Polarization line structured light differential imaging method, system, device and medium

Abstract

The present disclosure relates to a method, system, device and medium for structured light differential imaging based on polarization lines, the method comprising: obtaining polarization images at three polarization angles of 0°, 45° and 90°, and calculating the polarization angles of the maximum light intensity image and the minimum light intensity image according to the polarization images; obtaining the corresponding brightest light intensity image and darkest light intensity image at the polarization angles of the maximum light intensity image and the minimum light intensity image, respectively, and recording the brightest light intensity image and the darkest light intensity image as optimal light and dark images; performing differential processing on the optimal light and dark images to obtain a polarized light differential image and a non-polarized light differential image, and performing weighted enhancement processing on the polarized light differential image and the non-polarized light differential image to obtain a weighted polarized light differential image and a weighted non-polarized light differential image. The method disclosed in the present disclosure can well suppress the glare interference of the high-light target surface, obtain a high-quality weighted polarized light differential image, and realize accurate light streak segmentation.

Description

Technical Field

[0001] The present disclosure relates to the field of three-dimensional measurement technology, and in particular to a method, system, device and medium based on polarization line structured light differential imaging. Background Art

[0002] Line structured light measurement technology still faces various difficult challenges, the most prominent of which is whether it can accurately scan and reconstruct the surfaces of various high-reflectivity objects, such as metals, ceramics, plastics, transparent objects, and various mechanical parts such as turbine blades, ship propellers, aircraft, hulls, and automobile internal structures. In industrial measurement, when measuring the surfaces of these high-reflectivity objects, due to the high reflectivity of the object surface, when the line structured light hits the surface of the object, it is easy to produce strong reflection and scattering, resulting in a highlight area, resulting in high saturation of the image, causing distortion of the measurement information, and greatly reducing the accuracy of the measurement. Therefore, using line structured light technology to measure objects with high-reflectivity surfaces has always been a key and difficult point.

[0003] At present, many studies have shown that the absorption, reflection, scattering and transmission characteristics of light in different polarization states are different due to the structure and differences of materials. For objects with high reflectivity, polarization can significantly remove image highlights. By using the interaction of structured light and polarized light, the three-dimensional shape and surface information of the target object can be obtained. A common general measurement method suitable for HDR objects is to use grayscale histograms to estimate several optimal exposure times for objects with a large range of reflectivity variations to adapt to different surface reflectivities. In order to measure objects with specular reflections, two polarizers are placed in front of the camera and projector. By adjusting the angle between the two polarizers and the polarization projection axis (called the polarization angle), the light intensity collected by the camera can be appropriately reduced. When the object to be measured is a weak specular reflection object, the polarization angle is adjusted to 90 degrees to remove highlights. When the object to be measured is a strong reflective object, since the image has almost no diffuse reflection component, setting the polarization angle to 90 degrees will make the obtained image too dark, reduce the signal-to-noise ratio of the image, and cause measurement errors. Therefore, the polarization angle must be adjusted to obtain an image with a high signal-to-noise ratio. However, this method can only rely on experience and multiple experiments to adjust the polarization angle. The experiment is time-consuming and the polarization angle cannot be guaranteed to be optimal, which leads to the introduction of experimental errors.

[0004] Therefore, it is necessary to propose a reliable method that can quantitatively analyze the optimal polarization angle of the linear polarizer in the polarization line structured light measurement system, so as to effectively suppress the interference of the glare on the surface of the high-gloss target. Summary of the invention

[0005] The present disclosure proposes a polarization line structured light differential imaging method to solve the following problems: during the measurement process, an active projection light source generates glare on a highly reflective target, resulting in low three-dimensional measurement accuracy.

