Long-range three-dimensional active imaging with superresolution depth mapping

We present a technique to overcome the depth resolution limitation for 3D active imaging. Applying microsecond laser pulses and sensor gate width, a scene of several hundred meters is illuminated and recorded in a single image. The trapezoid-shaped range intensity profile is analyzed to obtain both the reflectivity and the depth of scene. We demonstrate a 3D scene reconstruction in a depth of 650 to 1550 m from only three images with an accuracy of <30 m. This depth accuracy is 10 times better than estimated from the classical resolution limit obtained for depth scanning active imaging with a similar number of images. Therefore, this technique enables superresolution depth mapping with a reduction of image data processing.     

Fusion of 3D laser scanner and depth images for obstacle recognition in mobile applications

The problem of obstacle detection and recognition or, generally, scene mapping is one of the most investigated problems in computer vision, especially in mobile applications. In this paper a fused optical system using depth information with color images gathered from the Microsoft Kinect sensor and 3D laser range scanner data is proposed for obstacle detection and ground estimation in real-time mobile systems. The algorithm consists of feature extraction in the laser range images, processing of the depth information from the Kinect sensor, fusion of the sensor information, and classification of the data into two separate categories: road and obstacle. Exemplary results are presented and it is shown that fusion of information gathered from different sources increases the effectiveness of the obstacle detection in different scenarios, and it can be used successfully for road surface mapping.     

基于小波概率估计的图像融合方法研究

在研究了已有的图像融合方法后,提出基于小波变换和最大似然概率估计(MLE)相综合的融合方法,利用概率估计融合模型,首先对不同的传感器图像进行小波分解,然后对相应的子带求解仿射变换参数,根据Bayes规则进行最大后验概率似然估计,得到估计子带系数,最后通过小波反变换得到融合图像.在仿射变换的假设条件下定义融合规则,更适合传感器图像具有局部相反对比度的情况,采用此方法对航空可见光图像和红外图像进行融合实验,其结果与采用其它方法进行了对比,表明该方法的有效性.     

基于环境光检测的场景融合系统

基于深度相机和人眼检测模型实时返回观察者眼睛的位置坐标,利用坐标转换模型计算合理的显示区域,通过颜色传感器的颜色分量数据估计环境色温和亮度;根据提前标定的显示参数映射表调整显示状态,使其最接近环境光的色彩表现。搭建了场景融合实验系统,系统分为位置监测相机、图像采集相机、颜色传感器、显示设备、处理器五部分.分别在色温为6354 K,照度为160 lx的室内场景和色温为6197 K,照度为848 lx的室外场景下进行融合实验.实验结果表明,场景融合方案能够为不同位置的观察者调整显示画面,并根据环境光信息改变显示参数,融合效果优良,单次执行仅需283 ms.     

Real-Time Generation of Dynamic Infrared Scene

Although many models have been put forward to realize static infrared scene, they could not generate dynamic infrared scene real time in interactive way. In this paper a new method is proposed to solve the problem. We first model the targets and background of infrared scene based on the hybrid way of geometry and multi-spectral texture images. Then considering the attenuation effect of atmosphere and the noise mechanic of infrared image sensor, we present an infrared depth image model to generate dynamic images of the objects in the scene from different viewpoint. The complexity of infrared dynamic scene is thus reduced greatly and the reality of infrared scene is improved. Finally, real-time walkthrough for infrared scene is successfully realized and the average walkthrough speed is larger than 25 frames per second.     

Passive three-dimensional imaging using polarimetric diversity

The results of experiments in developing a method for extracting three-dimensional information from a scene by means of a polarimetric passive imaging sensor are summarized. This sensor provides a full Stokes vector at each sensor pixel location from which degree and angle of linear polarization are computed. The angle of linear polarization provides the azimuth angle of the surface normal vector. The depression angle of this surface normal vector is obtained in terms of the emitting object's index of refraction from the solution of an equation derived from Fresnel equations, Snell's law, and percent of linear polarization. Results of the application of this approach to simulated infrared polarimetric data are provided.     

