CN102037717B - 使用具有异构成像器的单片相机阵列的图像拍摄和图像处理 - Google Patents

使用具有异构成像器的单片相机阵列的图像拍摄和图像处理 Download PDF

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CN102037717B
CN102037717B CN2009801178901A CN200980117890A CN102037717B CN 102037717 B CN102037717 B CN 102037717B CN 2009801178901 A CN2009801178901 A CN 2009801178901A CN 200980117890 A CN200980117890 A CN 200980117890A CN 102037717 B CN102037717 B CN 102037717B
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camera
camera array
filter
imager
array
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CN102037717A (zh
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卡尔蒂克·文卡塔拉曼
阿曼丁·S·贾彼
罗伯特·H·穆利斯
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Fotonation Ltd
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Pelican Imaging Corp
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    • H04N1/04Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa
    • H04N1/19Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa using multi-element arrays
    • H04N1/195Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa using multi-element arrays the array comprising a two-dimensional array or a combination of two-dimensional arrays
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074Stereoscopic image analysis
    • H04N2013/0081Depth or disparity estimation from stereoscopic image signals

Abstract

本发明提供相机阵列、成像设备和/或使用制作于基底之上的多个成像器拍摄图像的方法。每个成像器包括多个像素。所述多个成像器包括具有第一成像特征的第一成像器和具有第二成像特征的第二成像器。处理由所述多个成像器生成的图像以获取相对于所述成像器拍摄的图像增强后的图像。每个成像器可与使用晶片级光学(WLO)技术制作的光学元件关联。

Description

使用具有异构成像器的单片相机阵列的图像拍摄和图像处理
相关申请
本申请要求于2008年5月20日提交的序列号为61/054,694的名称为“异构图像传感器的单片集成阵列”的美国专利申请的优先权,该专利申请全文在此通过引用并入本文。
技术领域
本申请涉及具有多个异构成像器的图像传感器,更具体而言,本申请涉及具有多个晶片级成像器的图像传感器,所述晶片级成像器具有不同配置的自定义滤镜、传感器和光学元件。
背景技术
图像传感器用于相机和其他成像设备以拍摄图像。在通常的成像设备中,光线通过成像设备一端的开口(光圈)进入并通过诸如透镜之类的光学元件导向图像传感器。在多数成像设备中,一层或多层光学元件置于所述光圈和所述图像传感器之间以将光线聚焦于所述图像传感器。所述图像传感器由在通过所述光学元件接收光线之后产生信号的像素构成。通常使用的图像传感器包括CCD(电荷耦合器件)图像传感器和CMOS(互补型金属氧化物半导体)传感器。
在图像传感器中通常使用滤镜以选择性地传输特定波长的光线至像素。拜耳滤镜马赛克通常形成于所述图像传感器之上。所述拜耳滤镜是在每个颜色像素上布置RGB颜色滤镜之一的颜色滤镜阵列。所述拜耳滤镜布局包括50%绿色滤镜、25%红色滤镜和25%蓝色滤镜。由于每个像素产生代表光线中某一颜色成分强度的信号,而非代表全部范围的颜色,因此对每个图像像素执行去马赛克以内插一组红色、绿色和蓝色的值。
图像传感器受各种性能约束的影响。所述图像传感器的性能约束包括动态范围、信噪比(SNR)、低感光度和其他一些性能约束。所述动态范围定义为可被像素捕获的最大可能信号与总噪声信号的比。典型地,图像传感器的阱容量限制了可被所述图像传感器捕获的最大可能信号,所述最大可能信号继而依赖于入射照度和暴露持续时间(例如积分时间和快门时长)。所述动态范围可表述为如下式的分贝(dB)的无量纲量:
通常,所拍摄图像中的噪声水平影响动态范围的本底(floor)。因此,对于8位图像而言,假设RMS噪声水平是1位,那么最佳的情形将是48dB。然而实际上RMS噪声水平要高于1位,因此这进一步降低了动态范围。
拍摄图像的信噪比很大程度上是对图像质量的测量。总体而言,像素拍摄到的光线越多,信噪比越高。所拍摄图像的信噪比通常与所述像素的聚光能力有关。
一般而言,拜耳滤镜传感器具有低的感光度。在弱光水平下,每个像素的聚光能力受入射到每个像素上的低信号水平的限制。此外,像素上方的颜色滤镜进一步限制了到达所述像素的信号。IR(红外)滤镜同样降低了对载有重要信息的近红外信号的光响应。
图像传感器的这些性能约束在被设计用于移动系统的相机中被大幅度地扩大,这归因于设计约束的性质。移动设备中的相机的像素通常远小于数码相机(DSC)的像素。由于聚光能力的限制、降低的信噪比、动态范围的限制以及对弱光景象的感光度降低,移动设备中的相机显现出性能不佳。
发明内容
本发明的实施方式提供一种相机阵列、一种具有相机阵列的成像设备和/或一种拍摄图像的方法,该方法使用制作在基底上的多个成像器,其中每个成像器具有多个传感器元件。所述多个成像器至少包括形成于所述基底上第一位置的第一成像器和形成于所述基底上第二位置的第二成像器。所述第一成像器和所述第二成像器可具有相同的成像特征或不同的成像特征。
在一种实施方式中,所述第一成像特征和所述第二成像特征具有不同的成像特征。所述成像特征可包括:成像器的尺寸、成像器中所含的像素种类、成像器的形状、与成像器关联的滤镜、成像器的曝光时间、与成像器相关的光圈尺寸、与成像器关联的光学元件的布置、成像器的增益、成像器的分辨率、成像器的运行时序以及其他一些特征。
在一种实施方式中,所述第一成像器包括用于传输光谱的滤镜。所述第二成像器也包括与所述第一成像器相同的用于传输同种光谱的同种滤镜,但是所述第二成像器拍摄与所述第一成像器拍摄的图像具有子像素相移的图像。使用超分辨率处理将所述第一成像器和所述第二成像器所得图像结合以获取更高分辨率的图像。
在一种实施方式中,所述第一成像器包括用于传输第一光谱的第一滤镜,并且所述第二成像器包括用于传输第二光谱的第二滤镜。随后处理所述第一成像器和所述成像器所得图像以获取更高质量的图像。