[0006] According to one aspect of the present disclosure, a method for differential imaging based on polarization line structured light is provided, comprising:

[0007] S10, obtaining polarization images at three polarization angles of 0°, 45°, and 90°, and calculating polarization angles of a maximum light intensity image and a minimum light intensity image according to the polarization images;

[0008] S20, obtaining corresponding brightest light intensity images and darkest light intensity images under the polarization angles of the maximum light intensity image and the minimum light intensity image, respectively, and recording the brightest light intensity image and the darkest light intensity image as optimal bright-dark images;

[0009] S30, performing differential processing on the optimal light and dark images to obtain a polarized light differential image and a non-polarized light differential image, and performing weighted enhancement processing on the polarized light differential image and the non-polarized light differential image to obtain a weighted polarized light differential image and a weighted non-polarized light differential image.

[0010] Preferably, after obtaining polarization images at three polarization angles of 0°, 45°, and 90°, the camera also receives the light intensity passing through the polarizer, expressed as:

[0011] ,

[0012] In the formula, Indicates the intensity of light received by the camera after passing through the polarizer. represents the angle of the polarizer, is the polarization angle Down The light intensity, is the polarization angle Down The light intensity, is the polarization angle Down light intensity.

[0013] Preferably, calculating the polarization angles of the maximum light intensity image and the minimum light intensity image according to the polarization image includes: calculating the polarization angle of the minimum light intensity image according to the polarization image, and based on the polarization angle of the minimum light intensity image, according to the polarization angle orthogonal condition, obtaining the polarization angle of the maximum light intensity image, expressed as:

[0014] ,

[0015] ,

[0016] In the formula, is the polarization angle of the minimum light intensity image, Represents the total intensity of the emitted light, is the polarization angle of the maximum light intensity image.

[0017] Preferably, the corresponding brightest light intensity image and darkest light intensity image are obtained under the polarization angles of the maximum light intensity image and the minimum light intensity image, respectively, and are expressed as:

[0018] ,

[0019] ,

[0020] In the formula, , Represent the brightest light intensity image and the darkest light intensity image respectively, and They represent the maximum light intensity of scattered light and reflected light after passing through the linear polarizer within the intensity variation period. and They represent the minimum light intensity within the intensity variation period of scattered light and reflected light after passing through the linear polarizer.

[0021] Preferably, the camera is used to collect the linear structured light stripe image of the highlight object through a linear polarizer, and the camera captures the polarized part and the non-polarized part including the reflected light and scattered light of the highlight target, which is expressed by the following formula:

[0022] ,

[0023] ,

[0024] In the formula, is the polarized light received by the camera, is the unpolarized light received by the camera, and They are the polarized light component and the non-polarized light component in the scattered light, and They are the polarized light component and the unpolarized light component of the target reflected light respectively.

[0025] Preferably, the polarized light image and the non-polarized light image are divided by each other to obtain a weighted weight factor, which is expressed as:

[0026] ,

[0027] In the formula, , Represent the weighted enhancement factors of polarized light difference image and non-polarized light difference image respectively, is a polarized light image, This is a non-polarized light image.

[0028] Preferably, the polarized light difference image and the non-polarized light difference image are subjected to weighted enhancement processing, which is expressed as:

[0029] ,

[0030] In the formula, , Represent the enhanced polarized light difference image and non-polarized light difference image respectively.

[0031] According to one aspect of the present disclosure, a polarization line structured light differential imaging system is provided, comprising:

[0032] A polarization angle acquisition module is used to acquire polarization images at three polarization angles of 0°, 45°, and 90°, and to calculate polarization angles of a maximum light intensity image and a minimum light intensity image based on the polarization images;

[0033] An optimal light-dark image acquisition module is used to obtain the corresponding brightest light intensity image and darkest light intensity image under the polarization angles of the maximum light intensity image and the minimum light intensity image, respectively, and record the brightest light intensity image and the darkest light intensity image as the optimal light-dark image;

[0034] The differential image weighted enhancement module performs differential processing on the optimal light and dark images to obtain polarized light differential images and non-polarized light differential images, and performs weighted enhancement processing on the polarized light differential images and non-polarized light differential images to obtain weighted polarized light differential images and weighted non-polarized light differential images.

