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摘要:
本文研究了一种基于贝塞尔光束的远距离激光三维成像系统，工作波长为532 nm，在激光出射端使用贝塞尔光束代替高斯光束，利用贝塞尔光束的中心光斑能量集中且束宽不随传输距离而变化的无衍射特性，降低激光光束的发散角，提高激光三维成像的角分辨率。结合Si-APD单光子探测器，搭建了远距离激光三维成像系统，并完成了远距离验证实验。在远距离目标成像中，实现了角分辨率为18.1 µrad的激光三维成像，为远距离高分辨率激光三维成像提供了一种有效的解决方案。
Abstract:We demonstrate a new laser detection and ranging (LiDAR) system for reconstructing remote targets in three dimensions (3D). In this system, a probe beam, of which wavelength is 532 nm, working at Bessel mode rather than Gaussian mode, exhibits a typical intensity distribution of a bright central spot and some surrounding rings, and takes advantage of non-diffraction character in long-distance ranging. It is an attractive way to improve the imaging resolution of the LiDAR system. Combined with the Si-APD, we built a long-distance LiDAR system and completed the verification experiment. The results indicate that we can achieve an 18.1-µrad angle resolution in long-range target imaging, which provides an effective solution for high-resolution remote imaging.
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Key words:
- LiDAR /
- remote imaging /
- angular resolution /
- Bessel beam
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Overview: Laser detection and ranging (LiDAR) technique has very important applications in many fields, including 3D terrain analysis, medical applications, object shape measurement, and surface defect detection. As one of the widely used LiDAR schemes, the time of flight (TOF) measurement technique can accurately measure the time interval between the target and the system, with the advantages of fast measurement and long working distance. With the help of highly sensitive photon detection techniques and high-precision time interval measurement methods, single-photon LiDAR can greatly expand its working range and distance accuracy. Angular resolution, as an important evaluation indicator for the LiDAR system, indicates its target recognition ability. The traditional LiDAR system usually contains a laser source that emits intense beams in Gaussian spatial mode to illuminate the target. The inherent diffraction property of the casting beam, however, sometimes hinders the performance improvement of the LiDAR, especially in angular resolution.
Based on the Si-APD single-photon detector, we demonstrate a new single-photon LiDAR at 532 nm for reconstructing remote targets. In this system, a probe beam, working at Bessel mode rather than Gaussian mode, exhibits a typical intensity distribution of a bright central spot and some surrounding rings. Taking advantage of the non-diffraction character in long-distance ranging, the employment of a Bessel beam could improve the imaging resolution of the LiDAR. To validate the angular resolution of the LiDAR system, we selected a billboard metal scaffold located 2.7 km away as the target. The billboard is supported by a scaffold at its base, with each scaffold beam approximately 5~6 cm wide. The system imaging result consists of 420×29 pixels. The distance point cloud is concentrated at a distance of 2755 m. Through the grayscale image, we can clearly observe the structure of the billboard message and supporting scaffold. The results indicate that the LiDAR system could achieve an 18.1-µrad angle resolution in long-range target imaging, which provides an effective solution for high-resolution remote imaging.
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图 1 贝塞尔光束示意图。(a) 2阶DOE示意图；(b) 2阶DOE产生贝塞尔光束；(c) 2.7 km处贝塞尔光束照片；(d) 2.7 km处贝塞尔光束归一化强度曲线
Figure 1. Schematic diagram of Bessel beams. (a) Schematic diagram of the 2nd-order DOE; (b) Generation of Bessel beams by the 2nd-order DOE; (c) Photo of Bessel beams at the distance of 2.7 km; (d) Normalized intensity curve of Bessel beams at the distance of 2.7 km
图 2 基于贝塞尔光束的高分辨率激光雷达系统装置图。Laser：532 nm脉冲激光器；PIN：高速光电二极管；6×beam expender：6×扩束镜，入瞳0.5 mm，出瞳孔径3 mm；Mirror1，Mirror2：介质膜高反镜；45×beam expender：45×扩束镜，入瞳3 mm，出瞳孔径135 mm；Mirror3：介质膜高反镜，直径200 mm、厚度10 mm，强反射角度为45°，有效通光孔径>90%；Lens：直径75 mm、焦距85 mm；Filter：532 nm±5 nm；SPAD：Si-APD单光子探测器；TCSPC：时间相关单光子计数器；Swing motor：一维偏摆台；Rotating machines：一维角位移平台
Figure 2. Schematic diagram of a high-resolution LiDAR system based on Bessel beams. Laser: 532 nm pulsed laser. PIN: PIN photodiode. 6× beam expender: the input pupil diameter is 0.5 mm and the output pupil diameter is 3 mm. Mirror1, Mirror2: dielectric mirror. 45× beam expender: the input pupil diameter of 3 mm and the output pupil diameter is 135 mm. Mirror3: 200 mm-diameter dielectric mirror, the thickness of the mirror is 10 mm, the strong reflection angle is 45°, and the effective aperture is greater than 90%. Lens: the diameter is 75 mm and the focal length is 85 mm. Filter: the bandwidth is 532 nm±5 nm. SPAD: Si-APD single-photon detector. TCSPC: time-correlated single-photon counter. Swing motor: one-dimensional tilt platform. Rotating machines: one-dimensional angular displacement platform
图 3 1.95 km目标激光三维成像实验结果。(a)目标建筑的实物图；(b)灰度图像；(c)三维距离点云图像；(d)灰度-距离融合的三维点云图像
Figure 3. 3D imaging results of the target at the distance of 1.95 km. (a) Photographs of the target object; (b) Grayscale image; (c) 3D distance point cloud image; (d) Grayscale-distance fusion image
图 4 2.7 km广告牌激光三维成像结果。(a)广告牌实物图；(b)灰度图像；(c)三维距离点云图；(d)灰度-距离融合的三维点云图像
Figure 4. 3D imaging results of the target at the distance of 2.7 km. (a) Photographs of the target object; (b) Grayscale image; (c) 3D distance point cloud image; (d) Grayscale-distance fusion image
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