在一种实施方式中,提供透镜元件将光导向所述成像器并聚焦于所述成像器。每个透镜元件都将光聚焦于一个成像器。由于每个透镜元件都与一个成像器关联,每个透镜元件可设计并配置成用于窄光谱。此外,所述透镜元件的厚度可降低从而降低所述相机阵列的总体厚度。使用晶片级光学(WLO)技术制作所述透镜元件。
在一种实施方式中,所述多个成像器包括至少一个近红外成像器用于接收近IR(红外)光谱。近红外成像器生成的图像可与具有颜色滤镜的其他成像器生成的图像融合以降低噪声并提升图像质量。
在一种实施方式中,所述多个成像器可与具有变焦能力的透镜元件相关联。不同的成像器可与具有不同焦距的透镜相关联以具有不同视野并提供不同级别的变焦能力。可提供一种机构以提供从一种变焦级别至另一种变焦级别的平稳转换。
在一种或多种实施方式中,协调并运行所述多个成像器以获取高动态范围图像、全景图像、高光谱图像、物距和高帧速视频中至少一种。
说明书中所描述的特征和益处并非涵盖所有特征和优点。尤其是,结合附图、说明书和权利要求书,许多其他特征和优点对于本领域普通技术人员显而易见。此外,应注意到说明书中所用的语言的选取主要基于可读性和指导性的目的,并非选取用来描述或限制发明主题。
附图说明
附图1是根据一种实施方式的具有多个成像器的相机阵列的平面图。
图2A是根据一种实施方式的具有透镜元件的相机阵列的立体图。
图2B是根据一种实施方式的相机阵列的剖视图。
图3A和图3B是根据一种实施方式的截面图,该截面图显示了基于成像器尺寸的变化,透镜元件高度的变化。
图3C是显示了基于透镜元件的不同尺寸主视角变化的图。
图4是根据一种实施方式的成像设备的功能框图。
图5是根据一种实施方式的图像处理流水线模块的功能框图。
图6A至图6E是根据实施方式的具有不同布局的异构成像器的相机阵列的平面图。
图7是根据一种实施方式的显示了通过由多个成像器拍摄的较低分辨率图像生成的增强图像的过程的流程图。
具体实施方式
现在结合附图描述本发明的优选实施方式,其中相似附图标记指示相同元件或功能近似元件。并且,在附图中,每个附图标记的最左侧的数字对应于该附图标记第一次使用的附图。
实施方式涉及使用分布式方法以通过采用多个不同成像特征的成像器拍摄图像。每个成像器可在空间上以如下方式偏离另一成像器:成像器拍摄的图像相对于另一成像器拍摄的图像偏移子像素的量。每个成像器也可包括具有不同滤镜的独立的光学元件并以不同的运行参数(例如曝光时间)运行。处理由所述成像器生成的清晰图像以获取增强的图像。每个成像器可与由使用晶片级光学(WLO)技术制作的光学元件关联。
传感器元件或是像素指相机阵列中的单独的光感知元件。所述传感器元件或像素包括传统的CIS(CMOS图像传感器)、CCD(电荷耦合器件)、高动态范围像素、多光谱像素及其各种替代元件以及其他一些传感器元件。
成像器指二维像素阵列。每个成像器的传感器元件具有相似的物理性能并通过相同的光学组件接收光线。此外,每个成像器中的传感器元件可与相同的颜色滤镜相关联。
相机阵列指成像器的集合,该集合被设计作为单一组件运行。所述相机阵列可在单一芯片上制作以用于装配或安装至各种设备。
一系列相机阵列指两个或多个相机阵列的集合。两个或多个相机阵列可联合运行以相对于单一相机阵列提供扩展功能。
成像器的图像特征指与图像拍摄有关的任何特征或参数。所述图像特征除了别的以外可包括:成像器尺寸、成像器所含像素的种类、成像器的形状、与成像器关联的滤镜、成像器的曝光时间、与成像器相关的光圈尺寸、与成像器关联的光学元件的布局、成像器的增益、成像器的分辨率、成像器的运行时序。
相机阵列的结构
图1是根据一种实施方式的具有成像器1A至成像器NM的相机阵列100的平面图。相机阵列100制作于半导体芯片上以包括多个成像器1A至成像器NM。成像器1A至成像器NM的每一个可包括多个像素(例如0.32百万像素)。在一种实施方式中,成像器1A至成像器NM布置成图1所显示的网格形式。在其他的实施方式中,所述成像器布置为非网格的形式。例如,所述成像器可布置为圆形布局、锯齿形布局或分散布局。
所述相机阵列可包括两种或多种异构成像器,每个成像器包括两个或多个传感器元件或像素。所述成像器中每一个可具有不同的图像特征。或者,可有两种不同的或更多种不同的成像器,其中相同种类的成像器共有相同的图像特征。
在一种实施方式中,成像器1A至成像器NM中的每一个都具有自己的滤镜和/或光学元件(例如透镜)。具体而言,成像器1A至成像器NM的每一个或一组成像器可与光谱的颜色滤镜相关联以接收特定波长的光。示例的滤镜包括传统的在拜耳模式(R、G、B或他们的互补C、M、Y)中使用的滤镜、红外截止滤镜、近红外滤镜、偏振滤镜以及以满足超光谱成像需求的定制滤镜。一些成像器可不具有滤镜以接收整个可视光谱和提升成像器信噪比的近红外光谱。清晰滤镜的数目可与相机阵列中的成像器的数目同样多。此外,成像器1A至成像器NM中的每一个或一组通过具有不同光学特征(例如焦距)或不同尺寸的光圈的透镜可接收光线。
在一种实施方式中,所述相机阵列包括其他相关电路。所述其他相关电路可包括控制成像参数和控制传感器感知物理参数的电路以及其他电路。控制电路可控制诸如曝光时间、增益和黑电平偏移之类的成像参数。所述传感器可包括暗像素以估算工作温度下的暗电流。所述暗电流可被测量以用于对基底可能遭受的任何热蠕变进行动态补偿。
在一种实施方式中,用于控制成像参数的电路可独立地或以同步的方式触发每个成像器。相机阵列中各种成像器的曝光时间的开始(类似于打开快门)可以交叠的方式错开,这样在使一些成像器同时暴露于光线时连续地采样景象。在传统摄像机中,以每秒N次曝光的速度采样景象,每次采样的曝光时间限制在1/N秒。凭借多个成像器,对于每次采样的曝光时间则没有此类限制,因为可运行多个成像器以交错的方式拍摄图像。
可独立运行每个成像器。可个性化处理与每个独立的成像器相关的全部或多数运行。在一种实施方式中,编程主设置(master setting),对每个成像器配置该主设置的偏差(即偏移或增益)。所述偏差可反映诸如高动态范围、增益设置、积分时间设置、数字处理设置或他们的组合之类的功能。对具体的相机阵列,这些偏差在低级别(例如增益偏差)或更高级别(例如ISO数的差,该ISO数的差继而自动地转化为增益增量、积分时间或以其他方式被环境/主控制寄存器(context/master control register)所具体化)下可具体化。通过设置主值和对该主值的偏差,可实现更高级别的控制抽象以利于实现对许多操作的更简单的编程模式。在一种实施方式中,成像器的参数是任意地固定以用于目标应用。在另一种实施方式中,所述参数被配置以允许高度的灵活性和可编程性。
在一种实施方式中,相机阵列设计为已有的用在手机和其他移动设备中的相机图像传感器的替换器件。因此,所述相机阵列可被设计成与具有近似相同分辨率的传统的图像传感器在物理上兼容,然而在许多拍摄场合所述相机阵列所达到的分辨率可超过传统的图像传感器。利用提升的性能的优势,该实施方式的相机阵列相比于传统的图像传感器可具有更少像素来获取同等或更佳质量图像。可选地,在获得类似结果的同时,所述成像器中像素的尺寸相比于传统图像传感器中的像素可减小。
为了在不扩大硅片面积的前提下匹配传统图像传感器的原始像素数,独立的成像器的逻辑开销优选地限制于硅片区域内。在一种实施方式中,大部分的像素控制逻辑是全部或大多数成像器所共有的功能的单个集合,所述成像器具有可应用于每一个成像器的更小功能集。在这个实施方式中,因为所述成像器的输出数据并没有大幅增加,所以传统的外部接口可用于所述成像器。
在一种实施方式中,具有成像器的相机阵列替换M百万像素的传统图像传感器。所述相机阵列包括N×N个成像器,每个传感器具有M/N2个像素。相机阵列的每个成像器还具有与被替换的传统图像传感器相同的高宽比。表1列出根据本发明的替换传统图像传感器的相机阵列的示例配置。