[0035] According to one aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to: execute the above-mentioned polarization line structured light differential imaging method.

[0036] According to one aspect of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the above-mentioned polarization line structured light differential imaging method is implemented.

[0037] Compared with the prior art, the beneficial effects of the present disclosure are:

[0038] 1) This disclosure uses the image weighted enhancement theory to propose an image enhancement method for calculating the weight factors of polarized light and non-polarized light. The obtained weighted polarized light difference image has higher light streak quality than the image before processing.

[0039] 2) This paper quantitatively calculates the polarization angle corresponding to the minimum light intensity through the Stokes vector, and combines the orthogonal polarization angle formula to accurately obtain the darkest and brightest light intensity images. Finally, the bright and dark images and image enhancement methods can effectively suppress the glare on the surface of the high-light target, which is suitable for high-quality imaging of linear structured light stripes.

[0040] 3) The present invention does not require the addition of additional hardware equipment or more complicated processing. It has better effects on metal surfaces with high reflectivity and can effectively obtain light stripes from highlight areas. The edges of the light stripes are relatively smooth, the imaging quality is high, and the center line of the extracted light stripes has no breaks or artifacts.

[0041] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

[0042] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and are used to illustrate the technical solutions of the present disclosure together with the specification.

[0044] Figure 1 A flow chart of a method for differential imaging based on polarization line structured light is shown;

[0045] Figure 2 A schematic diagram of polarization images at three polarization angles of 0°, 45°, and 90° is shown in an embodiment of the present disclosure;

[0046] Figure 3 A schematic diagram of the best bright and dark images in an embodiment of the present disclosure is shown;

[0047] Figure 4 A schematic diagram of a weighted polarized light difference image and a weighted non-polarized light difference image in an embodiment of the present disclosure is shown;

[0048] Figure 5 A schematic diagram of a stripe edge after weighted difference processing in an embodiment of the present disclosure is shown;

[0049] Figure 6 The block diagram of the polarization line structured light differential imaging system is shown. DETAILED DESCRIPTION

[0050] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0051] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0052] The term "and / or" herein is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C can represent including any one or more elements selected from the set consisting of A, B, and C.

[0053] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0054] It can be understood that the above-mentioned polarization line structured light differential imaging method and system embodiments mentioned in the present disclosure can be combined with each other to form a combined embodiment without violating the principle logic. Due to space limitations, the present disclosure will not go into details.

[0055] In the measurement process, the active projection light source produces glare on the highly reflective target, resulting in low three-dimensional measurement accuracy. In order to solve these problems, a high-quality weighted polarization light difference image is obtained without adding additional hardware equipment to achieve accurate light stripe segmentation. A polarization line structured light difference imaging method is proposed to achieve efficient and stable phase matching.

[0056] Based on the above idea, the present invention proposes a polarization line structured light differential imaging method. Figure 1 A flow chart of a method for differential imaging based on polarization line structured light is shown. The method comprises:

[0057] S10, obtaining polarization images at three polarization angles of 0°, 45°, and 90°, and calculating polarization angles of a maximum light intensity image and a minimum light intensity image according to the polarization images;

[0058] S20, obtaining corresponding brightest light intensity images and darkest light intensity images under the polarization angles of the maximum light intensity image and the minimum light intensity image, respectively, and recording the brightest light intensity image and the darkest light intensity image as optimal bright-dark images;

[0059] S30, performing differential processing on the optimal light and dark images to obtain a polarized light differential image and a non-polarized light differential image, and performing weighted enhancement processing on the polarized light differential image and the non-polarized light differential image to obtain a weighted polarized light differential image and a weighted non-polarized light differential image.

[0060] The specific steps of the polarization line structured light differential imaging method are as follows:

[0061] S10, obtaining polarization images at three polarization angles of 0°, 45°, and 90°, and calculating polarization angles of a maximum light intensity image and a minimum light intensity image according to the polarization images.

