本文選題：激光雷達(dá)　切入點：三維成像　出處：《中國科學(xué)院光電技術(shù)研究所》2017年博士論文　論文類型：學(xué)位論文

【摘要】：三維成像激光雷達(dá)因其具有分辨率高,信息量大,快速成像以及全天時工作等突出特性,成為目標(biāo)三維形態(tài)識別的重要手段,廣泛應(yīng)用于空間碎片監(jiān)視和識別、大尺寸精密測量、非接觸式精密無損檢測以及微振動測量等基礎(chǔ)前沿領(lǐng)域。但是現(xiàn)有激光三維成像方法仍然存在以下不足:(1)掃描成像體制的激光雷達(dá),其成像速度受限于機(jī)械掃描機(jī)構(gòu),難以滿足對高動態(tài)目標(biāo)的實時三維成像需求;(2)APD陣列成像體制的激光雷達(dá),其橫向分辨率受限于探測器件及其配套的高速讀出電路;(3)ICCD相機(jī)成像體制的激光雷達(dá),其橫向分辨率和靈敏度受限于相機(jī)本身的“光-電-光-電”多重轉(zhuǎn)換和耦合結(jié)構(gòu)。上述缺點使三維成像激光雷達(dá)難以滿足高分辨率動態(tài)成像領(lǐng)域的探測需求。因此,研究一種高分辨率、快速成像、作用距離遠(yuǎn)且數(shù)據(jù)量低的激光三維成像方法,是目前激光主動探測領(lǐng)域亟待解決的重要課題。為此,本論文提出了基于偏振調(diào)制的激光三維成像方法。首先在完成對大口徑電光晶體的偏振調(diào)制特性研究的基礎(chǔ)上,建立了基于偏振調(diào)制的脈沖測距理論;其次,建立了基于偏振調(diào)制的面陣三維成像仿真系統(tǒng),利用仿真系統(tǒng)對測距理論進(jìn)行了數(shù)值分析和仿真驗證,從而確立了激光三維成像系統(tǒng)的詳細(xì)技術(shù)方案和指標(biāo)體系;最后,搭建了基于偏振調(diào)制的激光三維成像實驗系統(tǒng),在完成三維重建算法的基礎(chǔ)上實現(xiàn)對遠(yuǎn)距離靜態(tài)和動態(tài)目標(biāo)的三維成像及顯示。論文的主要特色和創(chuàng)新之處在于:提出了基于偏振調(diào)制的高靈敏度高分辨率三維成像方法。利用偏振調(diào)制技術(shù)將時間信息轉(zhuǎn)換為灰度信息,為高靈敏度高分辨率EMCCD相機(jī)用于激光三維成像提供了可能。由于EMCCD相機(jī)的成像信號直接完成“光-電”一次轉(zhuǎn)換,省去了現(xiàn)有激光三維成像系統(tǒng)中ICCD相機(jī)的“光-電-光-電”多重轉(zhuǎn)換過程,提高了探測靈敏度和橫向分辨率。另外,系統(tǒng)僅需發(fā)射一次脈沖即可獲得一幅三維圖像,具備閃光三維成像能力,并且其曝光時間達(dá)到亞微秒量級,能夠滿足平臺運動或動態(tài)目標(biāo)的三維成像需求。提出了自適應(yīng)的距離選通三維成像方法。根據(jù)測距精度與選通距離成反比的特性,首先在較大的選通距離內(nèi)搜索目標(biāo)并粗略測距,然后根據(jù)目標(biāo)的概略位置自適應(yīng)地調(diào)整選通距離的基準(zhǔn)和寬度,實現(xiàn)精細(xì)測距。這樣使得激光三維成像系統(tǒng)既能實現(xiàn)較高的測距精度,又能保持較寬的選通距離。在目標(biāo)場景的三維重建方面,提出了適用于三維成像系統(tǒng)的高效圖像配準(zhǔn)算法。根據(jù)激光三維成像系統(tǒng)對實時三維重建和亞像素級配準(zhǔn)精度的特定需求,提出了基于第一主成分分析的高效圖像配準(zhǔn)算法,與現(xiàn)有的亞像素級圖像配準(zhǔn)算法相比,該方法既保持了配準(zhǔn)精度和穩(wěn)健性,又提高了算法效率,有利于實時三維重建及顯示。另外,利用灰度圖像的信噪比甄別距離圖像中的噪聲并加以抑制,從而能夠從模糊難辨的距離圖像中準(zhǔn)確地識別目標(biāo)的三維形態(tài)特征。該方法簡單且效果顯著,同樣有利于實時三維重建及顯示。綜上所述,本論文提出的激光三維成像方法具備了高分辨率、快速響應(yīng)、作用距離遠(yuǎn)且數(shù)據(jù)量低的特性,為激光三維成像領(lǐng)域開辟了一條新的技術(shù)路徑。
[Abstract]:The 3D imaging laser radar because of its high resolution, large amount of information, fast imaging and all day long work and other prominent characteristics, has become an important means of 3D pattern recognition, are widely used in space debris monitoring and identification of large size precision measurement, non-contact precision non-destructive detection and micro vibration measurement based but Frontiers. There are still the following deficiencies of the existing 3D laser imaging methods: (1) laser scanning imaging system, the imaging speed is limited by the mechanical scanning mechanism, it is difficult to meet the needs of real-time three-dimensional imaging of high dynamic targets; (2) APD array imaging laser radar system, the lateral resolution is limited by the detection device and supporting high speed readout circuit; (3) ICCD camera imaging laser radar system, its transverse resolution and sensitivity is limited by the camera itself "o-e-o electric" multiple conversion and coupling structure. Structure. These shortcomings make 3D imaging laser radar is difficult to meet the need of the detection of high resolution dynamic imaging field. Therefore, fast imaging of a high-resolution, three-dimensional laser imaging method, the role of distance and the amount of the data is low, is an important task for active laser detection field to be solved. Therefore, this paper puts forward a three-dimensional laser