表1
Figure BPA00001256455500071
表1中的超分辨率因子为估算得出,并且基于由加工所得到的实际的超分辨率因子,有效分辨率值可有所不同。
相机阵列中的成像器的数目可基于如下因素确定:(i)分辨率,(ii)视差,(iii)感光度,(iv)动态范围以及其他一些因素。影响所述成像器尺寸的第一个因素是分辨率。从分辨率的角度来看,所述成像器的优选数目的范围为2×2至6×6,因为大于6×6的阵列规模很可能破坏不能被超分辨率处理方法重建的频率信息。例如,具有2×2成像器的8百万像素分辨率要求每个成像器具有2百万像素。类似地,具有5×5阵列的8百万分辨率要求每个成像器具有0.32百万像素。
可能限制成像器数目的第二个因素是视差和遮蔽(occlusion)问题。关于拍摄至图像中的物体,所述成像器的视野遮蔽的背景部分被称为“遮蔽集”。当两个成像器从两个不同的位置拍摄物体时,每个成像器的遮蔽集不同。因此,可能有景象像素被一个成像器拍摄到,而另一个成像器没有拍摄到该景象像素。为了解决这个遮蔽问题,对于给定类型的成像器,期望包括一些最小集的成像器。
可能制约成像器数目下限的第三个因素是弱光环境下的感光度问题。为了改进弱光感光度,可能需要用于探测近红外光谱的成像器。所述相机阵列中的成像器的数目可能需要增加以适应这种近红外成像器。
决定所述成像器数目的第四个因素是动态范围。为了提供相机阵列的动态范围,提供一些相同滤镜种类(色度或亮度)的成像器是有利的。相同滤镜种类的成像器中的每一个继而在不同曝光条件下可同时运行。由不同曝光拍摄的图像可被处理以生成高动态范围图像。
基于这些因素,成像器的优选数目是2×2至6×6。4×4和5×5的布局比2×2和3×3的布局更为优选,因为前者更可能提供足够数目的成像器以解决遮蔽问题、提高感光度和提高动态范围。与此同时,通过这些阵列数目复原分辨率所需的计算负载相比于6×6阵列所需的计算负载要适度一些。然而,大于6×6的阵列可用于提供诸如光学变焦和多光谱成像之类的附加特征。
另一个需要考虑的因素是用于亮度取样的成像器数目。通过确保阵列中用于近红外取样的成像器不降低所达到的分辨率,近红外图像的信息加入由亮度成像器所拍摄到的分辨率。为此,至少50%的成像器可用于取样亮度和/或近红外光谱。在一个具有4×4成像器的实施方式中,4个成像器采样亮度,4个成像器采样近红外光谱,剩余8个成像器采样两个色度(红色和蓝色)。在另一个具有5×5成像器的实施方式中,9个成像器采样亮度,8个成像器采样近红外光谱,剩余的8个成像器采样两种色度(红色和蓝色)。此外,具有这些滤镜的成像器在相机阵列内科对称设置以应对由视差导致的遮蔽。
在一种实施方式中,相机阵列中的成像器在空间上彼此分开预定距离。通过增加空间分隔距离,可增加所述成像器拍摄到的图像之间的视差。当更精确的距离信息变得重要时,增加的视差是有利的。也可增加2个成像器之间的间隔以模拟一对人眼之间的间隔。通过模拟人眼间隔,可提供逼真立体3D图像将所得图像在适当的3D显示设备上呈现出来。
在一种实施方式中,在设备的不同位置设置多相机阵列以克服空间限制。一个相机阵列可被设计成安装在受限空间内,而另一个相机阵列可置于所述设备的另一受限空间。例如,如果总共需要20个成像器,但是可用空间仅允许在设备的任一侧设置成像器为1×10的相机阵列,那么两个相机阵列可放置于所述设备两侧的可用空间,所述两个相机阵列每个包括10个成像器。每个相机阵列可在基底上制作并固定至设备的主板或其他部分。由多个相机阵列采集的图像可被处理以生成具有所期望的分辨率和性能的图像。
单成像器的设计可应用于不同的相机阵列,每个相机阵列具有其他种类的成像器。相机阵列中的其他变量可被调整以生产具有不同成像特征的相机阵列,所述变量诸如空间距离、颜色滤镜以及与相同传感器或其他传感器的组合。以这种方式,在维持规模节约的同时,可生产出多种混合的相机阵列。
晶片级光学集成
在一种实施方式中,相机阵列采用晶片级光学(WLO)技术。WLO技术是将光学器件塑造在玻璃晶片上,然后将光学器件直接与成像器封装入单片集成的模块。WLO工序可包括使用金刚石车削模在玻璃基底上制成每个塑料透镜元件以及其他一些工序。
图2A是依据一种实施方式的具有晶片级光学器件210和相机阵列230的相机阵列组件200的立体图。晶片级光学器件210包括多个透镜元件220,每个透镜元件220覆盖相机阵列230中的25个成像器240之一。注意到相机阵列组件200具有更小的透镜元件列,该透镜元件列相比覆盖整个相机阵列230的单个大透镜要占据小得多的空间。
图2B是依据一种实施方式的相机阵列组件250的剖视图。相机阵列250包括顶部透镜晶片262、底部透镜晶片268、基底278以及间隔块258、间隔块264和间隔块270,多个成像器形成于所述基底278之上。相机阵列组件250封装于封装件254内。顶部间隔块258置于封装件254和顶部透镜晶片262之间。多个光学元件288形成在顶部透镜晶片262上。中间间隔块264置于顶部透镜晶片262和底部透镜晶片268之间。另一组光学元件286形成在底部透镜晶片268上。底部间隔块270置于底部透镜晶片268和基底278之间。还设有硅直通孔274以提供用于传输所述成像器的信号的通路。顶部透镜晶片262可部分地涂覆有阻光材料(例如铬)284以阻隔光线。顶部透镜晶片262未涂覆阻光材料284的部分起着光圈的作用,光线通过该光圈照射至底部透镜晶片268和所述成像器。在图2B的实施方式中,滤镜282形成于底部透镜268之上。阻光材料268(例如铬)也可涂覆于底部透镜268和基底278起到光隔离器的作用。所述基底的底部表面覆盖有背部再分布层(“RDL”)和焊球276。
在一种实施方式中,相机阵列组件250具有5×5的成像器阵列。相机阵列250的宽度W为7.2mm,长度为8.6mm。相机阵列中的每个成像器的宽度S可以是1.4mm。光学部件的总高度t1近似为1.26mm,并且相机阵列组件的总高度t2低于2mm。
图3A和图3B是显示了透镜元件高度随x-y平面的尺寸变化而变化的图。图3B中的透镜元件320的大小仅有图3A中透镜元件310的1/n。由于透镜元件320的直径L/n为透镜元件310直径L的1/n,透镜元件320的高度t/n同样为透镜元件310高度t的1/n。因此,通过使用更小的透镜元件的阵列,相机阵列的高度可明显降低。相机阵列组件的降低的高度可用以设计更廉价的透镜,所述透镜具有更好的光学性能,诸如主视角改进、失真降低以及色差改进。
图3C显示了通过降低相机阵列组件的厚度改进主视角(CRA)。CRA1是单透镜的主视角,该单透镜覆盖整个相机阵列。虽然通过增加相机阵列和透镜之间的距离能够减小主视角,但是厚度约束制约了所述距离的增加。因此,具有单个透镜元件的相机阵列的CRA1大,导致降低光学性能。CRA2是相机阵列中的成像器的主视角,该相机阵列的厚度和其他尺寸被调整。CRA2保持与传统相机阵列的CRA1相同,因此在主视角上没有改进。然而,如图3所示,通过更改所述成像器和透镜元件之间的距离,相机阵列组件的主视角CRA3相比于CRA1或CRA2可得以降低,从而得到更好的光学性能。如上所述,根据本发明的相机阵列具有降低的厚度需求,因此,透镜元件和相机阵列的距离可增加以改进主视角。
此外,相比于覆盖宽光谱的传统透镜元件,所述透镜元件受严格设计约束的影响更少,但是产生更佳或等同的性能,因为每个透镜元件可被设计成引导窄带宽的光。例如,接收可见光谱或近红外光谱的成像器可具有特别优化的透镜元件以用于这个光谱带。对于探测其他光谱的成像器而言,透镜元件可具有不同的焦距,这样光的不同光谱带的焦平面相同。在光的不同波长范围内匹配焦平面增加了所述成像器拍摄到的图像的锐度并降低了纵向色差。
较小透镜元件的其他优势包括成本降低、材料用量降低、制作工序减少以及其他一些优势。通过提供n2个在x方向和y方向上1/n尺寸(因此厚度为1/n)的透镜,用于生产透镜元件的晶片尺寸也可得以降低。这显著降低了材料的成本和用量。此外,透镜基底的数量也得以减少,致使工序步骤数减少和随之而来生产成本的降低。将所述透镜阵列配对至所述成像器所需的放置精确度通常并不比传统成像器的情形更严格,因为根据本发明的相机阵列的像素尺寸与传统的图像传感器大体相同。
在一种实施方式中,WLO制作过程包括:(i)在透镜塑造之前,通过将透镜光阑覆盖在基底之上来加入透镜光阑;以及(ii)在所述基底内刻蚀孔并对通过所述基底的透镜执行双面成型。在所述基底中蚀刻孔是有利的,因为在塑料与基底之间不会引起指数失配。以这种方式,可使用形成所有透镜元件的自然光阑(类似于涂黑透镜边缘)的光吸收基底。
在一种实施方式中,滤镜是成像器的一部分。在另一种实施方式中,滤镜是WLO子系统的一部分。
成像系统和处理流水线
图4显示的是根据本发明一种实施方式的成像系统400的功能框图。成像系统400可包括相机阵列410、图像处理流水线模块420、控制器440以及其他一些部件。相机阵列410包括两个或更多个上面结合附图1和附图2详细描述的成像器。图像412由相机阵列410中的两个或更多个成像器所拍摄。
控制器440是用于控制控制相机阵列410的各种运行参数的硬件、软件、固件或它们的组合。控制器440从用户或其他外部组件接收输入信号446并发送操作信号442以控制相机阵列410。控制器440可还发送信息444至图像处理流水线模块420以辅助图像412的处理。
图像处理流水线模块420是用于处理从相机阵列410接收的图像的硬件、固件、软件或它们的组合。如下结合附图5所详细描述,图像处理流水线模块420处理多个图像412。处理后的图像422然后发送以用于显示、存储、传输或进一步处理。
图5显示的是根据一种实施方式的图像处理流水线模块420的功能框图。图像处理流水线模块420可包括上游流水线处理模块510、图像像素关联模块514、视差确认和测量模块518、视差补偿模块522、超分辨率模块526、地址转换模块530、地址和相位偏移校准模块554、下游颜色处理模块564以及其他一些组件。
地址和相位偏移校准模块554是用于储存校准数据的储存设备,所述校准数据是在制作过程或后续再校准过程中的相机阵列表征期间生成的。校准数据显示在成像器的物理像素572的地址和图像的逻辑地址546、逻辑地址548之间的映射。
地址转换模块530基于存储在地址和相位偏移校准模块554中的校准数据执行校正。具体而言,地址转换模块530将图像中单个像素的“物理”地址转换为所述成像器中的单个像素的“逻辑”地址548,或进行相反转换。为了超分辨率处理以生成更高分辨率的图像,单个成像器的对应像素之间的相差需要解决。超相差过程可假设,对于所得的图像的每个像素而言,每个成像器的输入像素组始终被映射,并且相对于所得图像的像素的位置,每个成像器的相位差偏移是已知的。为了后续处理,地址转换模块530通过将图像412中的物理地址转换成所得图像的逻辑地址548以解决这种相位差。
向上游流水线处理模块510提供由图像处理器540拍摄的图像412。上游流水线处理模块510可执行黑电平计算和调整,固定噪声补偿、光学点扩散函数(PSF)去卷积、噪声降低和串扰抑制中的一种或多种。在上游流水线处理模块510处理所述图像之后,图像像素关联模块514执行计算以解决视差,所述视差随着被拍摄物体接近所述相机阵列变得更加明显。具体而言,图像像素关联模块514将由不同成像器拍摄的图像部分进行匹配以对所述视差进行补偿。在一种实施方式中,图像像素关联模块514将相邻像素的均值之间的差与阈值进行比较,当所述差超过所述阈值时,标记视差可能存在。所述阈值随所述相机阵列的运行状况可动态变化。此外,邻接计算也可是自适应的并可反映出所选成像器的具体运行状况。
随后由视差确认和测量模块518处理所述图像以探测和测量所述视差。在一种实施方式中,由运行的像素关联监测器实现视差探测。这个操作在全部成像器的逻辑像素空间内以相似的积分时间条件进行。当景象实际在无穷远处,所述成像器的数据高度相关并仅受基于噪声的变化的影响。然而,当物体足够靠近相机时,改变成像器之间相关性的视差效应被引入。由于成像器的空间布局,视差引起的改变的性质在所有成像器范围内是一致的。受测量精度的限制的范围内,任意一对成像器之间的相关差支配任意另一对成像器之间的差和其他成像器范围内的差。通过对其他对成像器执行相同或相似计算,信息的这种冗余使得高精度视差确认和测量能够实现。如果其他对成像器存在视差,考虑到所述成像器的位置,所述视差应该大致出现在所述景象的相同的物理位置。通过保持各种成对测量的轨迹和以最小二乘法(或类似统计方法)拟合采样数据的方式计算“实际”视差差数,可同时实现视差测量。用于探测所述视差的其他方法可包括逐帧探测和追踪垂直方向和水平方向的高频图像元素。
视差补偿模块522处理具有物体足够靠近相机阵列的图像以促使视差差数大于超分辨率处理所需的相位偏移信息的精度。视差补偿模块522使用由视差探测和测量模块518生成的基于逐行扫描的视差信息以在超分辨率处理之前进一步调整物理像素地址和逻辑像素地址之间的映射。在这个过程中会出现两种情形。在一种更普遍的情形中,当输入像素相对于其他成像器中逐像对应像素移动位置时,需要进行寻址和偏移调整。在这种情形中,在执行超分辨率处理之前无需对视差进行进一步处理。在一种更少见的情形中,一个像素或一组像素以暴露遮蔽集的方式移动。在这种情形下,视差补偿处理产生标记的像素数据,指示遮蔽集的像素在超分辨率处理中不应考虑。
在精确确定了具体成像器的视差改变之后,视差信息524发送至地址转换模块530。地址转换模块530使用视差信息524和来自地址和相位偏移校准模块554的校准数据558以确定将用于逻辑像素地址计算的合适的X偏移量和Y偏移量。地址转换模块530也确定具体成像器像素相对于由超分辨率处理生成的结果图像428中的像素的相关子像素偏移。地址转换模块530考虑到视差信息524并提供逻辑地址546解决该视差。
如下面的详细叙述,在执行视差补偿之后,所述图像由超分辨率模块526处理以获取由低分辨率图像合成的高分辨率图像422。合成的图像422随后可提供至下游颜色处理模块564以执行下述操作中的一种或多种:聚焦恢复、白平衡、色差校正、伽马校正、RGB至YUV校正、边缘敏感锐化、对比度增强和压缩。
图像处理流水线模块420可包括用于对图像进行其他处理的组件。例如,图像处理流水模块420可包括用于校正由单像素缺陷或像素缺陷组导致的异常的校正模块。校正模块可包含于所述相机阵列所在的同一芯片上、可作为与所述相机阵列分开的组件或作为超分辨率模块526的一部分。
超分辨率处理
在一种实施方式中,超分辨率模块526通过处理由成像器540拍摄到的低分辨率图像以生成更高分辨率的合成图像。合成图像的总体图像质量要高于由成像器中任一个单独拍摄到的图像。换言之,各个成像器协作运行,每个成像器利用各自能力在无需子采样的情况下拍摄光谱的一个窄部,从而对于更高质量的图像都作出贡献。与超分辨率技术相关的图像形成可表述为下式:
yk=Wk·x+nk ∀ k = 1 . . . p 公式(2)
其中Wk代表HR景象(x)(通过模糊化、动作和子采样)对由第k个成像器拍摄到的LR图像(yk)的贡献,nk是噪声贡献。
