3D CALIBRATION BODY, CALIBRATION METHOD FOR THE SPATIAL CALIBRATION OF AN OPTICAL IMAGING SYSTEM, CALIBRATION ELEMENT AND CALIBRATION METHOD FOR CALIBRATING AN OPTICAL IMAGING SYSTEM

Abstract

A 3D calibration body for spatial calibration of an optical imaging system includes a transparent body and calibration marks embedded in a volume of the transparent body. At least some of the calibration marks are selectively activatable and deactivatable, wherein an activated calibration mark is visible in the visible spectral range and a deactivated calibration mark is not visible in the visible spectral range.

Claims

1. A 3D calibration body for a spatial calibration of an optical imaging system, the 3D calibration body comprising: a transparent body having a volume; and calibration marks embedded in the volume of the transparent body, at least some of the calibration marks being selectively activatable and deactivatable, and an activated calibration mark being visible in a visible spectral range and a deactivated calibration mark not being visible in the visible spectral range.

2. The 3D calibration body according to claim 1, wherein the calibration marks are selectively activatable and deactivatable in different planes of the transparent body.

3. The 3D calibration body according to claim 1, wherein the calibration marks are combined to form at least two groups of calibration marks and at least one of the groups of calibration marks is activatable and deactivatable.

4. The 3D calibration body according to claim 3, wherein the calibration marks of a group of the at least two groups of calibration marks are arranged within a plane in the transparent body.

5. The 3D calibration body according to claim 1, wherein: the transparent body is made of a stack of layers, and the calibration marks are arranged in individual layers of the stack of layers.

6. The 3D calibration body according to claim 5, wherein: at least one of the layers of the stack of layers is formed by a transparent display, and the selectively activatable and deactivatable calibration marks are structures representable on a display.

7. The 3D calibration body according to claim 6, further comprising: a background illumination arrangement for the at least one of the layers formed by the transparent display.

8. The 3D calibration body according to claim 5, wherein: the layers form areal light guides, each of the areal light guides being configured such that evanescent fields of light guided in light guides occur at interfaces of the light guides, the calibration marks are formed by structures at the interfaces of the light guides at which the evanescent fields are output coupled from the respective light guides as propagating electromagnetic waves, and an input coupling apparatus input couples the light into the areal light guides, wherein the input coupling apparatus renders it possible to activate and deactivate input coupling of the light into individual ones of the areal light guides.

9. The 3D calibration body according to claim 8, wherein: total-internal reflection of the light input coupled into the areal light guides occurs at the interfaces of the areal light guides, and the calibration marks are formed by local structures at the interfaces of the areal light guides, at which a conversion takes place from the evanescent fields into electromagnetic waves capable of propagation.

10. The 3D calibration body according to claim 1, further comprising an arrangement of the calibration marks, wherein: the arrangement of the calibration marks has a distribution of the calibration marks in the transparent body, a spatial frequency of which changes within the transparent body, or the arrangement of calibration marks has a self-similar distribution of the calibration marks in the transparent body.

11. The 3D calibration body according to claim 10, wherein: the distribution of the calibration marks in the transparent body is formed by patterns of the calibration marks arranged in the layers of a stack of layers, each of the patterns of the calibration marks has a distribution of the calibration marks within a respective layer, the spatial frequency of which changes within the layer, or the patterns have a self-similar distribution of the calibration marks.

12. The 3D calibration body according to claim 10, wherein the spatial frequency is reduced from a center of the transparent body towards an edge of the transparent body.

13. The 3D calibration body according to claim 10, wherein an extent of respective calibration elements changes with the spatial frequency.

14. The 3D calibration body according to claim 13, wherein the extent of the respective calibration elements increases from a center of the transparent body towards an edge of the transparent body.

15. A method for spatial calibration of an optical imaging system, the method comprising: recording an arrangement of calibration marks at different distances and/or different tilt angles of the optical imaging system relative to an arrangement of the calibration marks to obtain a spatial information item, and carrying out the spatial calibration based on the spatial information item obtained with the 3D calibration body according to claim 1, and forming the arrangement of the calibration marks with the calibration marks of the 3D calibration body.

16. A calibration element for calibrating an optical imaging system, the calibration element comprising: a pattern of calibration marks having a distribution of the calibration marks, a spatial frequency of which changes within the calibration element, or the pattern of calibration marks has a self-similar distribution of the calibration marks.

17. The calibration element according to claim 16, wherein the spatial frequency is reduced from a center of the calibration element towards an edge of the calibration element.

18. The calibration element according to claim 16, wherein an extent of respective calibration marks changes with the spatial frequency.

19. The calibration element according to claim 18, wherein the extent of the respective calibration marks is increased from a center of the calibration element towards an edge of the calibration element.

20. The calibration element according to claim 16, further comprising: a second pattern of calibration marks, in which the calibration marks have a constant spatial frequency and a constant size.

21. A method for calibrating an optical imaging system with different zoom levels, the method comprising: recording at least one image of a pattern of calibration marks in at least one zoom level of the optical imaging system, providing a calibration element according to claim 16, and forming the pattern of the calibration marks by the calibration marks of the calibration element.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The disclosure will now be described with reference to the drawings wherein:

[0031] FIG. 1 shows a cross section of a 3D calibration body, which includes a plurality of display layers;

[0032] FIG. 2 shows a plane pattern of calibration marks of a calibration element;

[0033] FIG. 3 shows a self-similar pattern of calibration marks of a calibration element;

[0034] FIG. 4 shows a cross section of a 3D calibration body, which includes a number of light guide layers; and

[0035] FIG. 5 shows the arrangement of a calibration body in relation to an optical imaging system which is calibrated with the calibration body.

