高分辨率全景成像系统及其视觉应用研究
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摘要
本文工作主要围绕全景环形透镜的高分辨率成像及其视觉应用技术研究,本文中所使用的全景环形透镜可以实现无扫描的360°成像,它可以瞬间捕获围绕光轴的水平360°视场,在垂直方向上可以获得(-10°-40°)的视场,即可以实现光学系统的后方成像。因此在视频监控,机器人视觉和虚拟现实等领域有着广阔的应用前景。全景环形透镜的大视场是以分辨率的降低作为代价,因此全景环形透镜如果要应用到监控和预警中,必须解决分辨率过低的问题。本文中对该问题进行了深入的分析和研究,首先不改变现有的系统硬件条件,从信号处理方面提高全景图像的分辨率,提出了全景超分辨率图像复原算法,使用超分辨率复原算法提高系统空间分辨率的能力有限。如果要远距离探测,必须从光学系统和硬件方面提高系统的空间分辨率。本文提出了大面阵CCD成像和CMOS传感器拼接的全景成像方案,对大口径高分辨率全景成像进行了深入的研究。最后本文对全景成像在智能网络监控和智能驾驶安全系统方面进行了相关的理论研究和应用探索,实际结果表明全景在监控和机器人领域比常规的成像系统具有明显的优势,论文具体内容介绍如下:
第一章介绍了全景高分辨率成像的研究背景,分析了基于中心投影法的鱼眼透镜和使用常规镜头旋转扫描成像的优缺点,建立了单反射面全景成像的几何模型并分析了不同反射面的特性,分析了全景环形透镜的结构,最后介绍了本文的研究内容和主要工作。
第二章详细分析了全景环形透镜的光学特性,分别建立了非球面全景环形透镜和全球面全景环形透镜的几何数学模型,从光学原理上推导了全景的物像关系,并进行了相关的实验。详细分析了小口径全景环形透镜的景深,焦距,分辨率和转像透镜的光学结构等,最后介绍了二元光学在提高全景环形透镜衍射极限中的作用。
第三章提出了全景超分辨率图像复原算法。首先建立了成像观测模型,详细研究了全景环形透镜的分辨率特性和二维和三维线性化过程中分辨率的不均匀问题。在单帧全景频域超分辨率中我们提出了最优三次内核算法,详细分析了频域全景高频细节信息的恢复理论,研究并将Bezier曲面三维插值和自适应边缘保持算法应用于全景图像质量的改善,并提出了加速算法。最后研究了多帧空域中全景的凸集投影(POCS)超分辨率复原算法。
第四章研究了大口径全景环形透镜高分辨率成像系统的设计与实现。详细分析了大口径全景环形透镜的光学特性参数,研究了大面阵CCD全景成像系统,分析了系统的性能和不足之处。本文设计并实现了3个小面阵CMOS图像传感器扫描成像的方案,详细分析了3-CMOS系统理论上可以达到8000万像素的分辨率。以DSP为核心设计并实现了扫描控制系统和高速数据传输系统,对于由于电机抖动和加工精度带来的图像不稳定,研究了基于加速度计的稳像原理和算法,最后研究了小面阵图像的全景图像融合和拼接技术。
第五章研究了全景视觉技术的应用。研究了基于全景的分辨率自适应智能网络监控系统,分析了分辨率自适应的原理和人脸检测算法,设计和开发了全景智能网络监控系统样机,并对其性能进行了测试。提出了基于全景视频技术的智能驾驶安全系统,研究了基于遗传算法的球面和柱面透视投影模型的全景畸变校正算法,提出了单目全景和单双目全景的VDPM,在模型小车上对系统性能进行了研究,最后介绍了基于双核处理器的系统实现。
文章最后对本文所涉及的研究工作和创新点进行了总结,并展望了未来的主要工作方向。
This dissertation focuses on the panoramic annular lens imaging with high resolution and its vision application. The panoramic annular lens can implement imaging with 360°field of view without scanning. It can capture the 360°scene of horizontal plane around the optical axis instantly. It can reach the (-10°-40°)field of view in vertical direction. It can capture the backside of the optical system. So it has the wide application in video surveillance, robot vision and virtual reality. The super view of panoramic annular lens is due to the lower resolution. The resolution of the PAL should be improved before it is applied. This dissertation analyses and researches this problem deeply. Firstly the system hardware doesn't been changed, we propose a panoramic super-high resolution image restore algorithm. It can improve the resolution from the software. The super-high resolution image restore algorithm has the limit ability to improve the resolution. If the PAL is applied in detecting from far distance, it is necessary to enhance the space resolution from the optical and hardware system. This dissertation proposes the plan that uses a big CCD and CMOS sensor scanning to image. At last we research the theory and evaluate the application of panoramic imaging in the intelligent network surveillance and intelligent drive safety system. The real results show that panoramic will play an important role in the application of the surveillance and robot. The detail work is as follow:
Chapter 1 introduces the research background of the high resolution panoramic imaging, analyses the merit and fault of the fish lens and the conventional camera based on CCP. A geometry model of panoramic imaging with a single reflecting surface is established and the characteristics of different surfaces are analyzed. The structure of panoramic annular is analyzed. At last the context and main work of the thesis is introduced.