图6A至图6E显示了根据本发明的一种实施方式的用于通过超分辨率处理获取高分辨率图像的成像器的各种布局。在图6A至图6E中,“R”代表具有红色滤镜的成像器,“G”代表具有绿色滤镜的成像器。“B”代表具有蓝色滤镜的成像器,“P”代表在整个可见光和近红外光谱范围内具有感光性的多色成像器,“I”代表具有近红外滤镜的成像器。所述多色成像器可从可见光光谱和近红外区域(也即从650nm至800nm)的全部采样图像。在图6A的实施方式中,中间的列和行的成像器具有多色成像器。相机阵列的剩余区域布有具有绿色滤镜的成像器、具有蓝色滤镜的成像器和具有红色滤镜的成像器。图6A的实施方式并不包括单独探测近红外光谱的任何成像器。
图6B的实施方式具有类似于传统的拜耳滤镜分布的布局。这种实施方式并不包括任何多色成像器或是近红外成像器。如上结合附图1所详细描述地,图6B的实施方式不同于传统的拜耳滤镜布局,因为每个颜色滤镜匹配至每个成像器而非匹配至单个像素。
图6C显示了一种多色成像器形成对称棋盘格局的实施方式。图6D显示了具有4个近红外成像器的实施方式。图6E显示了具有非规则匹配成像器的实施方式。图6A至图6E仅为示意性质,也可使用其他各种布局的成像器。
使用多色成像器和近红外成像器是有利的,因为这些传感器可在弱光照环境下拍摄高质量图像。由多色成像器或近红外成像器拍摄到的图像用于去除由普通颜色成像器获取的图像的噪声。
通过聚集多个低分辨率图像来增加分辨率的前提基于如下事实:不同的低分辨率图像代表了对相同景象稍微不同的视角。如果LR图像都移动像素的整数单元,那么每幅图像基本上包含相同信息。因此,LR图像上没有新信息能用于生成HR图像。在依据实施方式的成像器中,所述成像器的布局可预设并且被控制,这样一列或是一行的每个成像器与其邻接成像器之间具有固定子像素距离。晶片级制作和封装过程允许成像器的精确成形以达到超分辨率处理所需的子像素精度。
将光谱感知元件分为不同的成像器的一个问题是由所述成像器的物理分隔导致的视差。通过确保所述成像器对称放置,至少两个成像器能拍摄前景物体边缘附近的像素。以这种方式,所述前景物体边缘附近的像素可聚集以增加清晰度和避免任何遮蔽。与视差相关的另一问题是颜色的取样。颜色取样的问题可通过使用多色成像器中的视差信息降低,从而提高通过颜色滤镜成像器进行的颜色取样的精确度。
在一种实施方式中,近红外成像器用于确定相对于可见光光谱的相对光度差。物体具有不同材料反射率导致可见光光谱和近红外光谱拍摄到图像的差别。在弱光环境下,所述近红外成像器表现出较高的信噪比。因此,近红外传感器的信号可用于增强亮度图像。在聚集不同成像器的光谱图像进行超分辨率处理之前,可执行从近红外图像向亮度图像的细节转化。以这种方式,景象的边缘信息可得以改进以构建边缘保持的图像,在超分辨率处理中可有效利用该图像。使用近红外成像器的优势根据公式(2)显而易见,其中噪声(也即n)估算中的任何改进导致原始HR景象(x)的更好的估算。
图7是显示了根据一种实施方式的根据由多个成像器拍摄的LR图像生成HR图像的处理流程图。首先,相机阵列中的成像器拍摄亮度图像、近红外图像和颜色图像(步骤710)。接着对拍摄到的图像进行规则化以将所述成像器的物理地址映射到增强图像的逻辑地址(步骤714)。然后执行视差补偿以解决由所述成像器空间分隔导致的成像器视野的任何差别(步骤720)。然后执行超分辨率处理以获取超分辨亮度图像、超分辨近红外图像以及超分辨色度图像(步骤724)。
然后确定光线状况是否好于预设参数(步骤728)。如果光线状况好于所述参数,那么过程进入到相对于超分辨亮度图像标准化超分辨近红外图像(步骤730)。然后执行聚焦恢复(步骤742)。在一种实施方式中,使用PSF(点扩散功能)对每个通道去模糊来执行聚焦恢复(步骤742)。然后,基于近红外图像和亮度图像处理超分辨率(步骤746)。然后,合成图像得以构建(步骤750)。
如果确定出光线状况不比预设参数好(步骤728),则匹配超分辨近红外图像和亮度图像(步骤734)。然后,使用近红外超分辨图像对超分辨亮度图像进行降噪(步骤738)。然后,流程进入到执行聚焦恢复(步骤742),并执行当光线状况好于预设参数的相同流程。然后,流程结束。
颜色图像和近红外图像的图像融合
CMOS成像器的光谱响应通常在涵盖650nm至800nm的近红外区域非常好,并在800nm至1000nm之间相当好。尽管近红外图像不具有色度信息,但是这个光谱区域的信息在弱光环境中是有用的,因为所述近红外图像相对而言没有噪声。因此,近红外图像可用于去除弱光环境下的图像噪声。
在一种实施方式中,来自近红外成像器的图像与另一幅来自可见光成像器的图像融合。在融合之前,在近红外图像和可见光图像之间执行注册(registration)以解决视野差别问题。在离线、一次性的处理步骤中可执行注册流程。在执行了注册之后,近红外图像上的亮度信息内插到对应于可见光图像上每个格点的格点中。
在建立了近红外图像和可见光图像之间的像素对应之后,可执行去噪声和细节转移流程。去噪声流程让信号信息从近红外图像转移至可见光图像以提高融合图像的总的信噪比。细节转化确保近红外图像和可见光图像的边缘得以保留和突出以提高物体在融合图像中的总体可见性。
在一种实施方式中,近红外闪光可作为由近红外成像器拍摄图像期间的近红外光源。使用近红外闪光是有优势的,除其他原因外,因为(i)可避免对兴趣物体照射强光;(ii)可保存物体的环境颜色;以及(iii)可避免红眼效应。
在一种实施方式中,使用仅允许近红外光线通过的可见光滤镜以进一步优化近红外成像的光学效果。可见光滤镜改进近红外光学转化功能,因为可见光滤镜导致近红外图像中更锐利的细节。然后使用双重双边滤镜可将细节转移至可见光图像,所述双重双边滤镜如Eric P.Bennett et ai.,″MultispectralVideo Fusion,″Computer Graphics(ACM SIGGRAPH Proceedings)(July25,2006)所述,该文献全文在此通过引用并入本文。
根据成像器的不同曝光确定动态范围
自动曝光(AE)算法对于获取待拍摄景象的合适曝光是重要的。AE算法的设计影响拍摄图像的动态范围。所述AE算法确定让所获取的图像落入相机阵列感光范围的线性区域的曝光值。该线性区域是优选的,因为在该区域能获取好的信噪比。如果曝光太低,图像会变得饱和不足,而如果曝光过高,所述图像变得过饱和。在传统相机中,采用迭代处理以降低测量到的图像亮度和预先设定亮度之间的差值以低于阈值。这种迭代处理需要大量时间用于收敛,并且有时导致不可接受的快门延迟。
在一种实施方式中,由多个成像器所拍摄的图像的图像亮度是独立测量的。具体而言,设置多个成像器以不同的曝光拍摄图像从而降低计算充分曝光的时间。例如,在具有5×5成像器的相机阵列中,具有8个亮度成像器和9个近红外成像器,每个成像器可被设置具有不同的曝光值。近红外成像器用于拍摄景象的弱光面,亮度成像器用于拍摄所述景象的高亮度面。这导致了总数为17的可能曝光。例如,如果每个成像器的曝光偏离邻接成像器2个值,那么可拍摄到的最大动态范围为217或102dB。这种最大的动态范围相当大程度上高于具有8位输出的传统相机中可获得的通常为48dB的值。
在每一瞬时,基于后续时间中需要多少种曝光,分析多个成像器中每一个的响应(曝光不足、过度曝光或优化曝光)。相比于一次只能测试一种曝光的情形,在可能曝光的范围内同时查询多种曝光的能力加速了搜索。通过降低确定充分曝光的处理时间,可降低快门延迟和连拍迟滞。
在一种实施方式中,通过在线性化成像器对每次曝光的响应之后融合图像,HDR图像由多次曝光合成而成。在融合之前所述成像器的图像可以注册以解决所述成像器的视野差别问题。
在一种实施方式中,至少一个成像器具有HDR像素以生成HDR图像。HDR图像是拍摄高动态范围景象的专门像素。虽然HDR像素相对于其他像素显示出更优异的性能,但是HDR像素在弱光环境下相比于近红外成像器表现出差的性能。为了改进弱光环境下的性能,HDR成像器的信号可与近红外成像器的信号协同使用以在不同光线环境下获取更好质量的图像。
