Passive three-dimensional reconstruction method and device based on single polarization information

Abstract

The invention provides a passive three-dimensional reconstruction method and device based on single polarization information, and the method comprises the steps: obtaining the polarization degree and polarization normal information of each pixel point on the surface of a to-be-reconstructed target, and enabling the polarization normal information to comprise a polarization normal azimuth angle and a polarization normal zenith angle; determining prior gradient information corresponding to each pixel point according to the polarization normal zenith angle of each pixel point based on a linearization iterative algorithm; correcting polarization normal azimuth angles of the corresponding pixel points according to the prior gradient information corresponding to the pixel points; determining a real normal of the corresponding pixel point according to the polarization normal zenith angle corresponding to each pixel point and the corrected polarization normal azimuth angle; according to the real normal lines of all pixel points corresponding to the to-be-reconstructed target, the three-dimensional surface of the to-be-reconstructed target is reconstructed, the problem of polarization normal azimuth angle ambiguity is solved, and high-precision three-dimensional reconstruction based on single polarization information is realized.

Description

Technical Field

[0001] The present invention relates to the field of imaging technology, and in particular to a passive three-dimensional reconstruction method and device based on single polarization information. Background Art

[0002] 3D reconstruction technology is the process of using a specific algorithm to obtain the depth or normal information of the target surface to be reconstructed and then convert it into the target's 3D contour. Since 3D reconstruction provides a more comprehensive and intuitive representation of objects than 2D images, this technology has experienced rapid development in recent decades and has been applied in many fields.

[0003] Three-dimensional reconstruction technology has developed to be a fairly mature technology, but how to achieve high-precision three-dimensional reconstruction of the target at a low cost is still the most concerned research issue for most scholars. Three-dimensional reconstruction technology can be mainly divided into scanning three-dimensional reconstruction technology and snapshot three-dimensional reconstruction technology according to the way of acquiring images. Among them, scanning three-dimensional reconstruction technology is to obtain the target image in the corresponding area by scanning the plane where the target object is located point by point, and then perform three-dimensional reconstruction. This method can restore the three-dimensional characteristics of the target more accurately, but the reconstruction accuracy of this reconstruction technology will be greatly reduced with the increase of the reconstruction distance, and because this technology needs to scan the target to be reconstructed point by point, its reconstruction speed is low. Snapshot three-dimensional imaging technology is a technology that directly obtains all pixel information of the target area and reconstructs the image in three dimensions according to different theoretical models. The main feature of this reconstruction technology is that it only takes one shot or information collection in a very short time to complete the three-dimensional reconstruction of the target. Compared with traditional three-dimensional reconstruction technologies that require point-by-point scanning or multiple shots, it has higher efficiency and convenience, mainly including time-of-flight method, binocular stereo vision, polarization three-dimensional reconstruction technology, etc. The time-of-flight method calculates the distance between the object and the sensor by measuring the flight time of the light signal from emission to reflection by the object. This technology is highly adaptable and is not affected by the texture and color of the target surface, but its reconstruction accuracy is limited by the propagation medium and cannot be reconstructed over long distances. In addition, its equipment cost is relatively high. Binocular stereo vision uses two or more cameras to simultaneously shoot the same object from different angles, and obtains the depth information of the object by calculating the parallax of corresponding points in different images. The principle of this technology is simple and the cost is low, but it has high requirements for the texture information of the target surface and poor adaptability. Polarization 3D reconstruction technology uses the relationship between the polarization characteristics of light waves and the 3D shape of the object surface to perform 3D reconstruction. This reconstruction technology can provide rich texture detail information and is relatively adaptable to lighting conditions. It can achieve low-cost and high-precision 3D reconstruction of the target.

[0004] However, there are still certain defects in the current traditional polarization 3D reconstruction model. The polarization normal azimuth obtained by the polarization 3D reconstruction model is ambiguous, which leads to serious distortion of the polarization 3D reconstruction result. Summary of the invention

[0005] In order to solve the above problems existing in the prior art, the present invention provides a passive three-dimensional reconstruction method and device based on single polarization information, specifically comprising:

[0006] In a first aspect, the present invention provides a passive three-dimensional reconstruction method based on single polarization information, comprising:

[0007] Obtaining polarization degree and polarization normal information of each pixel point on the surface of the target to be reconstructed, where the polarization normal information includes the polarization normal azimuth and the polarization normal zenith angle;

[0008] Based on the linearized iterative algorithm, the prior gradient information corresponding to each pixel point is determined according to the polarization normal zenith angle of each pixel point;

[0009] According to the prior gradient information corresponding to each pixel point, the polarization normal azimuth of the corresponding pixel point is corrected;

[0010] Determine the true normal of the corresponding pixel point according to the polarization normal zenith angle corresponding to each pixel point and the corrected polarization normal azimuth angle;

[0011] The three-dimensional surface of the object to be reconstructed is reconstructed according to the true normal lines of all pixel points corresponding to the object to be reconstructed.

