Speckle Structured<bold>-</bold>Light<bold>-</bold>Based Three<bold>-</bold>Dimensional Imaging Technology and Its Sensor Design Using VCSEL Projection Array

Wei Yin; Mingyu Li; Yan Hu; Shijie Feng; Xiaolei Zhang; Huai Wang; Qian Chen; Chao Zuo

doi:10.3788/LOP230428

Laser & Optoelectronics Progress, Volume. 60, Issue 8, 0811014(2023)

Speckle Structured-Light-Based Three-Dimensional Imaging Technology and Its Sensor Design Using VCSEL Projection Array

Wei Yin^1,2,3、†, Mingyu Li^1,2,3、†, Yan Hu^1,2,3, Shijie Feng^1,2,3, Xiaolei Zhang³, Huai Wang⁴, Qian Chen², and Chao Zuo^1,2,3、*

Author Affiliations

¹Smart Computational Imaging Laboratory (SCILab), School of Electronic and Optical Engineering, Nanjing University of Science & Technology, Nanjing 210094, Jiangsu, China

²Jiangsu Key Laboratory of Spectral Imaging and Intelligent Sense, Nanjing University of Science & Technology, Nanjing 210094, Jiangsu, China

³Smart Computational Imaging Research Institute (SCIRI), Nanjing University of Science & Technology, Nanjing 210019, Jiangsu, China

⁴Suzhou Abham Intelligent Technology Co., Ltd., Suzhou 215000, Jiangsu, China

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Equations(21)

C (x, y, d) = \frac{\sum_{n = 1}^{3} \sum_{i = - r}^{r} \sum_{j = - r}^{r} I_{L, n}^{s} I_{R, n}^{s}}{\sqrt[]{\sum_{n = 1}^{3} \sum_{i = - r}^{r} \sum_{j = - r}^{r} {(I_{L, n}^{s})}^{2}} \sqrt[]{\sum_{n = 1}^{3} \sum_{i = - r}^{r} \sum_{j = - r}^{r} {(I_{R, n}^{s})}^{2}}}

，（1）

I_{L, n}^{s} = I_{L, n} (x + i, y + j) - \frac{\sum_{n = 1}^{3} \sum_{i = - r}^{r} \sum_{j = - r}^{r} I_{L, n} (x + i, y + j)}{3 \times {(2 r + 1)}^{2}}

，（2）

I_{R, n}^{s} = I_{R, n} (x - d + i, y + j) - \frac{\sum_{n = 1}^{3} \sum_{i = - r}^{r} \sum_{j = - r}^{r} I_{R, n} (x - d + i, y + j)}{3 \times {(2 r + 1)}^{2}}

，（3）

I_{d} (x, y) = \underset{d \in \{d_{m i n}, d_{m a x}\}}{a r g m a x} C (x, y, d)

。（4）

I_{W R} (x, y) = I_{R} [x - I_{d} (x, y), y]

，（5）

C_{M I} (x, y, d) = A_{M I} [I_{L} (x, y), I_{R} (x - d, y)]

，（6）

A_{M I} (u, v) = h_{L} (u) + h_{W R} (v) - h_{L, W R} (u, v)

，（7）

h_{L, W R} (u, v) = - \frac{1}{N} l o g [P_{L, W R} (u, v) \otimes g (u, v)] \otimes g (u, v)

，（8）

P_{L, W R} (u, v) = \frac{1}{N} \sum_{p = (x, y)} T \{(u, v) = [I_{L} (x, y), I_{W R} (x, y)]\}

，（9）

h_{L} (u) = - \frac{1}{N} l o g [P_{L} (u) \otimes g (u)] \otimes g (u)

，（10）

h_{W R} (v) = - \frac{1}{N} l o g [P_{W R} (v) \otimes g (v)] \otimes g (v)

，（11）

P_{L} (u) = \sum_{v} P_{L, W R} (u, v)

，（12）

P_{W R} (v) = \sum_{u} P_{L, W R} (u, v)

。（13）

C_{M I} (x, y, d) = \frac{1}{3} \sum_{n = 1}^{3} A_{M I} [I_{L, n} (x, y), I_{R, n} (x - d, y)]

，（14）

A_{M I} (u, v) = \frac{h_{L} (u) + h_{W R} (v)}{h_{L, W R} (u, v)}

。（15）

C (i, d) = \sum_{j} W_{i, j} (I) C_{M I} (j, d)

，（16）

W_{i, j} (I) = \frac{1}{{|ω|}^{2}} \sum_{i, j \in ω_{k}} [1 + \frac{{(I_{i} - μ_{k})}^{T} (I_{j} - μ_{k})}{(Σ_{k} + ε U)}]

，（17）

Σ_{k} = (\begin{matrix} Σ_{k}^{11} & Σ_{k}^{12} & Σ_{k}^{13} \\ Σ_{k}^{12} & Σ_{k}^{22} & Σ_{k}^{23} \\ Σ_{k}^{13} & Σ_{k}^{23} & Σ_{k}^{33} \end{matrix})

，（18）

d_{s u b} (x, y) = \{\begin{matrix} d_{i n t} (x, y) - 0.5 + F (l_{D i f} / r_{D i f}), & l_{D i f} \leq r_{D i f} \\ d_{i n t} (x, y) + 0.5 - F (r_{D i f} / l_{D i f}), & l_{D i f} > r_{D i f} \end{matrix}

，（19）

\{\begin{array}{l} l_{D i f} = C [x, y, d_{i n t} (x, y) - 1] - C [x, y, d_{i n t} (x, y)] \\ r_{D i f} = C [x, y, d_{i n t} (x, y) + 1] - C [x, y, d_{i n t} (x, y)] \end{array}

，（20）

F (x) = α \frac{x}{x + 1} + (1 - α) \frac{x}{2}

，（21）

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Wei Yin, Mingyu Li, Yan Hu, Shijie Feng, Xiaolei Zhang, Huai Wang, Qian Chen, Chao Zuo. Speckle Structured-Light-Based Three-Dimensional Imaging Technology and Its Sensor Design Using VCSEL Projection Array[J]. Laser & Optoelectronics Progress, 2023, 60(8): 0811014

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Paper Information

Category: Imaging Systems

Received: Jan. 3, 2023

Accepted: Feb. 6, 2023

Published Online: Apr. 13, 2023

The Author Email: Zuo Chao (zuochao@njust.edu.cn)

DOI:10.3788/LOP230428

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology