Laser gating mixed distance energy correlation three-dimensional imaging method

Abstract

The invention provides a laser gating hybrid distance energy-related three-dimensional imaging method, which comprises the following steps of: acquiring an initial first gating image and an initial second gating image which respectively comprise a plurality of target objects; inputting the initial first gating image and the initial second gating image into a first model to obtain a first image; inputting the initial first gating image and the initial second gating image into a second model to obtain a second image; and based on the high-distance resolution feature of the first image, distinguishing target objects at different distances in the first image, and fusing the distance information of the target objects in the first image with the distance information of the corresponding target objects in the second image to obtain a target three-dimensional image.

Description

Technical Field

[0001] The present invention relates to the technical field of optical three-dimensional imaging, and particularly relates to a laser-gated hybrid distance-energy correlation three-dimensional imaging method. Background Art

[0002] Range-gated three-dimensional imaging is an active illumination three-dimensional imaging method, which can simultaneously provide two-dimensional images and three-dimensional images with high signal-to-noise ratio and high resolution, and is widely used in fields such as long-distance observation, underwater detection, and autonomous driving. The range-gated three-dimensional imaging methods mainly include the stepped delay method and the distance-energy correlation three-dimensional imaging method. Compared with the stepped delay method, the distance-energy correlation three-dimensional imaging method has high real-time performance and is therefore more widely applied. According to the principle of the distance-energy correlation three-dimensional imaging algorithm, this method requires rectangular laser pulses and gating pulses, constructs a distance-energy envelope with a specific shape through the convolution of the laser pulse and the gating pulse, and realizes the three-dimensional reconstruction of the target through two gated images, capable of achieving three-dimensional imaging with high range resolution. However, the laser pulse and the gating pulse have rising edges and falling edges, which do not meet the requirements of the pulse square wave of the distance-energy correlation three-dimensional imaging method, resulting in the problem of low accuracy in the three-dimensional image.

[0003] To solve the problem of low accuracy caused by the poor square wave characteristic of the pulse function, the existing Gaussian distance-energy correlation three-dimensional imaging method approximates the laser and gating pulse functions as Gaussian functions, and at the same time approximates the distance-energy envelope as an elementary mathematical function, re-establishes the distance-energy relationship between the two gated images, and realizes the three-dimensional reconstruction of the target. However, this method has the problem of low range resolution, and when the deviation between the pulse function and the Gaussian function is large, low accuracy will also occur. Summary of the Invention

[0004] (I) Technical Problems to be Solved

[0005] Aiming at the above deficiencies, the main purpose of the present invention is to provide a laser-gated hybrid distance-energy correlation three-dimensional imaging method to solve the problem of low accuracy caused by the poor square wave characteristic of the pulse function, so as to realize gated three-dimensional imaging with high range accuracy and high range resolution.

[0006] (II) Technical Solutions

[0007] To achieve the above object, the present invention provides a laser-gated hybrid distance-energy related three-dimensional imaging method, including: acquiring an initial first gated image and an initial second gated image, both the initial first gated image and the initial second gated image including a plurality of target objects; inputting the initial first gated image and the initial second gated image into a first model to obtain a first image; inputting the initial first gated image and the initial second gated image into a second model to obtain a second image; based on the high distance resolution feature of the first image, differentiating target objects at different distances in the first image, and fusing the distance information of the target objects in the first image with the distance information of the corresponding target objects in the second image to obtain a target three-dimensional image.

[0008] In the above solution, the establishment of the second model includes: acquiring the laser pulse function of a pulsed laser and the gated pulse function of a gated imaging device, where the pulsed laser is used to illuminate the target object, and the gated imaging device is used to acquire the gated image including the target object; based on the laser pulse function and the gated pulse function, through the lidar action equation, obtaining the distance-energy envelope of the first-frame gated image and the distance-energy envelope of the second-frame gated image, where there is a relative delay between the distance-energy envelope of the first-frame gated image and the distance-energy envelope of the second-frame gated image, and there is an overlapping area; based on the overlapping area of the distance-energy envelope of the first-frame gated image and the distance-energy envelope of the second-frame gated image, by fitting the relationship between the distance-energy factor and the distance of the target area, to establish the second model.