Coloring night vision imagery for depth perception

Depth perception for night vision （NV） imagery could largely improve scene comprehension. We present a novel scheme to give fused multi-band NV imagery smoothly natural color appearance as well as depth sense from color. Our approach is based on simulating color cues by varying saturation values of each object in the color NV image, in correspondence with the ratio between the infrared and low-light-level sensor outputs which in practice is the depth feature for same materials. We render the NV image segment- by-segment by taking advantage image fusion. Experiments have of image segmentation, dominant shown that the proposed scheme color transfer, saturation variation, and can achieve satisfying results.     

Multiaperture telecentric lens for 3D reconstruction

We present a telecentric lens that is able to gain 3D information. The proposed lens system has multiple aperture stops, which enable it to capture multidirectional parallel light rays, while a conventional telecentric lens has only one aperture stop and can capture only light rays that are perpendicular to the lens. We explain the geometry of the multiaperture telecentric system and show that correspondences fall on a line like those in a conventional stereo. As it is a single-lens sensor, we also introduce the principles of 3D reconstruction. Unlike a conventional stereo camera, the disparity of a scene point measured by the proposed lens system is linearly proportional to the depth of a scene point.     

TOMBO sensor with scene-independent superresolution processing

One approach to flat sensor design is to use a lenslet array to form multiple subimages of a scene and then combine the subimages to recover a fully sampled image by using a superresolution algorithm. Previously, superresolution image assembly has been based on information derived from the observed scene. For lenslet arrays, we propose a new scene-independent approach based only on known imager properties in which relative subimage shifts are accurately estimated with a calibration procedure using point source imaging. Thus, the relative resolution enhancement provided by the scene-independent superresolution algorithm is impervious to changes in subimage content, contrast, sharpness, and noise.     

旋转扫描式成像光谱仪高光谱的几何变形矫正

Offner成像光谱仪是一种线推扫式成像系统,需要光谱仪与物体之间存在相对移动,从而记录整个区域的光谱和形貌信息。在光谱仪镜头前放置一块反射镜进行旋转扫描,也可以对大尺度物体进行高光谱成像,并且相机固定不动。然而旋转扫描时,记录的高光谱图存在较大的几何误差。该工作分析一般情况下Offner成像光谱仪单次拍摄得到的物点和像点的投影关系;根据投影关系,以旋转角为变量,分析物点在成像面上的投影分布,给出图像几何变形的矫正方法。在成像光谱仪上设计并安装了反射镜旋转扫描装置,进行旋转扫描实验,通过矫正算法,得到了清晰的高光谱图。     

Depth map resolution improvement for 3D range-intensity correlation laser imaging

This Letter proposes a high bit-depth coding method to improve depth map resolution and render it suitable to human-eye observation in 3D range-intensity correlation laser imaging. In this method, a high bit-depth CCD camera with a nanosecond-scaled gated intensifier is used as an image sensor; subsequently two high bit-depth gate images with specific range-intensity profiles are obtained to establish the gray depth map and finally the gray depth map is encoded by an equidensity pseudocolor. With this method, a color depth map is generated with higher range resolution. In our experimental work, the range resolution of the depth map is improved by a factor of 1.67.     

Multipulse gate-delayed range gating imaging lidar

We present a technique to reconstruct a higher resolution of depth map of range gating imaging lidar by applying the delays of the gates to a typical range gating lidar system during the detection of each returned laser pulse with the encoding of the returned signal. With the consequent delays of the gate, the depth of the scene is extended accordingly. A multipulse gate-delayed range gating lidar system is designed to prove the resolution improvement from 6 to 1.5 m. The unchanged peak power of the laser, the widths of the laser pulse and the sampling period result in a simple structure of the lidar system.     

基于空气孔微结构光纤的表面等离子体共振折射率传感器北大核心CSCD

提出了一种基于表面等离子体共振(SPR)效应增强的光子晶体光纤折射率传感器。该传感器结构通过光纤熔接机拼接光子晶体光纤(PCF),在光子晶体光纤中间引入一个空气孔形成PCF-空气孔-PCF的光纤传感结构,随后使用磁控溅射镀膜工艺在其表面沉积一层薄金膜制备而成。实验探究了折射率及温度对传感器的响应。结果表明,在1.333~1.389的折射率范围内,所提出的传感器的平均折射率灵敏度为2 142.52 nm,且测量线性度为0.981,品质因子约13.10。实验结果表明该传感器对温度不敏感。相比于无空气孔的PCF传感结构,引入的空气孔增强了SPR效应,使得传感器拥有良好的共振峰深度。得益于上述优势,该类型传感器有望在生物医学、环境监测等领域得到应用。     