[0012] In a second aspect, the present invention further provides a passive three-dimensional reconstruction device based on single polarization information, comprising:

[0013] An acquisition module, used to acquire polarization degree and polarization normal information of each pixel point on the surface of the target to be reconstructed, wherein the polarization normal information includes a polarization normal azimuth and a polarization normal zenith angle;

[0014] A processing module, used for determining the prior gradient information corresponding to each pixel point according to the polarization normal zenith angle of each pixel point based on a linearized iterative algorithm;

[0015] The processing module is further used to correct the polarization normal azimuth of the corresponding pixel point according to the prior gradient information corresponding to each pixel point;

[0016] The processing module is further used to determine the true normal of the corresponding pixel point according to the polarization normal zenith angle corresponding to each pixel point and the corrected polarization normal azimuth angle;

[0017] The processing module is also used to reconstruct the three-dimensional surface of the target to be reconstructed according to the true normal lines of all pixel points corresponding to the target to be reconstructed.

[0018] In a third aspect, the present invention further provides an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0019] Memory, used to store computer programs;

[0020] The processor is used to implement any method provided in the first aspect when executing a program stored in the memory.

[0021] In a fourth aspect, the present invention provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, any one of the methods provided in the first aspect is implemented.

[0022] Beneficial effects of the present invention:

[0023] The passive 3D reconstruction method and device based on single polarization information provided by the present invention obtain the polarization degree and polarization normal information of each pixel point on the surface of the target to be reconstructed, wherein the polarization normal information includes the polarization normal azimuth and the polarization normal zenith angle; based on a linearized iterative algorithm, the priori gradient information corresponding to each pixel point is determined according to the polarization normal zenith angle of each pixel point; the polarization normal azimuth of the corresponding pixel point is corrected according to the priori gradient information corresponding to each pixel point; the real normal of the corresponding pixel point is determined according to the polarization normal zenith angle corresponding to each pixel point and the corrected polarization normal azimuth; the 3D surface of the target to be reconstructed is reconstructed according to the real normals of all the pixel points corresponding to the target to be reconstructed, the ambiguity problem of the polarization normal azimuth is solved, and high-precision 3D reconstruction based on single polarization information is realized. Compared with the traditional polarization 3D imaging technology, the technology provided by the present invention does not need to introduce additional priori information, has a simple structure, is easy to operate, and greatly reduces the imaging complexity and imaging cost.

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of an application scenario of a passive three-dimensional reconstruction method based on single polarization information provided by the present invention;

[0026] Figure 2 A schematic diagram of a process flow of a passive three-dimensional reconstruction method based on single polarization information provided by the present invention;

[0027] Figure 3 A schematic structural diagram of a passive three-dimensional reconstruction device based on single polarization information provided by the present invention. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below with reference to specific embodiments, but the embodiments of the present invention are not limited thereto.

[0029] In order to solve the above problems, the applicant discovered through analysis that it is necessary to introduce prior information of the target surface normal to correct the polarization normal azimuth. However, the introduction of other information besides polarization will also introduce certain errors, resulting in reduced reconstruction accuracy and increasing the cost of three-dimensional reconstruction. If it is possible to obtain prior information of the normal azimuth based on the global distribution characteristics of the polarization information on the target surface, and then use the normal correction model to disambiguate the normal azimuth, the correct normal information of the target surface can be obtained, and high-precision three-dimensional reconstruction of the target can be achieved. This will not only reduce the cost of polarization three-dimensional reconstruction technology, but will also further broaden the application scenarios of polarization three-dimensional reconstruction technology. Based on this, the present invention provides a passive three-dimensional reconstruction method based on single polarization information, which is applied to the following scenarios: Figure 1 In the scenario shown, Figure 1 As shown, natural light is incident on the target surface and diffusely reflected, and a detector can be used to capture the diffusely reflected light waves on the target surface.