[0009] In the above solution, acquiring the laser pulse function of the pulsed laser and the gated pulse function of the gated imaging device includes: measuring the laser pulse function of the pulsed laser through a laser power meter, a photodetector, and an oscilloscope; measuring the gated pulse function of the gated imaging device through a picosecond pulsed laser and a diffuse reflection target; where the laser pulse signal of the pulsed laser and the gated pulse signal of the gated imaging device both have a stable time domain and spatial domain.

[0010] In the above solution, the establishment of the first model includes: based on the triangle distance-energy related three-dimensional reconstruction algorithm, obtaining the relationship between the distance-energy factor and the distance of the target area, to establish the first model.

[0011] In the above solution, acquiring the initial first gated image and the initial second gated image includes: by controlling the delay between the laser pulse signal and the gated pulse signal, acquiring the initial first gated image and the initial second gated image respectively including the target object.

[0012] In the above solution, based on the high distance resolution feature of the first image, differentiating target objects at different distances in the first image includes: based on a preset distance threshold, differentiating target objects at different distances in the depth direction of the target area in the first image.

[0013] In the above solution, the distance information of the target object in the first image is fused with the distance information of the corresponding target object in the second image to obtain a target three-dimensional image, including: determining a first pixel area of a first target object in the first image, and calculating the distance of each pixel in the first pixel area, where the first target object is one of multiple target objects; determining a second pixel area of the first target object in the second image, and calculating the distance of each pixel in the second pixel area; respectively calculating the average distance of the first pixel area and the average distance of the second pixel area; based on the distance of each pixel in the first pixel area, the average distance of the first pixel area, and the average distance of the second pixel area, obtaining the distance value of the third pixel area of the first target object in the fused target three-dimensional image; and sequentially calculating the distance values of the third pixel areas of all target objects to obtain the target three-dimensional image.

[0014] In the above solution, sequentially calculating the distance values of the third pixel areas of all target objects to obtain the target three-dimensional image includes: establishing a third image with the same size as the first image and the second image, and filling the distance values of the third pixel areas of each target object into the corresponding pixel positions to obtain the target three-dimensional image.

[0015] In the above solution, the target area is the imaging area of the target object, and the target area distance is the distance in the depth direction of the target area.

[0016] In the above solution, both the initial first gated image and the initial second gated image are single-channel grayscale images.

[0017] (III) Advantageous Effects

[0018] The technical solution of the embodiment of the present invention has at least the following advantageous effects:

[0019] (1) By fitting the functional relationship between the image intensity and the distance, the problem of low distance accuracy of the three-dimensional image caused by the deviation between the actual pulse function and the ideal pulse function is effectively eliminated.

[0020] (2) The three-dimensional image reconstructed by using the traditional geometric distance-related three-dimensional imaging method and the three-dimensional image reconstructed by the fitting distance-related three-dimensional imaging method are fused to form a new three-dimensional image, realizing three-dimensional imaging with high distance accuracy and high distance resolution. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematically shows a flowchart of a laser gated hybrid distance energy related three-dimensional imaging method according to an embodiment of the present invention;

[0022] Figure 2 Schematically shows a principle diagram of distance energy related three-dimensional imaging according to an embodiment of the present invention;

[0023] Figure 3 Schematically shows a fitting graph of the distance and distance energy factor relationship according to an embodiment of the present invention;

[0024] Figure 4 Schematically shows a flowchart of distance information fusion of different target objects according to an embodiment of the present invention;

[0025] Figure 5 Schematically shows a scene graph of the three-dimensional imaging method of the laser gated traditional geometric distance energy correlation according to an embodiment of the present invention;

[0026] Figure 6 Schematically shows a test result graph of the laser pulse function and the gated pulse function according to an embodiment of the present invention;

[0027] Figure 7 Schematically shows a result graph of the three-dimensional imaging method of the laser gated traditional geometric distance energy correlation according to an embodiment of the present invention;

[0028] Figure 8 Schematically shows a result graph of the three-dimensional imaging method of the laser gated fitting distance energy correlation according to an embodiment of the present invention;

[0029] Figure 9 Schematically shows a result graph of the three-dimensional imaging method of the laser gated hybrid distance energy correlation according to an embodiment of the present invention. Detailed implementation manners

[0030] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to specific embodiments and the accompanying drawings.