在一种实施方式中,通过处理由多个成像器拍摄的图像获取HDR图像,所述处理例如下文所揭示:Paul Debevec et aI.,″Recovering High DynamicRange Radiance Maps from Photographs,″Computer Graphics(ACM SIGGRAPHProceedings),(August 16,1997),该文献全文在此通过引用并入本文。使用成像器同时拍摄多个曝光的能力是有优势的,因为由场景中物体运动引起的伪影可被减轻或是消除。
多个成像器的高光谱成像
在一种实施方式中,由多个成像器渲染多光谱图像以促进景象中物体分割或识别。由于光谱反射系数在多数现实世界的物体上平滑变化,通过使用具有不同颜色滤镜的成像器拍摄多光谱范围的景象和使用主要成分分析(Principal Components Analysis,PCA)分析所拍摄的图像,可估算出所述光谱反射系数。
在一种实施方式中,相机阵列中一半的成像器用于在基本光谱范围(R、G和B)内采样,另一半成像器用于在移位的基本光谱范围(R′,0′和B′)采样。移位的基本光谱范围是从基本光谱范围移动一定波长(例如10nm)。
在一种实施方式中,执行像素对应和非线性内插以解决景象的子像素视角移位问题。然后,使用一组正交谱基函数合成景象的光谱反射系数,所述基函数例如下文中所揭示的:J.P.S.Parkkinen,J.Hallikainen and T.Jaaskelainen,″Characteristic Spectra of Munsell Colors,″J.Opt.Soc.Am.,A 6:318(August1989),该文全文在此通过引用并入本文。所述基函数是由系数矩阵的PCA推导出的特征向量,并且所述系数矩阵是由存储光谱反射系数的数据库推导出来的,所述光谱反射系数由孟赛尔色块(总数为1257)测量(举例而言)以重建所述景象中每一点的光谱,所述孟赛尔色块代表了现实世界材料的大范围的光谱分布。
初视之下,通过相机阵列的不同成像器拍摄景象的不同光谱图像似乎是牺牲分辨率来获取更大范围的光谱采样。然而,一些损失的分辨率可恢复。多成像器对所述景象的不同光谱范围进行采样,其中每个成像器的每个采样格点彼此之间偏移一个子像素,在一种实施方式中,该成像器没有两个采样格点重叠。换句话说,所有成像器的所有采样格点的叠加形成致密的、可能是非均匀的点的拼接。可使用分散数据内插方法以确定每个光谱图像的这种非均匀拼接图中每一个采样点的光谱密度,例如以下文献中所述,ShiaofenFang et aI.,″Volume Morphing Methods for Landmark Based 3D ImageDeformation″by SPIE vol.2710,proc.1996 SPIE Inti Symposium on MedicalImaging,page 404-415,Newport Beach,CA(February 1996),该文献全文在此通过引用并入本文。以这种方式,在使用不同光谱滤镜采样图像的过程中,一定量的分辨率损失可被恢复。
如上所述,通过确定物体的光谱反射系数有利于图像分割和物体识别。这种情形经常出现于安全应用,其中当物体从一个相机的运行区移动至另一个相机的运行区时使用相机网络追踪该物体。每个区域具有其自身独特的光线环境(荧光灯光线环境、白炽灯光线环境、D65光线环境等等),该光线环境可导致物体在由不同相机拍摄的每个图像中具有不同的外观。如果这些相机在高光谱模式下拍摄,所有的图像可被转换成相同光源以增强物体识别性能。
在一种实施方式中,使用具有多个成像器的相机阵列以提供医学诊断图像。诊断样本的全光谱数字化图像有助于精确诊断,因为医生和医务人员对于诊断结果具有更高信心。相机阵列中的成像器可具有颜色滤镜以提供全光谱数据。这些相机阵列中成像器可安装至移动电话以拍摄并传输诊断信息至远方位置,例如下文所述,Andres W.Martinez et ai.,″Simple Telemedicine forDeveloping Regions:Camera Phones and Paper-Based Microfluidic Devices forReal-Time,Off-Site Diagnosis,″Analytical Chemistry(American ChemicalSociety)(April 11,2008),该文全文在此通过引用并入本文。此外,具有多个成像器的相机阵列可提供具有大景深的图像以增强伤口、疹子和其他症状的图像采集的可靠性。
在一种实施方式中,使用具有窄光谱带通滤镜的小成像器(例如具有20-500像素)生成景象中环境和局部光源的特征。通过使用小成像器,曝光和白平衡特征可更快地和更准确地确定。所述光谱带通滤镜可以是普通的颜色滤镜或带通宽度衍射元件,该带通宽度衍射元件足以让相机阵列数目涵盖约400nm的可见光光谱。这些成像器可以以更高帧速运行并获取用于处理生成控制相同相机阵列中其他更大成像器的曝光和白平衡的信息的数据(该数据可能会或可能不会用于图像内容)。所述小成像器还可散布在所述相机阵列内。
使用多成像器执行的光学变焦
在一种实施方式中,相机阵列中的成像器的子集包括长焦透镜。成像器的子集可具有与其他非长焦透镜成像器相同的其他成像特征。来自成像器的该子集的图像被融合和超分辨率处理以形成超分辨率长焦图像。在其他的实施方式中,相机阵列具有两个或多个成像器子集,所述成像器具有高于两倍放大的透镜以提供不同的变焦放大。
相机阵列的实施方式通过聚集超分辨率处理的图像可实现最终的分辨率。例如具有3倍光学变焦特征的5×5成像器,如果17个成像器用于取样亮度(G),8个成像器用于取样色度(R和B),17个亮度成像器能实现的分辨率高于17个成像器组中任一个单个成像器所能实现的分辨率的4倍。如果所述成像器从5×5扩充至6×6,则有11个额外的成像器可用。相比于安装有3倍变焦透镜的8百万像素的传统图像传感器,当在3倍变焦情况下11个额外的成像器中的8个用于取样亮度(G),剩余3个成像器用于取样色度(R和B)和近红外取样时,可实现60%传统图像传感器的分辨率。这在相当大程度上降低了色度取样(或近红外取样)与亮度取样的比。通过使用3倍变焦处的超分辨率亮度图像作为对色度(和近红外)图像的识别基础以对更高分辨率的色度图像再取样,在一定程度上补偿了色度对亮度取样比的降低。
在具有6×6成像器的情形中,在1倍变焦下取得与传统图像传感器分辨率相等的分辨率。在3倍变焦处,相同的成像器可获得的分辨率等同于装有3倍变焦透镜的传统图像传感器的60%。此外,相比于传统图像传感器在3倍变焦下所具有的分辨率,所述成像器在3倍变焦下的亮度分辨率有所降低。然而,降低的亮度分辨率由下述事实得以补偿:传统图像传感器的光学元件在3倍变焦下因串扰和光学像差具有降低的效率。
由多个成像器实现的变焦操作具有下述优势。首先,实现变焦的质量相当大程度高于传统图像传感器所实现的变焦质量,因为透镜元件可适应焦距的每个变化。在传统的图像传感器中,光学像差和场曲在透镜的整个操作范围内必须校正,这样的校正在具有移动元件的变焦透镜中要比在仅固定焦距的像差需被校正的固定的透镜元件中困难得多。此外,成像器中的固定透镜对于给定高度具有固定的主视角,这与具有移动变焦透镜的传统图像传感器的情形不同。其次,所述成像器允许变焦透镜的模拟而无需显著提高光学轨迹高度。高度降低让薄的组件(即使是具有变焦能力的相机阵列)得以实现。
根据一些实施方式的支持相机阵列中一定级别的光学变焦所需的开销在表2中列出。
表2
Figure BPA00001256455500211