[0062] In the embodiments of the present disclosure and other possible embodiments, the devices used include: a camera, a linear polarizer, a line laser, an electric displacement platform, and a metal workpiece to be measured; the camera and the line laser are fixed on the electric displacement platform at a certain angle, and the linear polarizer is placed in front of the camera and the line laser. The light stripes generated by the line laser on the metal workpiece to be measured can be completely captured by the camera. First, adjust the linear polarizer in front of the line laser to 0°, denoted as , at this time, this linear polarization acts as a polarizer to make the projected linear laser have polarization characteristics; then another polarizer is placed in front of the camera as an analyzer, and adjusted to 0°, 45°, and 90° respectively. After obtaining polarization images at three polarization angles of 0°, 45°, and 90°, the Stokes vector is calculated, and the total light intensity of the outgoing light after passing through the polarizer is obtained according to the Stokes vector, which is expressed as:

[0063] ,

[0064] ,

[0065] ,

[0066] In the formula, The line laser projected by the line laser, is the Mueller matrix, which is used to describe the effect of the polarizer. Represents the angle of the polarizer. When the angle of the polarizer changes, the Mueller matrix will also change. is the polarization angle Down The light intensity, is the polarization angle Down The light intensity, is the polarization angle Down light intensity.

[0067] In this embodiment, polarization images at three polarization angles of 0°, 45°, and 90° are shown in FIG. Figure 2 As shown, Figure 2 (a) is the 0° polarization image of metal workpiece A. Figure 2 (b) is the 0° polarization image of metal workpiece B. Figure 2 (c) is the 45° polarization image of metal workpiece A. Figure 2(d) is the 45° polarization image of metal workpiece B. Figure 2 (e) is the 90° polarization image of metal workpiece A. Figure 2 (f) in the figure is the 90° polarization image of the metal workpiece B.

[0068] Further, according to the polarization image, the polarization angles of the maximum light intensity image and the minimum light intensity image are calculated, including: calculating the polarization angle of the minimum light intensity image according to the polarization image, and based on the polarization angle of the minimum light intensity image, according to the polarization angle orthogonal condition, obtaining the polarization angle of the maximum light intensity image, expressed as:

[0069] ,

[0070] ,

[0071] In the formula, is the polarization angle of the minimum light intensity image, Represents the total intensity of the emitted light, is the polarization angle of the maximum light intensity image, , The corresponding brightest light intensity image and darkest light intensity image are brighter and darker than the images corresponding to the traditional 90° and 0° polarization angles.

[0072] For an ideal polarization system, the essence of polarization differential imaging is to use the principle of orthogonal decomposition to decompose light into two orthogonal polarized light components, and then perform differential processing on these two components. = , = The 0° and 90° here are actually the angles between the projection axes of the analyzer and the polarizer. However, when imaging a target with a highlight surface, due to the glare of the highlight surface, the polarization angles corresponding to the maximum light intensity and the minimum light intensity in the image do not completely satisfy 0° and 90°.

[0073] S20, obtaining corresponding brightest light intensity images and darkest light intensity images at the polarization angles of the maximum light intensity image and the minimum light intensity image, respectively, and recording the brightest light intensity image and the darkest light intensity image as optimal bright-dark images.

[0074] In this embodiment, when the target surface has a high reflective property, the glare phenomenon generated by the line structured light on its surface will affect the target imaging quality, which is mainly manifested as a decrease in image contrast and clarity, and an oversaturation of image pixels. In order to solve this problem, the difference in polarization characteristics between reflected light and scattered light can be used to separate the reflected light and scattered light components generated by the line structured light when imaging on the highly reflective target surface. This process can be described by a mathematical formula:

[0075] ,

[0076] In the formula, is the total light intensity received by the detector, B is the scattered light intensity of a highly reflective target, T The intensity of light reflected from a highly reflective target. It generally manifests as partial linear polarization. In order to capture polarized light images, a linear polarizer is placed in front of the camera as an analyzer. As the analyzer rotates, the light intensity received and captured by the camera also changes periodically, and the grayscale value of the corresponding image also changes in the same way.