[0030] like Figure 2 As shown, the present invention provides a passive three-dimensional reconstruction method based on single polarization information, including:

[0031] S201, obtaining polarization degree and polarization normal information of each pixel point on the surface of the object to be reconstructed.

[0032] The polarization normal information includes the polarization normal azimuth and the polarization normal zenith angle.

[0033] In one possible implementation, the polarization degree and polarization normal information of each pixel point on the surface of the target to be reconstructed are obtained, including: using a polarization camera to obtain polarization sub-images of the target to be reconstructed in multiple different directions by rotating a polarizer, the polarization sub-images in multiple different polarization directions cover the same target to be reconstructed, that is, the polarization sub-images in multiple different directions all cover the target to be reconstructed; based on each polarization sub-image, the polarization degree and polarization normal information of the surface of the target to be reconstructed are determined.

[0034] Optionally, a polarization camera is used to capture images of the target to be reconstructed, and four polarization sub-images of 0°, 45°, 90° and 135° corresponding to the target to be reconstructed are obtained by rotating the polarizer.

[0035] Further, optionally, determining the polarization degree and polarization normal information of the surface of the target to be reconstructed according to each polarization sub-image includes the following steps A1-A4:

[0036] A1. According to each polarization sub-image, the Stokes vector of each pixel in each polarization sub-image is calculated, which is expressed as:

[0037]

[0038] The subscript ij represents the pixel with coordinates (i, j) in the image, S ij The Stokes vector of the pixel with coordinates (i, j), I ij Indicates S ij The first component of Q ij Indicates S ij The second component, U ij Indicates S ij The third component, I ij0 Represents the light intensity value of the pixel with coordinates (i, j) when the polarizer angle is 0°, I ij90 Represents the light intensity value of the pixel with coordinates (i, j) when the polarizer angle is 90°, I ij45 Represents the light intensity value of the pixel with coordinates (i, j) when the polarizer angle is 45°, I ij135 Represents the light intensity value of the pixel with coordinates (i, j) when the polarizer angle is 135°.

[0039] A2. According to the Stokes vector of each pixel in each polarization sub-image, the polarization normal azimuth of each pixel on the surface of the target to be reconstructed is calculated, which is expressed as:

[0040]

[0041] in, It represents the polarization normal azimuth of the pixel with coordinates (i, j), and arctan() represents the inverse tangent function.

[0042] A3. Reconstruct the polarization degree of each pixel on the surface of the target to be reconstructed according to the Stokes vector of each pixel in each polarization sub-image, expressed as:

[0043]

[0044] Among them, P ij Represents the degree of polarization of the pixel with coordinates (i, j).

[0045] A4. Calculate the polarization normal zenith angle of each pixel point according to the degree of polarization of each pixel point, expressed as:

[0046]

[0047] Among them, θ ijIt represents the zenith angle of the polarization normal of the pixel with coordinates (i, j), that is, the angle between the normal of the pixel with coordinates (i, j) and the direction of the outgoing light, and n represents the refractive index of the target to be reconstructed.

[0048] S202, based on a linearized iterative algorithm, determine the priori gradient information corresponding to each pixel point according to the polarization normal zenith angle of each pixel point.

[0049] Specifically, based on the linearized iterative algorithm, the prior gradient information corresponding to each pixel is determined according to the polarization normal zenith angle of each pixel, which is expressed as:

[0050]

[0051] Among them, the prior gradient information of the pixel point with coordinates (i, j) includes p ij and q ij , p ij Represents the gradient value of the pixel with coordinates (i, j) on the x-axis, q ij represents the gradient value of the pixel with coordinates (i, j) on the y-axis, T(i, j) represents the cosine value of the polarization normal zenith angle of the pixel with coordinates (i, j), θ ij represents the zenith angle of the polarization normal of the pixel with coordinates (i, j), Z(i, j) represents the height of the pixel with coordinates (i, j), f() represents the iterative function, Z(i, j) n-1 Represents the result of the n-1th iteration of Z(i,j).

[0052] Exemplarily, all the objects corresponding to the target to be reconstructed The composition contains the unknown quantity q i j and p i The nonlinear equations of j have no unique solution. In order to solve the above problem, a smoothness constraint is added to the reconstructed target surface, and a linearized iterative algorithm is introduced to solve the equations.