[0031] Figure 1 Schematically shows a flowchart of the three-dimensional imaging method of the laser gated hybrid distance energy correlation according to an embodiment of the present invention. Figure 2 Schematically shows the three-dimensional imaging principle diagram of the distance energy correlation according to an embodiment of the present invention. Figure 3 Schematically shows a fitting graph of the distance and distance energy factor relationship according to an embodiment of the present invention.

[0032] As Figure 1 shown, the three-dimensional imaging method of the laser gated hybrid distance energy correlation specifically includes operations S1 to S4.

[0033] In operation S1, an initial first gated image and an initial second gated image are acquired, and both the initial first gated image and the initial second gated image include a plurality of target objects.

[0034] As Figure 2As shown, the gated imaging system mainly consists of a pulsed laser 1, a gated imaging device 3, an imaging lens 4, and a timing controller 2. Among them, the pulsed laser 1 can be a semiconductor laser, a solid-state laser, etc., and the gated imaging device 3 can be an ICCD, an ICMOS, etc.

[0035] Exemplarily, as Figure 2 shown, when the pulsed laser illuminates the first target object 81 and the second target object 82, the gated imaging device receives the echo signal reflected by the target object. The timing controller 2 triggers the laser 1 and the gated imaging device 3 according to the electrical signal with a given repetition frequency and pulse width, and at the same time controls the delay between the laser 1 and the gated imaging device 3. By controlling the delay between the laser pulse signal and the gated pulse signal, the initial first gated image and the initial second gated image respectively containing the target object and the corresponding target area 7 are obtained.

[0036] It should be noted that both the initial first gated image and the initial second gated image are single-channel grayscale images. The laser pulse signal of the pulsed laser and the gated pulse signal of the gated imaging device both have a stable time domain and spatial domain. It can also be understood that the initial first gated image and the initial second gated image can be two frames of images with a certain delay respectively, such as the first-frame gated image and the second-frame gated image.

[0037] In operation S2, the initial first gated image and the initial second gated image are input into the first model to obtain the first image.

[0038] In operation S3, the initial first gated image and the initial second gated image are input into the second model to obtain the second image.

[0039] First, the establishment process of the second model is described in detail. In the embodiment of the present invention, the establishment process of the second model includes: obtaining the laser pulse function of the pulsed laser and the gated pulse function of the gated imaging device, where the pulsed laser is used to illuminate the target object, and the gated imaging device is used to collect the gated image containing the target object; based on the laser pulse function and the gated pulse function, through the lidar action equation, obtaining the range energy envelope of the first-frame gated image and the range energy envelope of the second-frame gated image, where there is a relative delay and an overlapping area between the range energy envelope of the first-frame gated image and the range energy envelope of the second-frame gated image; based on the overlapping area of the range energy envelope of the first-frame gated image and the range energy envelope of the second-frame gated image, by fitting the relationship between the range energy factor and the target area range, to establish the second model.

[0040] Exemplarily, please refer to Figure 2, when the pulsed laser illuminates the target object, the gated imaging device receives the echo signal reflected by the target object. It should be noted that multiple target objects can be illuminated, and correspondingly, the received echo signals include the reflections of multiple target objects. During this process, the laser pulse function P(t) of the pulsed laser is measured by a laser power meter, a photodetector, and an oscilloscope, and the pulse function G(t) of the gated detector is measured by a picosecond laser and a diffuse reflection target.

[0041] By controlling the delay between the laser pulse signal and the gated pulse signal, the first gated image and the second gated image respectively containing the target object and the corresponding target area are obtained, that is, there is a relative delay between the first gated image and the second gated image. For example, the first gated image is delayed , and the second gated image is delayed , , represents the relative delay between the first gated image and the second gated image.

