基于光子计数的自适应深度成像方法
|
摘要
单光子探测器具有高灵敏度和快速响应的特性,但在目标特性未知的情况下,无法直接确定每个像素点所需要的采样积分时间。因此,由于目标表面结构特性和反射率差异,探测器的距离估计值会出现采样不足或是采样饱和的现象。提出一种基于光子计数的自适应快速深度成像方法。该方法利用噪声光子和信号光子的飞行时间的不同特性,改进传统的基于最大似然估计算法的成像模型,自适应决定每个像素点的采样积分时间,并估计其最佳深度信息。实验结果表明,即使在低信噪比条件下,相比于固定采样积分时间成像方法,此算法仍能够更快、更准确重构出目标的深度图像。
Conventionally, for a direct-detection 3D imaging light detection and ranging(LIDAR) system, it′s impossible to directly and accurately determine the pixel-wise signal-acquisition time in the case that the scene properties are unknown. Thus, a time-of-flight depth sensor produces noisy range data due to different scene properties such as surface materials and reflectivity, frequently including either a saturated or severely noisy depth estimated. A photon-counting adaptive depth imaging strategy for 3D imaging LIDAR is presented. By improving the traditional imaging model based on the maximum likelihood estimation algorithm, an appropriate signalacquisition time is adaptively selected, and then determine an optimal depth for each pixel. Experiment demonstrates that the proposed algorithm can be more quick and more accurate to reconstruct the scene depth images even in the low light-level environment.
Conventionally, for a direct-detection 3D imaging light detection and ranging(LIDAR) system, it′s impossible to directly and accurately determine the pixel-wise signal-acquisition time in the case that the scene properties are unknown. Thus, a time-of-flight depth sensor produces noisy range data due to different scene properties such as surface materials and reflectivity, frequently including either a saturated or severely noisy depth estimated. A photon-counting adaptive depth imaging strategy for 3D imaging LIDAR is presented. By improving the traditional imaging model based on the maximum likelihood estimation algorithm, an appropriate signalacquisition time is adaptively selected, and then determine an optimal depth for each pixel. Experiment demonstrates that the proposed algorithm can be more quick and more accurate to reconstruct the scene depth images even in the low light-level environment.
引文
1 Zhao Mingbo,He Jun,Fu Qiang.Simulation modeling and analysis of full-waveform ladar signatures[J].Acta Optica Sinica,2012,32(6):0628002.赵明波,何峻,付强.全波形激光雷达回波信号建模仿真与分析[J].光学学报,2012,32(6):0628002.
2 Liu Zhengjun,Li Qi,Wang Qi.Target recognition of coherent ladar range image using feature selection[J].Chinese J Lasers,2013,40(8):0814003.刘正君,李琦,王骐.基于特征选择算法的相干激光雷达目标识别[J].中国激光,2013,40(8):0814003.
3 Jiang Haijiao,Lai Jiancheng,Wang Chunyong,et al..Research on ranging property of laser radar and its range accuracy[J].Chinese J Lasers,2011,38(5):0514001.姜海娇,来建成,王春勇,等.激光雷达的测距特性及其测距精度研究[J].中国激光,2011,38(5):0514001.
4 Xu Lu,Zhang Yu,Zhang Yong,et al..Research on the detection performance of Geiger-mode APD laser radar with accumulated detection[J].Chinese J Lasers,2012,39(4):0414003.徐璐,张宇,张勇,等.盖革模式雪崩光电二极管激光雷达累积探测性能的研究[J].中国激光,2012,39(4):0414003.
5 A Mc Carthy,Ximing Ren,Adriano Della Frera,et al..Kilometer-range,high resolution depth imaging via 1560 nm wavelength singlephoton detector[J].Opt Express,2013,21(19):8904-8915.
6 Philip A Hiskett,Colin S Parry,G S Buller,et al..A photon-counting time-of-flight ranging technique developed for the avoidance of range ambiguity at gigahertz clock rates[J].Opt Express,2013,16(18):13685-13698.
7 A Mc Carthy,R J Collins,N J Krichel,et al..Long-range time-of-flight scanning sensor based on high-speed time-correlated singlephoton counting[J].Appl Opt,2009,48(32):6241-6251.
8 Hyunjung Shim,Seungkyu Lee.Hybrid exposure for depth imaging of a time-of-flight depth sensor[J].Opt Express,2014,22(11):13393-13402.