[0053] Specifically, based on the finite difference method, q is discretized ij and p ij , and then combined, expressed as:

[0054]

[0055] Can get

[0056]

[0057] Furthermore, the Jacobi iteration method is used to set the initial height of all pixels on the surface of the target to be reconstructed to 0, that is, Z(i,j)=0, and Taylor expansion is performed on f(Z(i,j))=0 to obtain two low-order terms, and the following formula is obtained:

[0058]

[0059] Then get

[0060]

[0061] Therefore, after the initial height is given, the surface height of the target to be reconstructed and the p corresponding to each pixel can be obtained through iterative calculation of the above expression. ij and q ij The value of .

[0062] This prior information acquisition algorithm based on polarization degree solves the distortion problem existing in polarization 3D reconstruction technology, can improve the accuracy of polarization 3D reconstruction, and can broaden the application prospects of polarization 3D reconstruction technology.

[0063] S203 , correcting the polarization normal azimuth of the corresponding pixel point according to the priori gradient information corresponding to each pixel point.

[0064] In a possible implementation, the polarization normal azimuth of the corresponding pixel point is corrected according to the prior gradient information corresponding to each pixel point, including the following steps B1 and B2:

[0065] B1. According to the prior gradient information corresponding to each pixel point, determine the prior normal azimuth corresponding to the corresponding pixel point, expressed as:

[0066]

[0067] in, Represents the prior normal azimuth corresponding to the pixel point with coordinates (i, j).

[0068] B2. According to the prior normal azimuth corresponding to each pixel point, the polarization normal azimuth of the corresponding pixel point is corrected to obtain the corrected polarization normal azimuth, which is expressed as:

[0069]

[0070] in, It represents the corrected polarization normal azimuth corresponding to the pixel point with coordinates (i, j). abs() represents the absolute value calculation function, that is, it calculates the absolute value of the value in the brackets.

[0071] Through this method, the ambiguity problem of polarization azimuth can be solved, thereby improving the accuracy of three-dimensional reconstruction.

[0072] S204 , determining the true normal of the corresponding pixel point according to the polarization normal zenith angle corresponding to each pixel point and the corrected polarization normal azimuth angle.

[0073] In a possible implementation, the true normal of the corresponding pixel point is determined according to the polarization normal zenith angle corresponding to each pixel point and the corrected polarization normal azimuth angle, which is expressed as:

[0074]

[0075] in, Represents the true normal of the pixel with coordinates (i, j), n ijx 、n ijy 、n ijz They represent the components of the true normal of the pixel with coordinates (i, j) in the x-axis, y-axis, and z-axis directions respectively.

[0076] Based on the corrected polarization normal azimuth, the correct normal information corresponding to the surface of the target to be reconstructed can be obtained, thereby achieving high-precision three-dimensional reconstruction of the target.

[0077] S205 . Reconstruct the three-dimensional surface of the object to be reconstructed according to the true normal lines of all pixel points corresponding to the object to be reconstructed.

[0078] In a possible implementation, the three-dimensional surface of the target to be reconstructed is reconstructed according to the true normals of all the pixels corresponding to the target to be reconstructed, including: forming a normal gradient field according to the true normals of all the pixels corresponding to the target to be reconstructed; integrating the normal gradient field to obtain the three-dimensional surface of the target to be reconstructed, which is expressed as:

[0079]

[0080] Among them, p and q represent the components of the normal gradient field in the x-axis and y-axis directions, respectively, and F and F -1 They represent discrete Fourier transform and inverse Fourier transform operations respectively, and u and v represent the angular frequencies in the x-axis and y-axis directions respectively.

[0081] The passive 3D reconstruction method based on single polarization information provided by the present invention obtains the polarization degree and polarization normal information of each pixel point on the surface of the target to be reconstructed, wherein the polarization normal information includes the polarization normal azimuth and the polarization normal zenith angle; based on a linearized iterative algorithm, the priori gradient information corresponding to each pixel point is determined according to the polarization normal zenith angle of each pixel point; the polarization normal azimuth of the corresponding pixel point is corrected according to the priori gradient information corresponding to each pixel point; the real normal of the corresponding pixel point is determined according to the polarization normal zenith angle corresponding to each pixel point and the corrected polarization normal azimuth; the 3D surface of the target to be reconstructed is reconstructed according to the real normals of all the pixel points corresponding to the target to be reconstructed, the ambiguity problem of the polarization normal azimuth is solved, and high-precision 3D reconstruction based on single polarization information is realized. Compared with the traditional polarization 3D imaging technology, the technology provided by the present invention does not need to introduce additional priori information, has a simple structure, is easy to operate, and greatly reduces the imaging complexity and imaging cost.

