A method and system for generating color images based on grayscale image sensor

Abstract

The present invention discloses a method and system for generating color images based on a grayscale image sensor, wherein the method comprises: collecting target feature images of each part of a target object through an imaging device; calculating all three-dimensional coordinates of a single target feature in each part according to the target feature image and the device parameters of the imaging device; collecting a first grayscale image of each part under different wavelength illumination spectra, and at least one second grayscale image under a background spectrum; preprocessing the first grayscale image in combination with the second grayscale image to form a third grayscale image, synthesizing the image color value of each coordinate point of the single target feature based on the third grayscale image; reconstructing a color imaging image of the target object based on the three-dimensional coordinates and image color values ​​of all target features in each part of the target object. The present invention can generate an undistorted color image by a single grayscale image sensor.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional imaging technology, and in particular to a method and system for generating a color image based on a grayscale image sensor. Background Art

[0002] In the oral 3D reconstruction system based on structured light, grayscale image sensors are commonly used for the acquisition of structured light projection stripe images because they can restore brightness information more realistically and accurately. However, when three-dimensionally imaging the object to be measured, the original color information also needs to be presented as realistically as possible, which cannot be achieved by relying solely on grayscale image sensors. General oral scanners use two image sensors at the same time, namely grayscale image sensors and color image sensors, which are used to collect three-dimensional imaging stripe images and color images of the object to be measured, respectively. This solution is not only expensive, but also large in size. At the same time, due to the presence of background spectrum in the natural environment, it is easy to cause the color information of the object to be measured restored by using grayscale image sensors and color image sensors to be distorted to a certain extent, which looks unreal and may even be color-biased, affecting the accuracy of clinical diagnosis. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a method and system for generating a color image based on a grayscale image sensor, which can realize the generation of an undistorted color image by a single grayscale image sensor.

[0004] Specifically, the technical solution of the present invention is as follows:

[0005] A method for generating a color image based on a grayscale image sensor, comprising:

[0006] Collecting target feature images of each part of the target object by an imaging device; the imaging device includes a single projection device and a single camera device;

[0007] Calculating all three-dimensional coordinates of a single target feature in each part according to the target feature image and device parameters of the imaging device;

[0008] Collecting a first grayscale image of each part under different wavelength illumination spectra and at least one second grayscale image under a background spectrum, wherein the different wavelength spectra include at least a first wavelength spectrum, a second wavelength spectrum, and a third wavelength spectrum;

[0009] Preprocessing the first grayscale image in combination with the second grayscale image to form a third grayscale image corresponding to illumination spectra of different wavelengths, and synthesizing the image color value of each coordinate point of the single target feature based on the third grayscale image;

[0010] Based on the three-dimensional coordinates and image color values ​​of all target features in each part of the target object, a color imaging image of the target object is reconstructed.

[0011] In some embodiments, the step of calculating all three-dimensional coordinates of a single target feature in each part according to the target feature image and the device parameters of the imaging device includes:

[0012] All three-dimensional coordinates of a single target feature in each part are reconstructed based on the position change of each imaging point in the target feature image and the optical parameters and mechanical parameters of the imaging device.

[0013] In some embodiments, before calculating all three-dimensional coordinates of a single target feature in each part according to the target feature image and the device parameters of the imaging device, the method further includes:

[0014] The target feature image is subjected to noise interference filtering processing, and the target features in the target feature image are enhanced.

[0015] In some embodiments, the preprocessing of the first grayscale image in combination with the second grayscale image to form a third grayscale image corresponding to an illumination spectrum of a different wavelength includes:

[0016] Passing the second grayscale image into a low-pass filter to obtain a reference second grayscale image;

[0017] The coordinate brightness value of the first grayscale image is subtracted from the coordinate brightness value of the reference second grayscale image to obtain a third grayscale image corresponding to illumination spectra of different wavelengths without background spectrum illumination.

