 (7);
TOF depth survey circuit (8) is set, handle the photosignal of photelectric receiver PD1 (6) and photelectric receiver PD2 (7) output respectively with described TOF depth survey circuit (8), calculate each LED degree of depth pixel value successively, the degree of depth pixel value of described LED makes up the depth image that generates target (1) in PC (11); Simultaneously the scattered light on target (1) surface is through lens (2), received by two-dimensional CCD/cmos image sensor (9) through beam splitter (3) reflection back again, and the two dimensional image of the target (1) of aiming in real time through two dimensional image signal processing circuit (10) acquisition and described depth image;
Described depth image and two dimensional image merge the 3-D view that generates target (1) in PC (11).
4. the 3-D imaging system based on led array common lens TOF depth survey according to claim 3, it is characterized in that in described TOF depth survey circuit (8), including a reaction type automatic gain control agc circuit (22), described reaction type agc circuit (22) adopts squared magnitude testing circuit (15) that input signal is carried out amplitude detection, its output signal is behind the second fixed gain amplifying circuit (16), be admitted to the higher hamonic wave that inductance resistance LR low-pass filter (14) produces with filtering, the DC level of its output is used to control the gain of variable-gain amplification circuit (12); Input signal obtains the output signal of reaction type agc circuit (22) after variable-gain amplification circuit (12) and the amplification of the first fixed gain amplifying circuit (13).
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