Single-Shot 3d Tracking Based On Polarization Multiplexed Fourier-Phase Camera
PHOTONICS RESEARCH(2021)
摘要
For moving objects, 3D mapping and tracking has found important applications in the 3D reconstruction for vision odometry or simultaneous localization and mapping. This paper presents a novel camera architecture to locate the fast-moving objects in four-dimensional (4D) space (x, y, z, t) through a single-shot image. Our 3D tracking system records two orthogonal fields-of-view (FoVs) with different polarization states on one polarization sensor. An optical spatial modulator is applied to build up temporal Fourier-phase coding channels, and the integration is performed in the corresponding CMOS pixels during the exposure time. With the 8 bit grayscale modulation, each coding channel can achieve 256 times temporal resolution improvement. A fast single-shot 3D tracking system with 0.78 ms temporal resolution in 200 ms exposure is experimentally demonstrated. Furthermore, it provides a new image format, Fourier-phase map, which has a compact data volume. The latent spatio-temporal information in one 2D image can be efficiently reconstructed at relatively low computation cost through the straightforward phase matching algorithm. Cooperated with scene-driven exposure as well as reasonable Fourier-phase prediction, one could acquire 4D data (x, y, z, t) of the moving objects, segment 3D motion based on temporal cues, and track targets in a complicated environment. (C) 2021 Chinese Laser Press
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