[0018] In some implementations, the step of synthesizing the image color value of each coordinate point of the single target feature based on the third grayscale image includes:

[0019] Based on the first wavelength spectrum, the second wavelength spectrum, and the third wavelength spectrum, a color value coefficient is calculated, and the color value coefficient includes red, blue, and green score coefficients;

[0020] Respectively obtaining scores of red, blue and green of the third grayscale image;

[0021] The same color values ​​of the third grayscale image are synthesized to obtain a color image including red, green and blue components.

[0022] The present invention also discloses a system for generating a color image based on a grayscale image sensor, comprising an imaging device and a processor:

[0023] The imaging device comprises a single projection device and a single camera device, and is used to collect target feature images of each part of the target object through the imaging device; the imaging device comprises a single projection device and a single camera device;

[0024] The processor includes a calculation module for calculating all three-dimensional coordinates of a single target feature in each part according to the target feature image and device parameters of the imaging device;

[0025] The single-camera device is further used to collect a first grayscale image of each part under different wavelength illumination spectra and at least one second grayscale image under a background spectrum, wherein the different wavelength spectra include a first wavelength spectrum, a second wavelength spectrum, and a third wavelength spectrum;

[0026] The processor includes a preprocessing module for preprocessing the first grayscale image in combination with the second grayscale image to form a third grayscale image corresponding to a different wavelength illumination spectrum;

[0027] The processor further comprises a synthesis module for synthesizing the image color value of each coordinate point of the single target feature based on the third grayscale image;

[0028] The processor also includes a color image reconstruction module, which is used to reconstruct a color imaging image of the target object based on the three-dimensional coordinates and image color values ​​of all target features in various parts of the target object.

[0029] In some embodiments, the calculation module is further used to reconstruct and calculate all three-dimensional coordinates of a single target feature in each part based on the position change of each imaging point in the target feature image and the optical parameters and mechanical parameters of the imaging device.

[0030] In some embodiments, the processor further comprises:

[0031] The image processing module is used to perform noise interference filtering on the target feature image and enhance the target features in the target feature image.

[0032] In some embodiments, the processor further comprises a correction module;

[0033] The preprocessing module is further used to pass the second grayscale image into a low-pass filter to obtain a reference second grayscale image;

[0034] The correction module is used to subtract the coordinate brightness value of the reference second grayscale image from the coordinate brightness value of the first grayscale image to obtain a third grayscale image corresponding to a different wavelength illumination spectrum without background spectrum illumination.

[0035] In some embodiments, the synthesis module is also used to synthesize the image color value of each coordinate point of the single target feature based on the color value of each coordinate point in the third grayscale image of the first, second, and third wavelength illumination spectra, and the image color value includes superimposed color values ​​of red, green, and blue.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] The present invention collects grayscale images under different wavelength illumination spectra and grayscale images under background spectra, thereby reducing the cost and size of scanning equipment, restoring the color information of the object being tested more realistically and accurately, and improving the accuracy of clinical diagnosis. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The preferred implementation modes will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present invention.

[0039] Figure 1 is a flow chart of an embodiment of a method for generating a color image based on a grayscale image sensor according to the present invention;

[0040] Figure 2 It is a projection diagram of an imaging device of an embodiment of a method for generating a color image based on a grayscale image sensor of the present invention;

[0041] Figure 3 It is a schematic diagram of reconstructing three-dimensional coordinates of an embodiment of a method for generating a color image based on a grayscale image sensor of the present invention;

[0042] Figure 4 It is a grayscale image diagram illuminated by a first wavelength spectrum according to an embodiment of a method for generating a color image based on a grayscale image sensor of the present invention;

[0043] Figure 5 It is a grayscale image diagram illuminated by a second wavelength spectrum according to an embodiment of a method for generating a color image based on a grayscale image sensor of the present invention;

[0044] Figure 6 It is a grayscale image diagram illuminated by a third wavelength spectrum according to an embodiment of a method for generating a color image based on a grayscale image sensor of the present invention;