Strategy for automatic and complete three-dimensional optical digitization

This Letter proposes a new strategy of a three-dimensional (3D) scanning pipeline to achieve complete 3D digitization of complex objects in a real scene. This strategy consists of a one-dimensional array of optical 3D sensors combined with an automatically controlled turntable. An efficient calibration method for the sensor array is presented to guarantee the accuracy of the 3D measurement. Furthermore, an automatic registration technique is also proposed for aligning multiple range images taken from sensor array. Experiment results are also presented to demonstrate the proposed approach.     

A new method to accelerate depth extraction for aperture-coded camera

Depth extraction, or the retrieval of three-dimensional information of the captured scene from camera, is an important problem in computer vision and image processing. The aperture-coded camera has certain advantages in depth extraction. However, such calculation will cost huge time as it contains weighted iterative deconvolution. In order to solve the problem, this paper proposes an improved algorithm in which the image is firstly segmented and then the small image regions are sampled for deconvolution and depth judgment. Experimental results prove that the proposed method can greatly reduce time consumption and save computer memory. On this basis, by using the characteristics of aperture-coded camera obtaining image and depth, we propose a framework to handle the application of stitching the images of occluded scene, and then carry out experiments.     

双焦距立体视觉中的光学成像模型

成像物镜具有两个独立的焦距,并分别对空间物体成像,这种系统被称为双焦成像系统。双焦成像系统从单一角度记录三维场景中各物点的图像,它构成了单目立体视觉的基本光学成像模型。由于焦距为f1和f2的物镜所成的像的矢量值存在差别,即视差,并且视差的大小与物点的深度存在着定量关系,因此可利用双焦成像的视差特征来恢复场景的深度信息。叙述了双焦成像的立体视觉原理和系统的改进方案,并根据双焦成像的深度算法对已知深度的物方平面进行了深度测量。试验结果表明,深度恢复的相对误差约为-0.14%,测量结果的方差为0.97mm。     

Shaping the Sensitive Volume of a Single-Sided NMR-Sensor to Profile Cylindrical Samples with High Resolution

This work reports the construction of a single-sided magnet generating a sensitive volume with adjustable curvature. It is useful to profile cylindrical samples with high depth resolution. The sensor geometry is based on the Profile NMR-MOUSE, which generates a parabolic field profile with a quadratic coefficient that decreases with the distance from the magnet surface. Such field profiles approximate cylinder walls within limited angular range with negligible deviation. Then, by varying the working depth, shells of different diameter in the sample can be matched. Simulation and experiments conducted on phantoms confirm that a depth resolution of about 35 μm can be obtained. The sensor was used to profile the structure of a cylindric air spring bellows with high resolution. Besides resolving the fiber layers used to reinforce the rubber matrix, the ingress of hexane was detected via T ₂ changes of the material.     

X射线光场成像技术研究

X射线三维成像技术是目前国内外X射线成像研究领域的一个研究热点.但针对一些特殊成像目标,传统X射线计算层析(CT)成像模式易出现投影信息缺失等问题,影响CT重建的图像质量,使得CT成像的应用受到一定的限制.本文主要研究了基于光场成像理论的X射线三维立体成像技术.首先从同步辐射光源模型出发,对X射线光场成像进行建模;然后,基于光场成像数字重聚焦理论,对成像目标场在深度方向上进行切片重建.结果表明:该方法可以实现对成像目标任一视角下任一深度的内部切片重建,但是由于光学聚焦过程中的离焦现象,会引入较为严重的背景噪声.当对其原始数据进行滤波后,再进行X射线光场重聚焦,可以有效消除重建伪影,提高图像的重建质量.本研究既有算法理论意义,又可应用于工业、医疗等较复杂目标的快速检测,具有较大的应用价值.     

公路场景去雾技术研究

提出了一种应用单目机器视觉技术并结合Hough变换消失线检测和边界检测技术来构建距离深度图的方法,并应用衰减-空气光去雾模型对图像进行了恢复。结果表明,采用该方法恢复的道路图像色彩自然,模型与实际道路完全匹配,对于不同距离的景物都具有良好的恢复效果。