Chapter 2 analyzes the characteristics of PAL. The geometry model of the PAL cameras with non-spherical surfaces and spherical surfaces are established. The relation of object and image is inducted from optical theory. The inherent relation of the depth of field, focus length and resolution is analyzed. At last the binary optics is analyzed in the application of PAL.
Chapter 3 proposes the super-high resolution panoramic algorithm. The observe model is built firstly. The resolution characteristics and non-uniform resolution in linearization of PAL are researched. The optimization cubic kernel is proposed. The high-frequency information restoring theory is researched. Bezier surface three-dimension interpolation and edge-directed preserve algorithms are researched in single panoramic super-high resolution and swift algorithm is proposed. Panoramic POCS algorithm is researched in multiple frames space.
Chapter 4 designs and implements a big PAL with a high resolution. It analyzes the optical characteristics of the big PAL. The performance and fault of the panoramic imaging system with a big CCD is analyzed. In the thesis three CMOS image sensor are adopted. The resolution of 3-CMOS sensor can reach 8 million pixels theoretically. The scanning control system and high speed transmission system are designed with a DSP core. The stable image algorithm with an accelerometer is proposed to solve the instability of image due to the motor and manufacture precision. The stitching algorithm for images is researched.
Chapter 5 researches the application of the panoramic vision technique. An intelligent surveillance system based on PAL can adjust it resolution by itself. The adaptive theory and face detection algorithm is analyzed. We test the panoramic intelligent surveillance system. The intelligent drive system based on panoramic vision is introduced. The calibration algorithm of panoramic image is researched based on the spherical and cylinder. We evaluate the performance of the system on the model car. At last we realize the system on the processor with double core.
Chapter 6 summarizes the full thesis and proposes the future plan.
第一章介绍了全景高分辨率成像的研究背景,分析了基于中心投影法的鱼眼透镜和使用常规镜头旋转扫描成像的优缺点,建立了单反射面全景成像的几何模型并分析了不同反射面的特性,分析了全景环形透镜的结构,最后介绍了本文的研究内容和主要工作。
第二章详细分析了全景环形透镜的光学特性,分别建立了非球面全景环形透镜和全球面全景环形透镜的几何数学模型,从光学原理上推导了全景的物像关系,并进行了相关的实验。详细分析了小口径全景环形透镜的景深,焦距,分辨率和转像透镜的光学结构等,最后介绍了二元光学在提高全景环形透镜衍射极限中的作用。
第三章提出了全景超分辨率图像复原算法。首先建立了成像观测模型,详细研究了全景环形透镜的分辨率特性和二维和三维线性化过程中分辨率的不均匀问题。在单帧全景频域超分辨率中我们提出了最优三次内核算法,详细分析了频域全景高频细节信息的恢复理论,研究并将Bezier曲面三维插值和自适应边缘保持算法应用于全景图像质量的改善,并提出了加速算法。最后研究了多帧空域中全景的凸集投影(POCS)超分辨率复原算法。
第四章研究了大口径全景环形透镜高分辨率成像系统的设计与实现。详细分析了大口径全景环形透镜的光学特性参数,研究了大面阵CCD全景成像系统,分析了系统的性能和不足之处。本文设计并实现了3个小面阵CMOS图像传感器扫描成像的方案,详细分析了3-CMOS系统理论上可以达到8000万像素的分辨率。以DSP为核心设计并实现了扫描控制系统和高速数据传输系统,对于由于电机抖动和加工精度带来的图像不稳定,研究了基于加速度计的稳像原理和算法,最后研究了小面阵图像的全景图像融合和拼接技术。
第五章研究了全景视觉技术的应用。研究了基于全景的分辨率自适应智能网络监控系统,分析了分辨率自适应的原理和人脸检测算法,设计和开发了全景智能网络监控系统样机,并对其性能进行了测试。提出了基于全景视频技术的智能驾驶安全系统,研究了基于遗传算法的球面和柱面透视投影模型的全景畸变校正算法,提出了单目全景和单双目全景的VDPM,在模型小车上对系统性能进行了研究,最后介绍了基于双核处理器的系统实现。
文章最后对本文所涉及的研究工作和创新点进行了总结,并展望了未来的主要工作方向。