imaging method based on polarization modulation. Based on the research on polarization modulation characteristics of large aperture optical crystals on a pulse ranging theory based on polarization modulation; secondly, to establish the three-dimensional polarization modulation array imaging simulation system based on the ranging theory is studied by numerical analysis and simulation using simulation system. In order to establish a detailed technical scheme of three-dimensional laser imaging system and index system; finally, build a polarization modulated laser 3D imaging experiment system based on The realization of three-dimensional imaging to distant targets and the static and dynamic display based 3D reconstruction algorithm. The main features and innovations in this thesis are: put forward the high sensitivity and high resolution 3D imaging method based on polarization modulation. Using polarization modulation technology to convert the time information to the gray information, provides the possibility for high sensitivity and high resolution EMCCD camera for 3D laser imaging. The imaging signal of EMCCD camera directly to complete the "light electric conversion", eliminating the existing 3D laser imaging system ICCD camera "o-e-o electric" multiple conversion process, improve the detection sensitivity and lateral resolution. In addition, the system only need to launch a the pulse can obtain a three-dimensional image, with flash 3D imaging, and the exposure time to achieve sub microsecond, can satisfy the kinematic or dynamic target platform The 3D imaging needs. The adaptive range gated three-dimensional imaging method. According to the range accuracy and gating is inversely proportional to the distance characteristic, first in the larger range gated search target and rough location, then according to the approximate position of target adaptive adjustment of the strobe distance datum and width, so that to achieve precise ranging. Laser 3D imaging system can achieve high accuracy, and can keep a wide distance. In the 3D reconstruction of the target scene, propose an efficient image registration algorithm for 3D imaging system. According to the specific needs of the laser 3D imaging system for real-time 3D reconstruction and sub-pixel registration accuracy, proposed an efficient image registration algorithm based on principal component analysis first, compared with sub-pixel image registration algorithms, this method not only maintains the registration accuracy and robustness, and The high efficiency of the algorithm and is conducive to real-time 3D reconstruction and display. In addition, the noise in the image distance than screening and suppress by gray image noise, which can accurately identify the three-dimensional morphological features of target from the image blurred in the distance. This method is simple and effective, also conducive to real-time 3D reconstruction and display 3D laser imaging. In summary, the proposed method has high resolution, fast response characteristics, the role of distance and the amount of the data is low, has opened up a new path for 3D laser imaging technology field.

【學(xué)位授予單位】：中國科學(xué)院光電技術(shù)研究所
【學(xué)位級別】：博士
【學(xué)位授予年份】：2017
【分類號】：TN958.98

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