[0045] Figure 7 It is a background spectrum illumination image diagram of an embodiment of a method for generating a color image based on a grayscale image sensor of the present invention;

[0046] Figure 8It is a background spectrum illumination image diagram of an embodiment of a method for generating a color image based on a grayscale image sensor of the present invention;

[0047] Fig. 9 is a background spectrum illumination image diagram of another embodiment of a method for generating a color image based on a grayscale image sensor of the present invention;

[0048] Fig.10 It is a color imaging diagram of another embodiment of a method for generating a color image based on a grayscale image sensor according to the present invention;

[0049] Fig.11 The invention is a block diagram of an embodiment of a system for generating a color image based on a grayscale image sensor. DETAILED DESCRIPTION

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0051] In order to simplify the drawings, only the parts related to the invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0052] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0053] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0055] In one embodiment, the reference specification Figure 1 The present invention provides a method for generating a color image based on a grayscale image sensor, comprising:

[0056] S100, collecting a target feature image of each part of the target object by an imaging device; the imaging device includes a single projection device and a single camera device;

[0057] Specifically, the sinusoidal stripes are projected onto the target object through a single projection device, so that the target characteristic stripe image is formed on a single camera device, as shown in the attached manual. Figure 2 As shown, there is a one-to-one correspondence between the stripes projected by a single projection device and the stripes imaged by the camera. For example, the projected stripe is numbered 1, and its corresponding camera stripe is also numbered 1; the projected stripe is numbered 2, and its corresponding camera stripe is also numbered 2; and so on.

[0058] S200, calculating all three-dimensional coordinates of a single target feature in each part according to the target feature image and device parameters of the imaging device;

[0059] Specifically, a grayscale image sensor is used to collect target feature images for three-dimensional reconstruction, thereby obtaining three-dimensional information of the target object.

[0060] S300, collecting a first grayscale image of each part under different wavelength illumination spectra and at least one second grayscale image under a background spectrum, wherein the different wavelength spectra include at least a first wavelength spectrum, a second wavelength spectrum and a third wavelength spectrum;

[0061] Specifically, during the idle time when the grayscale image sensor is not collecting target feature images of each part of the target object for three-dimensional reconstruction, at least four images of the object under test are collected, of which at least three images are collected when the scanning device applies different spectral illumination to the object under test, and at least one image with background light illumination is collected (the so-called background light illuminated image is an image collected when the scanning device does not apply any illumination).

[0062] S400, preprocessing the first grayscale image in combination with the second grayscale image to form a third grayscale image corresponding to an illumination spectrum of different wavelengths, and synthesizing the third grayscale image to obtain an image color value of each coordinate point of the single target feature;

[0063] Specifically, the illumination spectrum of the object under test actually imaged in the grayscale image sensor actually includes the specific illumination spectrum applied by the oral scanner and the background spectrum in the natural environment. Due to the existence of the background spectrum, it is easy to cause certain distortion in the color information of the object under test restored by the grayscale image sensor, which looks unreal and may even be color cast, affecting the accuracy of clinical diagnosis. Therefore, it is necessary to pre-process the first grayscale image in combination with the second grayscale image to form a third grayscale image corresponding to an illumination spectrum of different wavelengths, and then synthesize the image color value of each coordinate point of the single target feature based on the third grayscale image.

[0064] S500, reconstructing a color imaging image of the target object based on the three-dimensional coordinates and image color values ​​of all target features of various parts of the target object.

[0065] In this embodiment, a target feature image of each part of the target object is collected by an imaging device, and all three-dimensional coordinates of a single target feature in each part are calculated using the device parameters of the imaging device, and then a first grayscale image of each part under different wavelength illumination spectra and at least one second grayscale image under the background spectrum are collected, and the first grayscale image is preprocessed in combination with the second grayscale image to form a third grayscale image corresponding to the different wavelength illumination spectra, and the image color value of each coordinate point of the single target feature is obtained based on the synthesis of the third grayscale image, and finally, based on the three-dimensional coordinates and image color values ​​of all target features in each part of the target object, an undistorted color imaging image of the target object is restored.