This dissertation focuses on the panoramic annular lens imaging with high resolution and its vision application. The panoramic annular lens can implement imaging with 360°field of view without scanning. It can capture the 360°scene of horizontal plane around the optical axis instantly. It can reach the (-10°-40°)field of view in vertical direction. It can capture the backside of the optical system. So it has the wide application in video surveillance, robot vision and virtual reality. The super view of panoramic annular lens is due to the lower resolution. The resolution of the PAL should be improved before it is applied. This dissertation analyses and researches this problem deeply. Firstly the system hardware doesn't been changed, we propose a panoramic super-high resolution image restore algorithm. It can improve the resolution from the software. The super-high resolution image restore algorithm has the limit ability to improve the resolution. If the PAL is applied in detecting from far distance, it is necessary to enhance the space resolution from the optical and hardware system. This dissertation proposes the plan that uses a big CCD and CMOS sensor scanning to image. At last we research the theory and evaluate the application of panoramic imaging in the intelligent network surveillance and intelligent drive safety system. The real results show that panoramic will play an important role in the application of the surveillance and robot. The detail work is as follow:
Chapter 1 introduces the research background of the high resolution panoramic imaging, analyses the merit and fault of the fish lens and the conventional camera based on CCP. A geometry model of panoramic imaging with a single reflecting surface is established and the characteristics of different surfaces are analyzed. The structure of panoramic annular is analyzed. At last the context and main work of the thesis is introduced.
Chapter 2 analyzes the characteristics of PAL. The geometry model of the PAL cameras with non-spherical surfaces and spherical surfaces are established. The relation of object and image is inducted from optical theory. The inherent relation of the depth of field, focus length and resolution is analyzed. At last the binary optics is analyzed in the application of PAL.
Chapter 3 proposes the super-high resolution panoramic algorithm. The observe model is built firstly. The resolution characteristics and non-uniform resolution in linearization of PAL are researched. The optimization cubic kernel is proposed. The high-frequency information restoring theory is researched. Bezier surface three-dimension interpolation and edge-directed preserve algorithms are researched in single panoramic super-high resolution and swift algorithm is proposed. Panoramic POCS algorithm is researched in multiple frames space.
Chapter 4 designs and implements a big PAL with a high resolution. It analyzes the optical characteristics of the big PAL. The performance and fault of the panoramic imaging system with a big CCD is analyzed. In the thesis three CMOS image sensor are adopted. The resolution of 3-CMOS sensor can reach 8 million pixels theoretically. The scanning control system and high speed transmission system are designed with a DSP core. The stable image algorithm with an accelerometer is proposed to solve the instability of image due to the motor and manufacture precision. The stitching algorithm for images is researched.
Chapter 5 researches the application of the panoramic vision technique. An intelligent surveillance system based on PAL can adjust it resolution by itself. The adaptive theory and face detection algorithm is analyzed. We test the panoramic intelligent surveillance system. The intelligent drive system based on panoramic vision is introduced. The calibration algorithm of panoramic image is researched based on the spherical and cylinder. We evaluate the performance of the system on the model car. At last we realize the system on the processor with double core.
Chapter 6 summarizes the full thesis and proposes the future plan.
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