在一种实施方式中,图像中的像素映射到输出图像,其尺寸和分辨率对应于期望的变焦量,以提供从最广角视角至最大放大倍率视角的平滑变焦能力。假设较高放大倍率的透镜具有与较低放大倍率的透镜相同的视角中心,可用的图像信息是图像中间区域比外围区域具有更高的分辨率可用。在3倍或更多独特放大倍率的情形中,不同分辨率的嵌套区域可具有朝向中心增加的分辨率。
具有最大长焦效果的图像所具有的分辨率由装备有长焦透镜的成像器的超分辨率能力决定。具有最广视野的图像可以以下面两种方式至少之一被格式化。第一,宽视场图像可格式化为具有统一分辨率的图像,其中所述分辨率由装配有更广角度的透镜的成像器组的超分辨能力决定。第二,广视野图像格式化为更高分辨率图像,该图像的中心部分的分辨率由装配有长焦透镜的成像器组的超分辨率能力决定。在较低分辨率区域,每图像区域减少数目的像素的信息在更大数目的“数字”像素范围内平滑内插。在这样的图像中,像素信息可被处理和内插,这样从更高向更低分辨率区域的转变变得平滑。
在一种实施方式中,以如下方式实现变焦:通过引起桶状失真至一些(或所有的)阵列透镜,这样不均衡数目的像素用于每幅图像的中间部分。在这种实施方式中,每幅图像都必须被处理以移除桶状形变。为了产生广角图像,相对于外围像素被超采样,更靠近中心的像素被二次采样。随着变焦的进行,所述成像器外围的像素逐渐被舍弃,并且更靠近所述成像器中心的像素的采样增加。
在一种实施方式中,构建纹理过滤器(mipmap filter)以让图像以变焦比例被渲染,该变焦幅度位于光学元件的具体变焦范围内(例如相机阵列的1倍变焦幅度和3被变焦幅度)。纹理(Mipmap)是伴有基准图像的预先计算的优化图像组。通过从3倍的基准比例降至1倍可创造出与3倍变焦亮度图像有关的图像组。这组中的每幅图像都是基准3倍变焦图像的一个版本,但处于细节降低级别上。在期望的变焦级别使用纹理渲染图像通过以下方法实现:(i)在1倍变焦下拍摄图像,然后计算期望的变焦级别的景象的覆盖范围(也即基准图像中的哪些像素需要以要求的比例渲染以生成输出图像);(ii)对于覆盖集内的每个像素而言,确定该像素是否在由3倍变焦亮度图像覆盖的图像内;(iii)如果该像素在3倍变焦亮度图像中可用,那么选择两个最接近的纹理图像并内插(使用平滑过滤器)所述两个纹理图像相应的像素以生成输出图像;以及(iv)如果该像素在3倍变焦亮度图像内不可用,那么选择基准1倍亮度图像的像素并扩至所期望的比例以生成输出像素。通过使用纹理,在两个给定离散级别(也即1倍变焦和3倍变焦)间的任意一点可模拟平滑光学变焦。
拍摄视频图像
在一种实施方式中,相机阵列生成高帧图像序列。所述相机阵列中的成像器可单独运行以拍摄图像。相比于传统图像传感器,所述相机阵列可以以N倍的帧速拍摄图像,其中N是所述成像器的数目。此外,每个成像器的帧周期可交叠以改进弱光环境下的运行。为了增加分辨率,成像器的子集可以以同步的方式运行以生成高分辨率图像。在这种情形中,最大帧速以同步方式运行的成像器数目的倍数降低。高速视频帧速率能让慢动作视频以普通视频速率回放。
在一个实施例中,使用两个亮度成像器(绿色成像器或近红外成像器)、两个蓝色成像器和两个绿色成像器获取高清1080p图像。使用四个亮度成像器(两个绿色成像器和两个近红外成像器或者三个绿色成像器和一个近红外成像器)、一个蓝色成像器和一个红色成像器的排列,对于1080p视频,可升频采样所述色度成像器以实现120帧/秒。对于更高帧速成像设备,帧速的数目可以以线性比例增加。对于标清(480p)运行,使用相同的相机阵列可实现240帧/秒的帧速。
具有高分辨率图像传感器(例如8百万像素)的传统的成像设备使用复合或跳跃采样以拍摄更低分辨率的图像(例如1080p30、720p30和480p30)。在复合过程中,所拍摄图像的行和列内插入电荷、电压或像素域以在降低噪声的同时获取目标视频分辨率。在跳跃采样中,行和列被跳跃采样仪降低传感器能耗。两种技术都导致图像质量降低。
在一种实施方式中,相机阵列中的成像器被选择性地激活以拍摄视频图像。例如,可使用9个成像器(包括1个近红外成像器)获取1080p(1920×1080像素),可使用6个成像器(包括1个近红外成像器)获取720p(1280×720像素)图像,或者可使用4个成像器(包括1个近红外成像器)获取480p(720×480像素)图像。由于在成像器和目标视频图像之间有精确的点对点像素对应关系,所获得的分辨率要高于传统方式所获得的分辨率。此外,因为所述成像器仅有一子集被激活以拍摄图像,所以也能实现显著的能耗节约。例如,在1080p中可降低60%能耗,而在480p中能降低80%的能耗。
使用近红外成像器拍摄视频图像是有利的,因为可利用所述近红外成像器的信息去除每个视频图像的噪声。以这种方式,实施方式的相机阵列表现出优良的弱光感光性并能在极弱的光线环境下运行。在一种实施方式中,对多个成像器获得的图像进行超分辨率处理以获取更高分辨率的视频图像。超分辨率处理的降噪特性连同所述近红外成像器的图像融合一起使图像具有非常低的噪声。
在一种实施方式中,通过激活更多成像器实现高动态范围(HDR)视频拍摄。例如,在1080p视频拍摄模式下运行5×5相机阵列,仅有9个相机激活。通过2个或4个一组一次的方式可使16个相机的子集过曝光和欠曝光,从而实现具有非常高动态范围的视频输出。
多成像器的其他应用
在一种实施方式中,使用多个成像器以估算离景象中物体的距离。由于有关到图像中各点的距离的信息连同图像元素的x坐标和y坐标的大小一起在相机阵列中可利用,因此可确定出图像元素的尺寸。此外,实际物品的绝对尺寸和形状可被测量而无需其他参考信息。例如,可拍摄脚的图片,所得到的信息可用于精确地估算合适的鞋子的尺寸。
在一种实施方式中,使用距离信息模拟由相机阵列拍摄的图像中景深的降低。根据本发明的相机阵列生成具有景深大大增加的图像。然而,在一些应用中并不期望长的景深。在这种情形中,可选取一个特定距离或一些距离作为图像的“最佳聚焦”距离,并且基于从视差信息得来的距离信息,使用诸如高斯模糊之类的方法可逐像素地模糊所述图像。在一种实施方式中,利用由相机阵列获取的景深图来激活色调映射算法,以使用景深信息来执行映射以管理层级,从而强调或增强3D效果。
在一种实施方式中,提供不同尺寸的光圈以获取光圈多样化。光圈尺寸与景深具有直接关系。然而,在微型相机中,光圈通常制作的尽可能的大以让大量光到达相机阵列。不同成像器可通过不同尺寸的光圈接收光。对于生成大景深的成像器而言,可缩减光圈,然而其他成像器可具有大光圈以最大化所接收到的光。通过融合具有不同光圈尺寸的成像器的图像,可获取具有大景深的图像而无需牺牲图像质量。
在一种实施方式中,依据本发明的相机阵列基于通过视野补偿拍摄的图像重调焦距。不像传统的全光相机,通过本发明的相机阵列获取的图像没有遭受分辨率的极大损失。然而,相比于所述全光相机,依据本发明的相机阵列产生用于重调焦距的稀疏数据点。为了克服稀疏数据点,可执行内插以再聚焦稀疏数据点的数据。
在一种实施方式中,相机阵列中的每个成像器具有不同的图心。也即,设计和布置每个成像器的光学器件以便于每个成像器的视野稍微交叠,但是大部分组成更大视野的清晰片断。每个片断的图像全景式地联结以渲染出单个的高分辨率图像。
在一种实施方式中,相机阵列可形成于单独的基底之上,并以空间分隔的方式安装至相同的主板。可布置每个成像器的透镜元件,这样视野的角略微包围着垂直于所述基底的线。因此,如果4个成像器安装至所述主板,并且每个成像器相对于另一成像器旋转90度,所述视野将是4个稍微交叠的片断。这让WLO透镜阵列和成像器芯片的单个设计可用于拍摄全景图像的不同片断。