[0066] Another embodiment of the method for generating a color image based on a grayscale image sensor provided by the present invention, based on the above embodiment, the step S200, calculating all three-dimensional coordinates of a single target feature in each part according to the target feature image and the device parameters of the imaging device, specifically includes:

[0067] All three-dimensional coordinates of a single target feature in each part are reconstructed based on the position change of each imaging point in the target feature image and the optical parameters and mechanical parameters of the imaging device.

[0068] In this embodiment, a single projection device and a camera device are taken as an example, as shown in the attached manual. Figure 3As shown in the figure, if a point light source is projected onto the focal plane of the target object, the projection point will be imaged at the center of the camera; if the projection plane is moved, closer to or farther away from the measuring device, the position of the image on the camera will change accordingly; based on the change in the position of the imaging point on the camera, as well as the pre-calibrated projection, optical and mechanical parameters of the camera, the three-dimensional coordinates of the imaging point can be finally calculated. Similarly, if a target feature stripe image is projected, the three-dimensional coordinates of each point of the entire stripe can be obtained by the coordinates corresponding to each point of the imaging stripe in the camera. Structured light three-dimensional imaging usually projects multiple stripes and finally reconstructs all the three-dimensional coordinates of a single target feature in each part.

[0069] Another embodiment of a method for generating a color image based on a grayscale image sensor provided by the present invention, based on the above embodiment, before step S200, further includes:

[0070] Performing noise interference filtering processing on the target feature image, and enhancing the target features in the target feature image;

[0071] Specifically, it is necessary to filter out thermal noise and white noise in the target feature image to enhance the target features, thereby obtaining an image without noise interference and with obvious target features.

[0072] Another embodiment of a method for generating a color image based on a grayscale image sensor provided by the present invention, based on the above embodiment, the step S400, preprocessing the first grayscale image in combination with the second grayscale image to form a third grayscale image corresponding to an illumination spectrum of different wavelengths, specifically includes:

[0073] Passing the second grayscale image into a low-pass filter to obtain a reference second grayscale image;

[0074] Specifically, the second grayscale image is passed into a Gaussian low-pass filter to remove white noise, thermal noise, etc. in the background environment lighting image.

[0075] Subtracting the coordinate brightness value of the reference second grayscale image from the coordinate brightness value of the first grayscale image to obtain a third grayscale image corresponding to the illumination spectrum of different wavelengths without background spectrum illumination;

[0076] In this embodiment, the grayscale image of the background spectrum illumination is subjected to noise removal processing to obtain a background spectrum grayscale image without noise interference, that is, a reference grayscale image, and then the coordinate brightness value of the grayscale image under different wavelength spectra is subtracted from the coordinate brightness value of the reference grayscale image to obtain a third grayscale image corresponding to a different wavelength illumination spectrum without background spectrum illumination. Through the method of this embodiment, the influence of the background spectrum can be removed, laying a solid foundation for restoring a true color three-dimensional image.

[0077] In another embodiment of a method for generating a color image based on a grayscale image sensor provided by the present invention, based on the above embodiment, step S400, synthesizing the image color value of each coordinate point of the single target feature based on the third grayscale image, specifically includes:

[0078] Based on the first wavelength spectrum, the second wavelength spectrum, and the third wavelength spectrum, a color value coefficient is calculated, and the color value coefficient includes red, blue, and green score coefficients;

[0079] Specifically, the color value coefficients are calculated from the wavelengths of the illumination spectrum when generating spectral images of different wavelengths, and are a set of fixed parameters.