[0042] Further, according to the distance r of the target area, the target area is the imaging area of the target object, and the target area distance is the distance in the depth direction of the target area. Based on the lidar action equation, the distance energy envelope I A (r) (as shown by the distance energy envelope 5 in Figure 2 ) and the distance energy envelope I B (r) (as shown by the distance energy envelope 6 in Figure 2 ) of the second gated image are obtained. The distance energy-related three-dimensional imaging method requires that I A (r) and I B (r) have an overlapping area in the distance direction. Let the distance energy factor . As shown in Figure 3 , when image acquisition and imaging are performed on multiple target objects, by fitting the relationship between the distance energy factor and the target area distance r: , where t L represents the laser pulse width, c represents the speed of light in vacuum, and n represents the refractive index in the medium. In this way, the second model is established.

[0043] Through the embodiments of the present invention, by calibrating the pulse functions of the laser and the gated imaging device, based on the lidar action distance equation, the distance energy envelopes of the first and second gated images are solved, and the functional relationship between the image intensity and the distance is obtained by fitting, effectively eliminating the problem of low distance accuracy of the three-dimensional image caused by the deviation between the actual pulse function and the ideal pulse function.

[0044] Further, based on the above-mentioned second model, when the initial first gated image and the initial second gated image are input therein, the second image I can be reconstructed. 3D2 , and this second image is a three-dimensional image with high distance accuracy.

[0045] In an embodiment of the present invention, the method of reconstructing the second image I by using the above-mentioned second model 3D2 can be defined as a laser gated fitting distance energy related three-dimensional imaging method.

[0046] Further, the establishment process of the first model is described in detail. In an embodiment of the present invention, based on the triangle distance energy related three-dimensional reconstruction algorithm, the relationship between the distance energy factor and the distance of the target area is obtained, that is , and the first model is established.

[0047] Further, based on the above-mentioned first model, when the initial first gated image and the initial second gated image are input therein, the first image I can be reconstructed. 3D1 , and this first image is a three-dimensional image with high distance resolution.

[0048] In an embodiment of the present invention, the method of reconstructing the first image I by using the above-mentioned first model 3D1 can be defined as a laser gated traditional geometric distance energy related three-dimensional imaging method.

[0049] Figure 4 Schematically shows a flowchart of distance information fusion of different target objects according to an embodiment of the present invention.

[0050] In operation S4, based on the high distance resolution feature of the first image, the target objects at different distances in the first image are distinguished, and the distance information of the target objects in the first image is fused with the distance information of the corresponding target objects in the second image to obtain a target three-dimensional image.

[0051] In an embodiment of the present invention, based on the high distance resolution feature of the first image, distinguishing the target objects at different distances in the first image includes: distinguishing the target objects at different distances in the depth direction of the target area in the first image based on a preset distance threshold.

[0052] Exemplarily, as Figure 4 shown, the obtained initial first gated image and the initial second gated image are input into the first model and the second model, and the first image I of the three-dimensional image with high distance resolution and the second image I of the three-dimensional image with high distance accuracy can be reconstructed respectively. 3D1 and the second image I of the three-dimensional image with high distance accuracy 3D2 .

[0053] Further, using the high distance resolution feature of I 3D1 to use the high distance resolution feature of I3D1 The target objects in i are divided into T1, T2, …, T Figure 4 . As shown in 3D1 I, target objects at different distances are distinguished based on the characteristics of high range resolution, including the first target object T1 and the second target object T2.

[0054] In an embodiment of the present invention, the distance information of the target object in the first image is fused with the distance information of the corresponding target object in the second image to obtain a target three-dimensional image, including: determining the first pixel area of the first target object in the first image, and calculating the distance of each pixel in the first pixel area, where the first target object is one of multiple target objects. Determining the second pixel area of the first target object in the second image, and calculating the distance of each pixel in the second pixel area.

[0055] Exemplarily, for target T i , denote the pixel area I 3D1 of T in i I, denote the distance r 3D1-i of each pixel in I 3D1-i as r 3D1-i (x,y), denote the corresponding pixel area I 3D2 of T in i I as I 3D2-i , denote the distance r 3D2-i of each pixel in I 3D2-i (x,y).