[0077] Usually, scattered light is considered as unpolarized light, then:

[0078] ,

[0079] Furthermore, when the polarizer rotates with periodic changes in light intensity, the camera obtains the corresponding brightest light intensity image and darkest light intensity image at the polarization angles of the maximum light intensity image and the minimum light intensity image, respectively, which can be expressed as:

[0080] ,

[0081] ,

[0082] In the formula, , Represent the brightest light intensity image and the darkest light intensity image respectively, and They represent the maximum light intensity of scattered light and reflected light after passing through the linear polarizer within the intensity variation period. and They represent the minimum light intensity of the scattered light and the reflected light after passing through the linear polarizer within the light intensity variation period. The best bright and dark image in the embodiment of the present disclosure is as follows: Figure 3 As shown, Figure 3 (a) is the darkest light intensity image of metal workpiece A. Figure 3 (b) is the brightest light intensity image of metal workpiece A. Figure 3 (c) is the darkest light intensity image of metal workpiece B. Figure 3 (d) in the figure is the brightest light intensity image of metal workpiece B.

[0083] S30, performing differential processing on the optimal light and dark images to obtain a polarized light differential image and a non-polarized light differential image, and performing weighted enhancement processing on the polarized light differential image and the non-polarized light differential image to obtain a weighted polarized light differential image and a weighted non-polarized light differential image.

[0084] In the embodiment of the present disclosure and other possible embodiments, the camera is used to collect the linear structured light stripe image of the highlight object through a linear polarizer, and the camera captures the polarized part and the non-polarized part including the reflected light and scattered light of the highlight target, which can be expressed by the following formula:

[0085] ,

[0086] ,

[0087] In the formula, is the polarized light received by the camera, is the unpolarized light received by the camera, and They are the polarized light component and the non-polarized light component in the scattered light, and They are the polarized light component and the unpolarized light component of the target reflected light respectively.

[0088] In order to minimize the interference of non-polarized light and polarized light on their respective imaging, a weighted enhancement method is proposed, which divides the polarized light image and the non-polarized light image to obtain a weighted weight factor, which is expressed as:

[0089] ,

[0090] In the formula, , Represent the weighted enhancement factors of polarized light difference image and non-polarized light difference image respectively, is a polarized light image, This is a non-polarized light image.

[0091] Further, and After being multiplied by the weight factors respectively, the polarized light difference image and the non-polarized light difference image are subjected to weighted enhancement processing, which is expressed as:

[0092] ,

[0093] In the formula, , Respectively represent the enhanced polarized light difference image and the non-polarized light difference image, the weighted polarized light difference image and the weighted non-polarized light difference image in the embodiment of the present disclosure, such as Figure 4 As shown, Figure 4 (a) is the experimental result of polarization difference weighted enhancement of metal workpiece A. Figure 4 (b) is the experimental result of polarization difference weighted enhancement of metal workpiece B. In the weighted polarization light difference image, the black stripes are the desired light stripes. The stripe edges after weighted difference processing in the embodiment of the present disclosure are as follows: Figure 5 As shown, Figure 5 (a) is the stripe edge after weighted difference processing in the embodiment of the present disclosure, Figure 5 (b) in the figure is the stripe edge before weighted difference processing in the embodiment of the present disclosure.

[0094] It can be proved from the above that the weighted polarized light differential imaging method based on polarized line structured light designed in the embodiment of the present disclosure can effectively counteract the influence of glare produced by line structured light on highly reflective surfaces, especially for metal surfaces with high reflectivity. It can effectively obtain light stripes from high-light areas, the edges of the light stripes are relatively smooth, the imaging quality is high, and there is no break or artifact in the center line of the extracted light stripes.