[0080] Respectively obtaining scores of red, blue and green of the third grayscale image;

[0081] synthesizing the same color values ​​of the third grayscale image to obtain a color image including red, green and blue components;

[0082] In this embodiment, for details, refer to the attached Figure 4 , refer to the instruction manual Figure 5 , refer to the instruction manual Figure 6 , refer to the instruction manual Figure 7 , refer to the instruction manual Figure 8 , refer to the instruction manual Fig. 9 In the idle time when the grayscale image sensor does not collect fringe images, the grayscale image sensor continuously collects 6 images, which are respectively projected with the first wavelength spectrum illumination (attached to the manual) in sequence. Figure 4 ), no lighting (instructions included Figure 7 ), second wavelength spectrum lighting (attached to the instruction manual Figure 5 ), no lighting (instructions included Figure 8 ), third wavelength spectrum lighting (attached to the instruction manual Figure 6 ), no lighting (instructions included Fig. 9 ) Figure 7 , Attachment Figure 8 and attached Fig. 9 This is the background image after contrast enhancement. Figure 7 , Attachment Figure 8 , Attachment Fig. 9If it is the original background image, it is completely black visually, which is not convenient to read the instructions, so contrast enhancement is done here; the no illumination means that the device does not generate illumination, but the object under test may still be illuminated by external ambient light. For the convenience of description, the continuously projected first wavelength spectrum illumination, no illumination, second wavelength spectrum illumination, no illumination, third wavelength spectrum illumination, and no illumination images are referred to as image a1, image b1, image a2, image b2, image a3, and image b3, respectively.

[0083] First, perform Gaussian filtering on images b1, b2, and b3 respectively to remove white noise, thermal noise, etc. in the background environment lighting image. At the same time, average each pixel point at the same position in images b1, b2, and b3 to obtain a new background image b4. Then subtract image b4 from image a1 to remove the background noise in image a1; subtract image b4 from image a2 to remove the background noise in image a2; subtract image b4 from image a3 to remove the background noise in image a3. It should be clear that image a1 minus image b4 is obtained by subtracting the brightness value of each image coordinate position in image a1 from the brightness value of the same image coordinate position in image b4. If the pixel value of image a1 after background subtraction is lower than zero, take zero as the output. Finally, the images a1, a2, and a3 after background subtraction are synthesized into a color image containing red, green, and blue components according to the following formula. Please refer to the attached manual. Fig.10 :

[0084] Red component value = image a1*coefficient c1+image a2*coefficient c2+image a3*coefficient c3

[0085] Green component value = image a1*coefficient c4+image a2*coefficient c5+image a3*coefficient c6

[0086] Blue component value = image a1*coefficient c7+image a2*coefficient c8+image a3*coefficient c9

[0087] The coefficients c1 to c9 in the calculation formula are obtained by calculating the wavelength of the illumination spectrum when the images a1, a2, and a3 are generated, and are a set of fixed parameters.

[0088] Ultimately, each set of reconstructed 3D information can find the color image closest in time; each 3D coordinate point in each set of 3D information can find the corresponding color value on the color image. The complete intraoral 3D morphological information finally reconstructed from multiple sets of 3D information can be presented in color at the same time.

[0089] Based on the same technical concept, the present invention also discloses a system for generating a color image based on a grayscale image sensor. The system can be implemented by using any of the above-mentioned method embodiments for generating a color image based on a grayscale image sensor. Specifically, an embodiment of a system for generating a color image based on a grayscale image sensor of the present application is shown in the attached specification. Fig.11 As shown, it includes an imaging device 200 and a processor 100:

[0090] The imaging device 200 includes a single projection device 220 and a single camera device 210, which are used to collect target feature images of each part of the target object through the imaging device 200;

[0091] The processor 100 includes a calculation module, which is used to calculate all three-dimensional coordinates of a single target feature in each part according to the target feature image and the device parameters of the imaging device 200;

[0092] The single camera device 210 is further used to collect a first grayscale image of each part under different wavelength illumination spectra and at least one second grayscale image under a background spectrum, wherein the different wavelength spectra include a first wavelength spectrum, a second wavelength spectrum and a third wavelength spectrum;