[0056] As shown in Figure 4 I, including the first target object T1 and the second target object T2, thus, the first target object T1 in the first image I 3D1 can be determined. Denote the first pixel area of T1 in T1 as I 3D1-1 , denote the distance of each pixel in I 3D1-1 as r 3D1-1 (x,y). Determine the first target object T1 in the second image I 3D2 , denote the pixel area I 3D2 corresponding to T1 in I 3D2-1 as I 3D2-1 , denote the distance r 3D2-1 (x,y) of each pixel in I

[0057] In an embodiment of the present invention, the average distance of the first pixel area and the average distance of the second pixel area are calculated respectively.

[0058] Exemplarily, as shown in Figure 4 , calculate the average value R 3D1-1 of the distance of the pixel area I 3D1-1 , , pixel region I 3D1-2 Average distance R 3D1-2 , ; Calculate the average distance R of pixel region I 3D2-1 Average distance R 3D2-1 , ; Pixel region I 3D2-2 Average distance R 3D2-2 , .

[0059] In an embodiment of the present invention, based on the distance of each pixel in the first pixel region, the average distance of the first pixel region, and the average distance of the second pixel region, the distance value of the third pixel region of the first target object in the fused target three-dimensional image is obtained.

[0060] Exemplarily, as Figure 4 shown, calculate the distance value r of the first target object T1 pixel region I in the fused target three-dimensional image I 3D3 3D3-1 r(x,y) = r 3D3-1 (x,y) - R 3D1-1 + R 3D1-1 ; The distance value r of the second target object T2 pixel region I 3D2-1 3D3-2 r(x,y) = r 3D3-2 (x,y) - R 3D1-2 + R 3D1-2 3D2-2 .

[0061] In an embodiment of the present invention, the distance values of the third pixel regions of all target objects are calculated in sequence to obtain the target three-dimensional image. Among them, calculating the distance values of the third pixel regions of all target objects in sequence to obtain the target three-dimensional image includes: establishing a third image with the same size as the first image and the second image, filling the distance values of the third pixel regions of each target object into the corresponding pixel positions to form a three-dimensional image I with high distance accuracy and high distance resolution 3D3 .

[0062] Through the embodiments of the present invention, a new three-dimensional image is formed by fusing the three-dimensional image reconstructed by the traditional geometric distance-related three-dimensional imaging method and the three-dimensional image reconstructed by the fitting distance-related three-dimensional imaging method. The fused three-dimensional image retains the advantages of high distance accuracy and high distance resolution.

[0063] Figure 5 Schematically shows a scene diagram of the verification of the three-dimensional target experiment according to an embodiment of the present invention. Figure 6 Schematically shows a test result diagram of the laser pulse function and the gating pulse function according to an embodiment of the present invention. Figure 7 ​​​Schematically shows the result diagram of the laser-gated traditional geometric distance energy-related three-dimensional imaging method according to an embodiment of the present invention. Figure 8 Schematically shows the result diagram of the laser-gated fitting distance energy-related three-dimensional imaging method according to an embodiment of the present invention. Figure 9 Schematically shows the result diagram of the laser-gated hybrid distance energy-related three-dimensional imaging method according to an embodiment of the present invention.

[0064] In an embodiment of the present invention, the above different imaging methods are verified in the scenario of stereoscopic target experiment verification. As Figure 5 shown, taking two Secchi disk targets as the target objects, imaging them with a gated imaging system, placing the first Secchi disk (i.e., the first target object) at R1 = 10.30 m, and the second Secchi disk (i.e., the second target object) at R2 = 10.34 m, setting the electrical trigger pulse width t L = 30 ns and the electrical trigger gate width t g = 30 ns, the delay between the laser pulse and the gated pulse of the first frame of gated image can be set , and the delay between the laser pulse and the gated pulse of the second frame of image can be set , and the first frame of gated image and the second frame of gated image are collected. First, measure the laser pulse function P(t) of the pulsed laser and the gated pulse function G(t) of the gated imaging device. The measurement results are as Figure 6 shown. Under this electrical pulse width trigger, the laser pulse is a Gaussian-like function with a half-height width of 27 nanoseconds, and the gated pulse is a square-wave-like function of 27 nanoseconds. Substitute P(t), G(t), and into the lidar action equation to obtain the distance energy envelopes I A (r) and I B (r) of the first frame and the second frame of gated images. Let the distance energy factor , and by fitting the relationship between the distance energy factor A (r) and I B (r) in the overlapping region of and the distance r, that is: . In the traditional geometric distance energy-related three-dimensional imaging method the relationship with the distance r .