[0082] Figure 3 A schematic diagram of the structure of a passive three-dimensional reconstruction device based on single polarization information provided by the present invention is shown in FIG. Figure 3 As shown, the device comprises:

[0083] The acquisition module 31 is used to acquire the polarization degree and polarization normal information of each pixel point on the surface of the target to be reconstructed, where the polarization normal information includes the polarization normal azimuth and the polarization normal zenith angle.

[0084] The processing module 32 is used to determine the priori gradient information corresponding to each pixel point according to the polarization normal zenith angle of each pixel point based on a linearized iterative algorithm.

[0085] The processing module 32 is further configured to correct the polarization normal azimuth of the corresponding pixel point according to the priori gradient information corresponding to each pixel point.

[0086] The processing module 32 is further used to determine the true normal of the corresponding pixel point according to the polarization normal zenith angle corresponding to each pixel point and the corrected polarization normal azimuth angle.

[0087] The processing module 32 is further configured to reconstruct the three-dimensional surface of the object to be reconstructed according to the true normal lines of all pixel points corresponding to the object to be reconstructed.

[0088] The present invention also provides a structure of an electronic device, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus.

[0089] Memory, used to store computer programs;

[0090] The processor is used to implement the steps provided in the above method embodiment when executing the program stored in the memory.

[0091] The communication interface is used for communication between the above electronic device and other devices.

[0092] The method provided in the embodiment of the present invention can be applied to electronic devices. Specifically, the electronic device can be: a desktop computer, a portable computer, an intelligent mobile terminal, a server, etc. This is not limited here, and any electronic device that can implement the present invention belongs to the protection scope of the present invention.

[0093] The present invention also provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps provided in the above method embodiment are implemented.

[0094] As for the device / electronic device / storage medium embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the specific content and beneficial effects and other related matters can be referred to the partial description of the method embodiment.

[0095] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0096] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A passive 3D reconstruction method based on single polarization information, characterized in that: include: Acquire polarization degree and polarization normal information of each pixel point on the surface of the target to be reconstructed, wherein the polarization normal information includes a polarization normal azimuth and a polarization normal zenith angle; Based on a linearized iterative algorithm, according to the polarization normal zenith angle of each pixel point, the priori gradient information corresponding to each pixel point is determined; Correcting the polarization normal azimuth of the corresponding pixel point according to the priori gradient information corresponding to each pixel point; Determine the true normal of the corresponding pixel point according to the polarization normal zenith angle corresponding to each pixel point and the corrected polarization normal azimuth; The three-dimensional surface of the object to be reconstructed is reconstructed according to the true normals of all pixel points corresponding to the object to be reconstructed.

2. The method according to claim 1, characterized in that The step of obtaining polarization degree and polarization normal information of each pixel point on the surface of the target to be reconstructed includes: Using a polarization camera, by rotating a polarizer, polarization sub-images of the target to be reconstructed in multiple different directions are obtained, wherein the polarization sub-images in the multiple different directions all cover the target to be reconstructed; According to each of the polarization sub-images, the polarization degree and polarization normal information of the surface of the object to be reconstructed are determined.

3. The method according to claim 2, characterized in that Determining the polarization degree and polarization normal information of the surface of the target to be reconstructed according to each of the polarization sub-images includes: According to each of the polarization sub-images, the Stokes vector of each pixel in each of the polarization sub-images is calculated, which is expressed as: The subscript ij represents the pixel with coordinates (i, j) in the image, S ij The Stokes vector of the pixel with coordinates (i, j), I ij Indicates S ij The first component of Q ij Indicates S ij The second component, U ij Indicates S ij The third component, I ij0 Represents the light intensity value of the pixel with coordinates (i, j) when the polarizer angle is 0°, I ij90 Represents the light intensity value of the pixel with coordinates (i, j) when the polarizer angle is 90°, I ij45 Represents the light intensity value of the pixel with coordinates (i, j) when the polarizer angle is 45°, I ij135 It represents the light intensity value of the pixel with coordinates (i, j) when the polarizer angle is 135°; According to the Stokes vector of each pixel point in each polarization sub-image, the polarization normal azimuth of each pixel point on the surface of the object to be reconstructed is calculated, which is expressed as: in, Represents the polarization normal azimuth of the pixel point with coordinates (i, j), arctan() represents the inverse tangent function; According to the Stokes vector of each pixel in each polarization sub-image, the polarization degree of each pixel on the surface of the object to be reconstructed is reconstructed, which is expressed as: Among them, P ij Represents the polarization degree of the pixel with coordinates (i, j); According to the polarization degree of each pixel point, the polarization normal zenith angle of each pixel point is calculated, which is expressed as: Among them, θ ij It represents the zenith angle of the polarization normal of the pixel with coordinates (i, j), that is, the angle between the normal of the pixel with coordinates (i, j) and the direction of the outgoing light, and n represents the refractive index of the target to be reconstructed.