[0093] The processor 100 includes a preprocessing module, which is used to preprocess the first grayscale image in combination with the second grayscale image to form a third grayscale image corresponding to a different wavelength illumination spectrum;

[0094] The processor 100 includes a synthesis module, which is used to synthesize the image color value of each coordinate point of the single target feature based on the third grayscale image;

[0095] The processor 100 further includes a color image reconstruction module, which is used to reconstruct a color imaging image of the target object based on the three-dimensional coordinates and image color values ​​of all target features of each part of the target object;

[0096] Another embodiment of the system for generating a color image based on a grayscale image sensor provided by the present invention, based on the above embodiment, the calculation module is further used to reconstruct and calculate all three-dimensional coordinates of a single target feature in each part according to the position change of each imaging point in the target feature image, and the optical parameters and mechanical parameters of the imaging device;

[0097] Another embodiment of a system for generating a color image based on a grayscale image sensor provided by the present invention, based on the above embodiment, the processor 100 further includes:

[0098] An image processing module, used for performing noise interference filtering processing on the target feature image and enhancing the target features in the target feature image;

[0099] Another embodiment of the system for generating a color image based on a grayscale image sensor provided by the present invention, based on the above embodiment, the processor 100 further includes a correction module,

[0100] The preprocessing module is further used to pass the second grayscale image into a low-pass filter to obtain a reference second grayscale image;

[0101] The correction module is used to subtract the coordinate brightness value of the reference second grayscale image from the coordinate brightness value of the first grayscale image to obtain a third grayscale image corresponding to a different wavelength illumination spectrum without background spectrum illumination;

[0102] According to another embodiment of a system for generating a color image based on a grayscale image sensor provided by the present invention, based on the above embodiment, the synthesis module is further used to synthesize the image color value of each coordinate point of the single target feature based on the color value of each coordinate point in the third grayscale image of the first, second and third wavelength illumination spectra, and the image color value includes the superimposed color values ​​of red, green and blue;

[0103] The method and system for generating a color image based on a grayscale image sensor of the present invention have the same technical concept, and the technical details of the embodiments of the two are applicable to each other. To reduce repetition, they will not be described again.

[0104] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A method for generating a color image based on a grayscale image sensor, It is characterized in that include: Collect target feature images of each part of the target object through an imaging device; The imaging device includes a single projection device and a single camera device; Calculating all three-dimensional coordinates of a single target feature in each part according to the target feature image and device parameters of the imaging device; Collecting a first grayscale image of each part under different wavelength illumination spectra and at least one second grayscale image under a background spectrum, wherein the different wavelength spectra include at least a first wavelength spectrum, a second wavelength spectrum, and a third wavelength spectrum; Preprocessing the first grayscale image in combination with the second grayscale image to form a third grayscale image corresponding to illumination spectra of different wavelengths, and synthesizing the image color value of each coordinate point of the single target feature based on the third grayscale image; Reconstructing a color imaging image of the target object based on the three-dimensional coordinates and image color values ​​of all target features in each part of the target object; The step of synthesizing the third grayscale image to obtain the image color value of each coordinate point of the single target feature specifically includes: Based on the first wavelength spectrum, the second wavelength spectrum, and the third wavelength spectrum, a color value coefficient corresponding to each wavelength is calculated, and the color value coefficient includes red, blue, and green score coefficients; According to the color value coefficients, respectively obtain the scores of red, blue and green of each of the third grayscale images; The same color values ​​of the third grayscale image are synthesized to obtain a color image including red, green and blue components.

2. A method for generating a color image based on a grayscale image sensor according to claim 1, It is characterized in that The step of calculating all three-dimensional coordinates of a single target feature in each part according to the target feature image and the device parameters of the imaging device includes: All three-dimensional coordinates of a single target feature in each part are reconstructed based on the position change of each imaging point in the target feature image and the optical parameters and mechanical parameters of the imaging device.