[0095] As another aspect of the embodiment of the present disclosure, a polarization line structured light differential imaging system 100 is also provided. Figure 6 As shown, including:

[0096] Polarization angle acquisition module 1, acquires polarization images at three polarization angles of 0°, 45°, and 90°, and calculates polarization angles of the maximum light intensity image and the minimum light intensity image according to the polarization images;

[0097] The best light-dark image acquisition module 2 obtains the corresponding brightest light intensity image and darkest light intensity image under the polarization angles of the maximum light intensity image and the minimum light intensity image, and records the brightest light intensity image and the darkest light intensity image as the best light-dark images;

[0098] The differential image weighted enhancement module 3 performs differential processing on the optimal light and dark images to obtain a polarized light differential image and a non-polarized light differential image, and performs weighted enhancement processing on the polarized light differential image and the non-polarized light differential image to obtain a weighted polarized light differential image and a weighted non-polarized light differential image.

[0099] In the absence of any contradiction, the above modules in the system of the embodiment of the present disclosure can implement any implementation of the above method.

[0100] Based on the description of the above embodiments, it can be seen that the embodiments of the present disclosure can achieve the following technical effects:

[0101] 1) This disclosure uses the image weighted enhancement theory to propose an image enhancement method for calculating the weight factors of polarized light and non-polarized light. The obtained weighted polarized light difference image has higher light streak quality than the image before processing.

[0102] 2) This paper quantitatively calculates the polarization angle corresponding to the minimum light intensity through the Stokes vector, and combines the orthogonal polarization angle formula to accurately obtain the darkest and brightest light intensity images. Finally, the bright and dark images and image enhancement methods can effectively suppress the glare on the surface of the high-light target, which is suitable for high-quality imaging of linear structured light stripes.

[0103] 3) The present invention does not require the addition of additional hardware equipment or more complicated processing. It has better effects on metal surfaces with high reflectivity and can effectively obtain light stripes from highlight areas. The edges of the light stripes are relatively smooth, the imaging quality is high, and the center line of the extracted light stripes has no breaks or artifacts.

[0104] The embodiment of the present disclosure also provides an electronic device, comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to perform the above-mentioned polarization line structured light differential imaging method. The electronic device can be provided as a terminal, a server or other forms of equipment.

[0105] The present disclosure also provides a computer-readable storage medium on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the above-mentioned polarization line structured light differential imaging method is implemented. The computer-readable storage medium may be a non-volatile computer-readable storage medium.

[0106] Those skilled in the art will understand that in the above-mentioned polarization line structured light differential imaging method and system of the specific implementation method, the writing order of each step does not mean a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0107] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of the module, program segment or instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of special hardware and computer instructions.

[0108] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for differential imaging based on polarization line structured light, characterized in that: The steps include: S10, obtaining polarization images at three polarization angles of 0°, 45°, and 90°, and calculating polarization angles of a maximum light intensity image and a minimum light intensity image according to the polarization images; S20, obtaining corresponding brightest light intensity images and darkest light intensity images under the polarization angles of the maximum light intensity image and the minimum light intensity image, respectively, and recording the brightest light intensity image and the darkest light intensity image as optimal bright-dark images; S30, performing differential processing on the optimal bright and dark images to obtain a polarized light differential image and a non-polarized light differential image, and performing weighted enhancement processing on the polarized light differential image and the non-polarized light differential image to obtain a weighted polarized light differential image and a weighted non-polarized light differential image; After obtaining the polarization images at three polarization angles of 0°, 45°, and 90°, the intensity of light received by the camera after passing through the polarizer is also included, which is expressed as: ， In the formula, Indicates the intensity of light received by the camera after passing through the polarizer. represents the angle of the polarizer, is the polarization angle Down The light intensity, is the polarization angle Down The light intensity, is the polarization angle Down Light intensity; According to the polarization image, the polarization angles of the maximum light intensity image and the minimum light intensity image are calculated, including: calculating the polarization angle of the minimum light intensity image according to the polarization image, and based on the polarization angle of the minimum light intensity image, according to the polarization angle orthogonal condition, obtaining the polarization angle of the maximum light intensity image, expressed as: ， ， In the formula, is the polarization angle of the minimum light intensity image, It represents the total intensity of the emitted light. is the polarization angle of the maximum light intensity image; The corresponding brightest light intensity image and darkest light intensity image are obtained under the polarization angles of the maximum light intensity image and the minimum light intensity image, respectively, and are expressed as: ， ， In the formula, , Represent the brightest light intensity image and the darkest light intensity image respectively, and They represent the maximum light intensity of the scattered light and reflected light after passing through the linear polarizer within the intensity variation period. and They represent the minimum light intensity within the intensity variation period of scattered light and reflected light after passing through the linear polarizer.