在一种实施方式中,布置一组或多组成像器拍摄图像,该图像被联结以生成具有交叠区域的全景图像,而另一个成像器或另一组成像器具有包括生成的片断图像的视野。这种实施方式提供了具有不同特征的成像器的不同的有效分辨率。例如,理想状况是具有的亮度分辨率要高于色度分辨率。因此,一些组的成像器凭借其全景联结的视野可探测亮度。较少的成像器凭借其具有包括亮度成像器联结视野的视野可用于探测色度。
在一种实施方式中,具有多个成像器的相机阵列安装至柔性主板之上,这样可手动弯曲所述主板以改变图像的高宽比。例如,以水平线的方向可安装一组成像器在柔性主板上,这样该主板在静止状态时,所有成像器的视野近似相同。如果有4个成像器,可获得具有每个单独的成像器的双倍分辨率的图像,这样主体图像中的细节仅为单个成像器解析的细节范围的一半。如果所述主板弯曲,这样形成部分的纵向圆柱,所述成像器朝外指向。在部分弯曲的情形下,主体图像的宽度加倍,而可被解析的细节降低,因为主体图像中的每一点处于两个成像器的视野中而非四个成像器。在最大弯曲时,所述主体图像有四倍宽,而主体中可被解析的细节进一步被降低。
离线重建和处理
在存储图像数据于存储介质之前或同时,由成像系统400处理的图像可被预览,所述存储介质诸如闪存设备或硬盘。在一种实施方式中,图像或视频数据包括由相机阵列原始拍摄得到的富光场数据集和其他有用的图像信息。其他传统的文件格式也可使用。存储的图像或视频可播放或通过各种有线或无线通信方法传输至其他设备。
在一种实施方式中,通过远程服务器向用户提供工具。所述远程服务器可作为图片或视频的存储器和离线处理引擎。此外,诸如Flikr、Picasaweb、Facebook等之类流行的图片共享社区的应用程序可允许交互式地(独立地或合作地)操控图像。此外,在计算设备(例如台式电脑和便携式电脑)上可提供图像编辑程序的软件插件处理由成像设备400生成的图像。
本文所描述的各种组件可包括通用计算机,所述计算机由存储在其中的计算机程序激活或再配置。这样的计算机程序可存储在计算机可读存储介质中,例如,但不限于:任何种类的磁盘(包括软盘、光盘、CD-ROM、磁光盘)、只读存储器(ROM)、随机存取存储器(RAM)、EPROM、EEPROM、磁卡或光卡、专用集成电路(ASIC)或适于存储电子指令的任何种类的介质,并且均与计算机系统总线耦接。此外,本说明书中提及的计算机可包括单个处理器或可以是使用设计用于提高计算能力的多处理器的体系。
虽然本发明的具体实施方式和应用在本文中已有表述,但应理解的是,本发明不限于本文所揭露的精确构造和组件,在不偏离权利要求书中所限定的本发明的范围和精神的前提下,对于本发明的方法和设备的设置、运行和细节可做出各种修改、改变和变化。

Claims (25)

1.一种相机阵列,所述相机阵列包括:
多个相机,其中每个相机具有独立的光学器件以及多个光感知元件,并且每个相机配置成独立拍摄景象图像;
其中每个相机的光学器件配置成使得每个相机具有相对于其他相机的视野偏移的视野,这样每个相机的视野相对于其他相机的视野的每个偏移配置成具有景象的偏移唯一子像素的景象视野;
其中所述相机阵列是单片集成模块,所述单片集成模块包括单个半导体基底和光学器件,在所述半导体基底上形成所有传感器元件,所述光学器件具有多个透镜元件,其中每个透镜元件形成所述相机之一的独立的光学器件的一部分;
其中每个所述相机包括多个不同种类滤镜之一;以及
其中具有相同种类滤镜的相机围绕所述相机阵列的几何中心分布。
2.如权利要求1所述的相机阵列,其中包括特定种类滤镜的至少一个相机位于所述相机阵列的每个象限之中。
3.如权利要求2所述的相机阵列,其中包括特定种类滤镜的相机围绕所述相机阵列的几何中心对称分布。
4.如权利要求2所述的相机阵列,其中:
每个相机具有蓝色滤镜、绿色滤镜或红色滤镜;
具有蓝色滤镜的至少一个相机位于所述相机阵列的每个象限中;
具有绿色滤镜的至少一个相机位于所述相机阵列的每个象限中;以及
具有红色滤镜的至少一个相机位于所述相机阵列的每个象限中。
5.如权利要求2所述的相机阵列,其中:
每个相机具有蓝色滤镜、绿色滤镜、红色滤镜或近红外滤镜;
具有蓝色滤镜的至少一个相机位于所述相机阵列的每个象限中;
具有绿色滤镜的至少一个相机位于所述相机阵列的每个象限中;
具有红色滤镜的至少一个相机位于所述相机阵列的每个象限中;以及
具有近红外滤镜的至少一个相机位于所述相机阵列的每个象限中。
6.如权利要求1所述的相机阵列,其中每个相机包括滤镜,所述滤镜选自:一个或多个蓝色滤镜、一个或多个绿色滤镜、一个或多个红色滤镜、一个或多个光谱迁移滤镜、一个或多个近红外滤镜以及一个或多个超光谱滤镜。
7.如权利要求1所述的相机阵列,其中具有不同种类滤镜的相机在具有至少一个差别的运行参数下运行。
8.如权利要求7所述的相机阵列,其中运行参数中的所述至少一个差别包括曝光差别。
9.如权利要求1所述的相机阵列,其中每个相机具有控制电路,所述控制电路配置成使每个相机能独立运行。
10.如权利要求1所述的相机阵列,其中所述相机阵列是至少为4×4的相机阵列。
11.如权利要求10所述的相机阵列,其中所述相机阵列是4×4的相机阵列。
12.如权利要求10所述的相机阵列,其中所述相机阵列是5×5的相机阵列。
13.如权利要求10所述的相机阵列,其中所述相机阵列是6×6的相机阵列。
14.一种相机阵列,所述相机阵列包括:
单片集成模块,所述单片集成模块包括半导体基底,在所述半导体基底上形成有多个传感器元件;
晶片级光学器件,所述晶片级光学器件包括多个透镜元件;
其中所述晶片级光学器件和所述传感器元件形成多个相机;
其中所述半导体基底包括控制电路,所述控制电路配置成使每个相机能够独立运行;
其中每个相机包括独立的光学器件和多个传感器元件,所述相机配置成拍摄景象图像;
其中每个相机的所述光学器件配置成使得每个相机具有相对于其他相机视野偏移的视野,这样每个相机的视野相对于其他相机的视野的每个偏移配置成包括景象的偏移唯一子像素的景象视野;
其中每个相机包括三种不同颜色滤镜中的至少一种;以及
具有相同种类滤镜的相机围绕所述相机阵列的几何中心分布。
15.如权利要求14所述的相机阵列,其中包括特定种类滤镜的至少一个相机位于所述相机阵列的每个象限中。
16.如权利要求14所述的相机阵列,其中包括特定种类滤镜的相机围绕所述相机阵列的几何中心对称分布。
17.如权利要求14所述的相机阵列,其中:
每个相机包括蓝色滤镜、绿色滤镜或红色滤镜;
包括蓝色滤镜的至少一个相机位于所述相机阵列的每个象限;
包括绿色滤镜的至少一个相机位于所述相机阵列的每个象限;以及
包括红色滤镜的至少一个相机位于所述相机阵列的每个象限。
18.如权利要求14所述的相机阵列,其中:
每个相机包括蓝色滤镜、绿色滤镜、红色滤镜或近红外滤镜;
包括蓝色滤镜的至少一个相机位于所述相机阵列的每个象限;
包括绿色滤镜的至少一个相机位于所述相机阵列的每个象限;
包括红色滤镜的至少一个相机位于所述相机阵列的每个象限;以及
包括近红外滤镜的至少一个相机位于所述相机阵列的每个象限。
19.如权利要求14所述的相机阵列,其中每个相机包括滤镜,所述滤镜选自:一个或多个蓝色滤镜、一个或多个绿色滤镜、一个或多个红色滤镜、一个或多个光谱迁移滤镜、一个或多个近红外滤镜以及一个或多个超光谱滤镜。
20.如权利要求14所述的相机阵列,其中具有不同种类滤镜的相机在有至少一个差别的运行参数下运行。
21.如权利要求20所述的相机阵列,其中运行参数中的所述至少一个差别包括曝光差别。
22.如权利要求14所述的相机阵列,其中所述相机阵列是至少为4×4的相机阵列。
23.如权利要求22所述的相机阵列,其中所述相机阵列是4×4的相机阵列。
24.如权利要求22所述的相机阵列,其中所述相机阵列是5×5的相机阵列。
25.如权利要求22所述的相机阵列,其中所述相机阵列是6×6的相机阵列。
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