Laser non-visual-field three-dimensional imaging scene modeling method based on point cloud model

Abstract

The invention discloses a laser non-visual-field three-dimensional imaging scene modeling method based on a point cloud model. The method comprises the following steps of firstly, setting non-visual-field scene space parameters, imaging system parameters and imaging index parameters, and determining a visible region of a specified scanning point-to-point cloud target; secondly, segmenting the visible region point cloud into a plurality of micro-point clouds by utilizing space voxels; detecting angular points to form micro-surface elements, estimating the region, the centroid and the surface normal of each micro-surface element, and establishing an energy transmission model of signals emitted from a laser through three times of diffuse reflection and received by a detector in combination with imaging system parameters to obtain echo energy and echo photon distribution histograms, and finally, setting different scanning points, and repeating the above steps to obtain a photon distribution histogram of multiple echo signals. The modeling method is advantaged in that the process that signals are emitted from a laser, subjected to three times of diffuse reflection of an intermediate surface and a point cloud target with three-dimensional characteristics and finally detected and counted is simulated for the first time.

Description

technical field [0001] The present invention relates to the field of photoelectric imaging technology, in particular to the field of laser non-line-of-sight imaging, in particular to a laser non-line-of-sight three-dimensional imaging scene modeling method based on time-correlated photon counting. Background technique [0002] Laser non-line-of-sight imaging technology is a new imaging technology that can bypass occlusion and image objects in areas beyond the line of sight, and has a good application prospect. The development of real-time, high-quality non-line-of-sight imaging technology can be applied to driving assistance, effectively prevent traffic accidents, help avoid danger in automatic driving, and can also be used to locate trapped people in disaster rescue. In the future, higher precision will be developed The non-line-of-sight imaging technology may also be used in the fields of archaeological excavation and medical diagnosis and treatment; in these application s...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a laser non-line-of-sight 3D imaging scene modeling method based on a point cloud model to solve the difficulty of system development caused by the complex scene and difficult description of the signal transmission process in the laser non-line-of-sight 3D imaging technology. question

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