2. The method according to claim 1, characterized in that The camera is used to collect the linear structured light stripe image of the highlight object through a linear polarizer. The camera captures the polarized part and the non-polarized part including the reflected light and scattered light of the highlight target, which is expressed by the following formula: ， ， In the formula, is the polarized light received by the camera, is the unpolarized light received by the camera, and They are the polarized light component and the non-polarized light component in the scattered light, and They are the polarized light component and the unpolarized light component of the target reflected light respectively.

3. The method according to claim 2, characterized in that The polarized light image and the non-polarized light image are divided by each other to obtain the weighted weight factor, which is expressed as: ， In the formula, , Represent the weighted enhancement factors of polarized light difference image and non-polarized light difference image respectively, is a polarized light image, This is a non-polarized light image.

4. The method according to claim 3, characterized in that The polarized light difference image and the non-polarized light difference image are subjected to weighted enhancement processing, which is expressed as: ， In the formula, , Represent the enhanced polarized light difference image and non-polarized light difference image respectively.

5. Based on polarization line structured light differential imaging system, characterized in that: include: The polarization angle acquisition module acquires polarization images at three polarization angles of 0°, 45°, and 90°, and calculates the polarization angles of the maximum light intensity image and the minimum light intensity image according to the polarization images; after acquiring the polarization images at three polarization angles of 0°, 45°, and 90°, the camera also receives the light intensity passing through the polarizer, which is expressed as: ， In the formula, Indicates the intensity of light received by the camera after passing through the polarizer. represents the angle of the polarizer, is the polarization angle Down The light intensity, is the polarization angle Down The light intensity, is the polarization angle Down Light intensity; According to the polarization image, the polarization angles of the maximum light intensity image and the minimum light intensity image are calculated, including: calculating the polarization angle of the minimum light intensity image according to the polarization image, and based on the polarization angle of the minimum light intensity image, according to the polarization angle orthogonal condition, obtaining the polarization angle of the maximum light intensity image, expressed as: ， ， In the formula, is the polarization angle of the minimum light intensity image, It represents the total intensity of the emitted light. is the polarization angle of the maximum light intensity image; The corresponding brightest light intensity image and darkest light intensity image are obtained under the polarization angles of the maximum light intensity image and the minimum light intensity image, respectively, and are expressed as: ， ， In the formula, , Represent the brightest light intensity image and the darkest light intensity image respectively, and They represent the maximum light intensity of the scattered light and reflected light after passing through the linear polarizer within the intensity variation period. and They represent the minimum light intensity of scattered light and reflected light after passing through the linear polarizer within the intensity variation period; An optimal light-dark image acquisition module is used to obtain the corresponding brightest light intensity image and darkest light intensity image under the polarization angles of the maximum light intensity image and the minimum light intensity image, respectively, and record the brightest light intensity image and the darkest light intensity image as the optimal light-dark image; The differential image weighted enhancement module performs differential processing on the optimal light and dark images to obtain polarized light differential images and non-polarized light differential images, and performs weighted enhancement processing on the polarized light differential images and non-polarized light differential images to obtain weighted polarized light differential images and weighted non-polarized light differential images.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the polarization line structured light differential imaging method according to any one of claims 1 to 4 is implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the polarization line structured light differential imaging method according to any one of claims 1 to 4 is implemented.

Images