9 Ahmed Kirmani,Dheera Venkatraman,Dongeek Skin,et al..First-photon imaging[J].Science,2014,343(3):58-61.
10 Ahmed Kirmani,Dheera Venkatraman,Dongeek Skin,et al..Spatio-temporal regularization for range imaging with high photon efficiency[C].SPIE,2013,8858:88581F.
11 Ahmed Kirmani,Dheera Venkatraman,Dongeek Skin,et al..Parametric Poisson process imaging[J].IEEE,2013:1053-1056.
12 Markus Henriksson.Detection probabilities for photon-counting avalanche photodiodes applied to a laser radar system[J].Appl Opt,2005,44(24):5140-5147.
13 Daniel G Fouche.Detection and false-alarm probabilities for laser radars that use Geiger-mode detectors[J].Appl Opt,2003,42(27):5388-5398.
14 R D Richmond,S C Cain.Direct-detection LADAR Systems[M].USA:SPIE Press,2010.
15 P F Mc Manamon.Errata:Review of ladar:a historic,yet emerging,sensor technology with rich phenomenology[J].Opt Engineering,2012,51(6):060901.
16 Sima Boyu.Photon-Counting Laser Radar 3D Imaging System Design and Implementation[D].Nanjing:Nanjing University of Science and Technology,2013.司马博羽.光子计数激光雷达三维成像系统设计和实现[D].南京:南京理工大学,2013.
2 Liu Zhengjun,Li Qi,Wang Qi.Target recognition of coherent ladar range image using feature selection[J].Chinese J Lasers,2013,40(8):0814003.刘正君,李琦,王骐.基于特征选择算法的相干激光雷达目标识别[J].中国激光,2013,40(8):0814003.
3 Jiang Haijiao,Lai Jiancheng,Wang Chunyong,et al..Research on ranging property of laser radar and its range accuracy[J].Chinese J Lasers,2011,38(5):0514001.姜海娇,来建成,王春勇,等.激光雷达的测距特性及其测距精度研究[J].中国激光,2011,38(5):0514001.
4 Xu Lu,Zhang Yu,Zhang Yong,et al..Research on the detection performance of Geiger-mode APD laser radar with accumulated detection[J].Chinese J Lasers,2012,39(4):0414003.徐璐,张宇,张勇,等.盖革模式雪崩光电二极管激光雷达累积探测性能的研究[J].中国激光,2012,39(4):0414003.
5 A Mc Carthy,Ximing Ren,Adriano Della Frera,et al..Kilometer-range,high resolution depth imaging via 1560 nm wavelength singlephoton detector[J].Opt Express,2013,21(19):8904-8915.
6 Philip A Hiskett,Colin S Parry,G S Buller,et al..A photon-counting time-of-flight ranging technique developed for the avoidance of range ambiguity at gigahertz clock rates[J].Opt Express,2013,16(18):13685-13698.
7 A Mc Carthy,R J Collins,N J Krichel,et al..Long-range time-of-flight scanning sensor based on high-speed time-correlated singlephoton counting[J].Appl Opt,2009,48(32):6241-6251.
8 Hyunjung Shim,Seungkyu Lee.Hybrid exposure for depth imaging of a time-of-flight depth sensor[J].Opt Express,2014,22(11):13393-13402.
9 Ahmed Kirmani,Dheera Venkatraman,Dongeek Skin,et al..First-photon imaging[J].Science,2014,343(3):58-61.
10 Ahmed Kirmani,Dheera Venkatraman,Dongeek Skin,et al..Spatio-temporal regularization for range imaging with high photon efficiency[C].SPIE,2013,8858:88581F.
11 Ahmed Kirmani,Dheera Venkatraman,Dongeek Skin,et al..Parametric Poisson process imaging[J].IEEE,2013:1053-1056.
12 Markus Henriksson.Detection probabilities for photon-counting avalanche photodiodes applied to a laser radar system[J].Appl Opt,2005,44(24):5140-5147.
13 Daniel G Fouche.Detection and false-alarm probabilities for laser radars that use Geiger-mode detectors[J].Appl Opt,2003,42(27):5388-5398.
14 R D Richmond,S C Cain.Direct-detection LADAR Systems[M].USA:SPIE Press,2010.
15 P F Mc Manamon.Errata:Review of ladar:a historic,yet emerging,sensor technology with rich phenomenology[J].Opt Engineering,2012,51(6):060901.
16 Sima Boyu.Photon-Counting Laser Radar 3D Imaging System Design and Implementation[D].Nanjing:Nanjing University of Science and Technology,2013.司马博羽.光子计数激光雷达三维成像系统设计和实现[D].南京:南京理工大学,2013.