4. The method according to claim 3, characterized in that Based on the linearized iterative algorithm, the priori gradient information corresponding to each pixel point is determined according to the polarization normal zenith angle of each pixel point, which is expressed as: Among them, the prior gradient information of the pixel point with coordinates (i, j) includes p ij and q ij , p ij Represents the gradient value of the pixel with coordinates (i, j) on the x-axis, q ij represents the gradient value of the pixel with coordinates (i, j) on the y-axis, T(i, j) represents the cosine value of the polarization normal zenith angle of the pixel with coordinates (i, j), θ ij represents the zenith angle of the polarization normal of the pixel with coordinates (i, j), Z(i, j) represents the height of the pixel with coordinates (i, j), f() represents the iterative function, Z(i, j) n-1 Represents the result of the n-1th iteration of Z(i,j).

5. The method according to claim 4, characterized in that The step of correcting the polarization normal azimuth of the corresponding pixel point according to the priori gradient information corresponding to each pixel point comprises: According to the prior gradient information corresponding to each pixel point, the prior normal azimuth corresponding to the corresponding pixel point is determined, which is expressed as: in, Indicates the prior normal azimuth corresponding to the pixel point with coordinates (i, j); According to the prior normal azimuth corresponding to each pixel point, the polarization normal azimuth of the corresponding pixel point is corrected to obtain the corrected polarization normal azimuth, which is expressed as: in, It represents the corrected polarization normal azimuth corresponding to the pixel point with coordinates (i, j). abs() represents the absolute value calculation function, that is, it calculates the absolute value of the value in the brackets.

6. The method according to claim 5, characterized in that The true normal of the corresponding pixel point is determined according to the polarization normal zenith angle corresponding to each pixel point and the corrected polarization normal azimuth angle, which is expressed as: in, Represents the true normal of the pixel with coordinates (i, j), n ijx 、n ijy 、n ijz They represent the components of the true normal of the pixel with coordinates (i, j) in the x-axis, y-axis, and z-axis directions respectively.

7. The method according to claim 5, characterized in that The step of reconstructing the three-dimensional surface of the object to be reconstructed according to the true normal lines of all pixel points corresponding to the object to be reconstructed comprises: According to the real normals of all pixel points corresponding to the target to be reconstructed, a normal gradient field is formed; The normal gradient field is integrated to obtain the three-dimensional surface of the target to be reconstructed, which is expressed as: Among them, p and q represent the components of the normal gradient field in the x-axis and y-axis directions, respectively, and F and F -1 They represent discrete Fourier transform and inverse Fourier transform operations respectively, and u and v represent the angular frequencies in the x-axis and y-axis directions respectively.

8. A passive three-dimensional reconstruction device based on single polarization information, characterized in that: include: An acquisition module, used to acquire polarization degree and polarization normal information of each pixel point on the surface of the target to be reconstructed, wherein the polarization normal information includes a polarization normal azimuth and a polarization normal zenith angle; A processing module, configured to determine the prior gradient information corresponding to each pixel point according to the polarization normal zenith angle of each pixel point based on a linearized iterative algorithm; The processing module is further used to correct the polarization normal azimuth of the corresponding pixel point according to the prior gradient information corresponding to each pixel point; The processing module is further used to determine the true normal of the corresponding pixel point according to the polarization normal zenith angle and the corrected polarization normal azimuth angle corresponding to each pixel point; The processing module is further used to reconstruct the three-dimensional surface of the object to be reconstructed according to the true normals of all pixel points corresponding to the object to be reconstructed.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-7 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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