[0065] Furthermore, the first frame of gated image and the second frame of gated image are respectively three-dimensionally reconstructed based on the laser-gated traditional geometric distance energy-related three-dimensional imaging method and the laser-gated fitting distance energy-related three-dimensional imaging method to obtain a three-dimensional image I 3D1 with high distance resolution and a three-dimensional image I 3D2. To compare the distance accuracy and distance resolution, views are taken from the X-Y perspective and the X-Z perspective respectively. As Figure 7 shown, it can be seen from the distance map in the X-Z perspective that, due to I 3D1 having the characteristic of high distance resolution, the distance values of the first target object and the second target object in the Z direction do not overlap. The first target object and the second target object can be separated by setting the target distance threshold Z 阈值 = 10.63m, but the distance values of the first target object and the second target object deviate from the target true value. As Figure 8 shown, the distance resolution of I 3D2 is relatively low, and the distance values of the first target object and the second target object in the Z direction overlap, and they cannot be separated by the above method, but the distance values of the first target object and the second target object are close to the target true value. Based on the characteristic of the high distance resolution of I 3D1 , a distance threshold is set to distinguish two target objects T1 and T2 at different distances, and the pixel regions I 3D1-1 and I 3D1-2 where the target objects T1 and T2 are located are recorded. The average values R 3D1 and R 3D1-1 of the distances in the T1 and T2 pixel regions in I 3D1-2 are calculated respectively. The average values R 3D2 and R 3D2-1 of the distances in the T1 and T2 pixel regions in I 3D2-2 are calculated respectively. The distance value r 3D3 in the T1 pixel region in I 3D3-1 is calculated, where r 3D3-1 (x, y) = r 3D1-1 (x, y) - R 3D1-1 + R 3D2-1 . The distance value r 3D3 in the T2 pixel region in I 3D3-2 is calculated, where r 3D3-2 (x, y) = r 3D1-2 (x, y) - R 3D1-2 + R 3D2-2 . An image of the same size as I 3D1 or I 3D2 is established, and the distance values r 3D3-1 (x, y) and r 3D3-2 (x, y) of T1 and T2 are filled into the same pixel positions of this image, and no distance is filled in other pixel positions, forming a three-dimensional image I 3D3 . As Figure 9 shown, it can be seen from the distance map in the X-Y perspective that I 3D3There is no overlap in the Z-direction distance values of the first target object and the second target object. By setting a distance threshold, the first target object and the second target object can be separated. At the same time, the distance values of the first target object and the second target object are close to the target true value, having the advantages of high distance accuracy and high distance resolution.

[0066] Those skilled in the art can understand that although the present invention has been shown and described with reference to specific exemplary embodiments of the present invention, those skilled in the art should understand that various changes in form and detail can be made to the present invention without departing from the spirit and scope of the present invention as defined by the appended claims and their equivalents. Therefore, the scope of the present invention should not be limited to the above embodiments, but should be determined not only by the appended claims but also by the equivalents of the appended claims.

[0067] The above specific embodiments have further detailed the purpose, technical solution and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. A laser-gated hybrid range-energy correlation three-dimensional imaging method, characterized in that: include: Acquire an initial first strobed image and an initial second strobed image, wherein the initial first strobed image and the initial second strobed image both include a plurality of target objects; Inputting the initial first gating image and the initial second gating image into a first model to obtain a first image; Inputting the initial first gating image and the initial second gating image into a second model to obtain a second image; Based on the high distance resolution feature of the first image, target objects at different distances in the first image are distinguished, and the distance information of the target objects in the first image is fused with the distance information of the corresponding target objects in the second image to obtain a target three-dimensional image.