3. The method for generating a color image based on a grayscale image sensor according to claim 1, It is characterized in that Before calculating all three-dimensional coordinates of a single target feature in each part according to the target feature image and the device parameters of the imaging device, the method further includes: The target feature image is subjected to noise interference filtering processing, and the target features in the target feature image are enhanced.

4. The method for generating a color image based on a grayscale image sensor according to claim 1, It is characterized in that The preprocessing of the first grayscale image in combination with the second grayscale image to form a third grayscale image corresponding to an illumination spectrum of different wavelengths includes: Passing the second grayscale image into a low-pass filter to obtain a reference second grayscale image; The coordinate brightness value of the first grayscale image is subtracted from the coordinate brightness value of the reference second grayscale image to obtain a third grayscale image with different wavelength illumination spectrum and without background spectrum illumination.

5. The method for generating a color image based on a grayscale image sensor according to claim 4, It is characterized in that The step of synthesizing the third grayscale image to obtain the image color value of each coordinate point of the single target feature includes: Based on the color value of each coordinate point in the third grayscale image of the first, second and third wavelength illumination spectra, the image color value of each coordinate point of the single target feature is synthesized, and the image color value includes the superimposed color values ​​of red, green and blue.

6. A system for generating color images based on a grayscale image sensor, It is characterized in that Includes imaging device and processor: The imaging device includes a single projection device and a single camera device, which are used to collect target feature images of each part of the target object; The processor includes a calculation module for calculating all three-dimensional coordinates of a single target feature in each part according to the target feature image and device parameters of the imaging device; The single-camera device is further used to collect a first grayscale image of each part under different wavelength illumination spectra and at least one second grayscale image under a background spectrum, wherein the different wavelength spectra include a first wavelength spectrum, a second wavelength spectrum, and a third wavelength spectrum; The processor includes a preprocessing module for preprocessing the first grayscale image in combination with the second grayscale image to form a third grayscale image corresponding to a different wavelength illumination spectrum; The processor further comprises a synthesis module for synthesizing the image color value of each coordinate point of the single target feature based on the third grayscale image; The processor also includes a color image reconstruction module, which is used to reconstruct a color imaging image of the target object based on the three-dimensional coordinates and image color values ​​of all target features in each part of the target object; The processor is further configured to calculate a color value coefficient corresponding to each wavelength based on the first wavelength spectrum, the second wavelength spectrum, and the third wavelength spectrum, wherein the color value coefficient includes red, blue, and green score coefficients; The processor is also used to obtain the scores of red, blue and green colors of each of the third grayscale images according to the color value coefficients; The processor is further configured to synthesize the same color values ​​of the third grayscale image to obtain a color image including red, green and blue components.

7. A system for generating a color image based on a grayscale image sensor according to claim 6, It is characterized in that The calculation module is also used to reconstruct and calculate all three-dimensional coordinates of a single target feature in each part according to the position change of each imaging point in the target feature image and the optical parameters and mechanical parameters of the imaging device.

8. The system for generating a color image based on a grayscale image sensor according to claim 7, It is characterized in that The processor further comprises: The image processing module is used to perform noise interference filtering on the target feature image and enhance the target features in the target feature image.

9. The system for generating a color image based on a grayscale image sensor according to claim 8, It is characterized in that The processor also includes a correction module; The preprocessing module is further used to pass the second grayscale image into a low-pass filter to obtain a reference second grayscale image; The correction module is used to subtract the coordinate brightness value of the reference second grayscale image from the coordinate brightness value of the first grayscale image to obtain a third grayscale image with a different wavelength illumination spectrum and without background spectrum illumination.

10. A system for generating a color image based on a grayscale image sensor according to claim 9, It is characterized in that The synthesis module is also used to synthesize the image color value of each coordinate point of the single target feature based on the color value of each coordinate point in the third grayscale image of the first, second and third wavelength illumination spectra, and the image color value includes the superimposed color values ​​of red, green and blue.

Images