2. The laser-gated hybrid range-energy correlation three-dimensional imaging method according to claim 1, characterized in that: The establishment of the second model includes: Acquiring a laser pulse function of a pulsed laser and a gated pulse function of a gated imaging device, wherein the pulsed laser is used to illuminate a target object, and the gated imaging device is used to acquire a gated image containing the target object; Based on the laser pulse function and the gated pulse function, a distance energy envelope of a first frame gated image and a distance energy envelope of a second frame gated image are obtained through a laser radar action equation, wherein the distance energy envelope of the first frame gated image and the distance energy envelope of the second frame gated image have a relative delay and an overlapping area; Based on the overlapping area of ​​the range energy envelope of the first frame of the gated image and the range energy envelope of the second frame of the gated image, the second model is established by fitting the relationship between the range energy factor and the distance of the target area.

3. The laser-gated hybrid range-energy correlation three-dimensional imaging method according to claim 2, characterized in that: The method of acquiring the laser pulse function of the pulsed laser and the gating pulse function of the gating imaging device comprises: Measuring the laser pulse function of the pulse laser by means of a laser power meter, a photodetector and an oscilloscope; Measuring the gate pulse function of the gated imaging device by using a picosecond pulse laser and a diffuse reflection target; Wherein, the laser pulse signal of the pulse laser and the gate pulse signal of the gated imaging device both have stable time domain and space domain.

4. The laser gating hybrid range-energy correlation three-dimensional imaging method according to claim 2, characterized in that: The establishment of the first model includes: Based on the triangle distance energy correlation three-dimensional reconstruction algorithm, the relationship between the distance energy factor and the distance of the target area is obtained to establish the first model.

5. The laser-gated hybrid range-energy correlation three-dimensional imaging method according to claim 1 or 3, characterized in that: The step of acquiring an initial first strobed image and an initial second strobed image comprises: By controlling the delay between the laser pulse signal and the strobe pulse signal, an initial first strobe image and an initial second strobe image respectively including the target object are acquired.

6. The laser gating hybrid range-energy correlation three-dimensional imaging method according to claim 2, characterized in that: The distinguishing target objects at different distances in the first image based on the high distance resolution feature of the first image includes: Based on a preset distance threshold, target objects at different distances in the depth direction of the target area in the first image are distinguished.

7. The laser gating hybrid range-energy correlation three-dimensional imaging method according to claim 2, characterized in that: The step of fusing the distance information of the target object in the first image with the distance information of the corresponding target object in the second image to obtain a target three-dimensional image includes: Determine a first pixel region of a first target object in the first image, and calculate a distance of each pixel in the first pixel region, wherein the first target object is one of the plurality of target objects; determining a second pixel region of the first target object in the second image, and calculating a distance of each pixel in the second pixel region; respectively calculating an average value of the distance of the first pixel area and an average value of the distance of the second pixel area; Obtaining a third pixel area distance value of the first target object in the fused target three-dimensional image based on the distance of each pixel in the first pixel area, the average distance of the first pixel area, and the average distance of the second pixel area; The third pixel area distance values ​​of all target objects are calculated in sequence to obtain a target three-dimensional image.

8. The laser gating hybrid range-energy correlation three-dimensional imaging method according to claim 7, characterized in that: The step of sequentially calculating the distance values ​​of the third pixel areas of all target objects to obtain a target three-dimensional image includes: A third image having the same size as the first image and the second image is established, and the third pixel area distance value of each target object is filled into the corresponding pixel position to obtain a target three-dimensional image.

9. The laser-gated hybrid range-energy correlation three-dimensional imaging method according to claim 4, characterized in that: The target area is an imaging area of ​​the target object, and the target area distance is a distance in a depth direction of the target area.

10. The laser-gated hybrid range-energy correlation three-dimensional imaging method according to claim 5, characterized in that: The initial first gating image and the initial second gating image are both single-channel grayscale images.

Images