DESCRIPTION OF EXEMPLARY EMBODIMENTS

[0036] A first exemplary embodiment of a 3D calibration body is shown in FIG. 1. This calibration body is substantially formed as a stack of transparent displays 3.sub.1 to 3.sub.9, which can be actuated individually by a controller 5. Each display 3.sub.1 to 3.sub.9 includes a plurality of pixels 7, which can be individually switched into a transparent or into a non-transparent state by the controller 5. In the exemplary embodiment shown in FIG. 1, the transparent displays 3.sub.1 to 3.sub.9 form a substantially cuboid transparent body, in which most of the pixels 7 are in a transparent state. By contrast, the pixels 9.sub.1 to 9.sub.4 plotted as dark in FIG. 1 are in a non-transparent state. In the exemplary embodiment shown in FIG. 1, displays 3.sub.1 to 3.sub.9 are LCD displays, the pixels of which 7 are transparent or non-transparent, depending on the voltage applied. In the exemplary embodiment shown in FIG. 1, the stack of displays of 3.sub.1 to 3.sub.9 is illuminated by an illumination panel 11 arranged at the lower edge of the 3D calibration body 1, said illumination panel including light sources 13 which provide a background illumination of the displays 3.sub.1 to 3.sub.9. A diffuser plate 15 for equalizing the illumination intensity is located between the illumination panel 11 and the stack of displays 3.sub.1 to 3.sub.9.

[0037] As shown in FIG. 1, the individual displays 3.sub.1 to 3.sub.9 are switched in such a way that the non-transparent pixels 9.sub.1 to 9.sub.4 lie in a plane of the substantially cuboid transparent body formed by the transparent displays 3.sub.1 to 3.sub.9, said plane running through the body in diagonal fashion. However, they may also be switched in any other way, for example in such a way that they lie in a horizontally extending plane, for example by virtue of only pixels of the display 3.sub.5 being switched to be non-transparent. It is likewise possible to switch pixels that lie on an imaginary curved area to be non-transparent. Moreover, unlike what is shown in FIG. 1, it is not necessary that the non-transparent pixels have constant distances from one another. Instead, pixels of the displays 3.sub.1 to 3.sub.9 can be switched to be non-transparent in such a way that the density of the non-transparent pixels is higher at the center of the 3D calibration body 1 than at the edge of the 3D calibration body 1. In this way, it is possible to create a pattern of calibration marks, said pattern having a variable spatial frequency. An example of such a pattern 16 of calibration marks is shown in FIG. 2. Furthermore, it is possible to configure calibration marks located further from the center of the 3D calibration body to be larger than calibration marks lying closer to the center of the 3D calibration body 1, as likewise shown in FIG. 2. Larger calibration marks can be obtained by virtue of calibration marks located at the edge being formed by a larger number of adjacent pixels of the displays 3.sub.1 to 3.sub.9 than small calibration marks. What can be achieved as a result of using a pattern with calibration marks of different sizes is that, in the case of different zoom levels, the calibration marks in the images recorded with the different zoom levels substantially have the same size and distances that are suitable for the calibration. Only a small section of the image is visible in the case of high zoom levels, for example the center of the 3D calibration body; by contrast, the entire calibration body 1 is visible at low zoom levels. Moreover, high zoom levels show smaller structures than low zoom levels, and therefore, the small, tightly adjacent, small calibration marks in the center of the pattern 16 can be used in a high zoom level and the less densely packed, larger calibration patterns at the edge of the pattern 16 can be used at low zoom levels. Here, it is also possible, in principle, for a pattern 16 with a constant spatial frequency, i.e., a pattern with a constant distance between the calibration marks in the entire calibration body 1, to be superposed on a pattern 16 of calibration marks with a variable spatial frequency, i.e., with distances of the calibration marks from one another, which vary over the calibration body 1. The pattern shown in FIG. 2 has such a superposition.

[0038] A pattern of calibration marks, as has been described with reference to FIG. 2, can lie within a plane formed by a display 3.sub.1 to 3.sub.9. However, reference should be made here to the fact that such a pattern need not necessarily be used in a 3D calibration body; instead, it can be used in any calibration element, in particular in an areal calibration element, too.

[0039] However, as an alternative to the patterns described above, it is also possible to generate self-similar patterns of calibration marks with the displays 3.sub.1 to 3.sub.9. One exemplary embodiment of such a self-similar pattern is illustrated schematically in FIG. 3. FIG. 3 shows a chequerboard-like pattern 17 made of calibration marks 19, with the calibration marks 19 in the illustrated exemplary embodiment being formed by a square area, in which a number of pixels are switched to be non-transparent. Between these calibration marks 19, there are square areas 21 of identical size, in which all pixels are switched to be transparent.

[0040] However, not all pixels in a calibration mark 19 are switched to be non-transparent; instead, the calibration mark itself represents, in turn, a chequerboard-like pattern made of now smaller square calibration marks 19.sub.1 with transparent square areas 21.sub.1 of identical size located therebetween. In the exemplary embodiment shown in FIG. 3, the smaller calibration marks 19.sub.1 are also formed by a display region in which a number of pixels 19.sub.2 are switched to be non-transparent and a number of pixels 21.sub.2 are switched to be transparent. In this way, each of the smaller calibration marks 19.sub.1, in turn, still has a chequerboard-like pattern, which is formed of even smaller calibration marks 19.sub.2 with transparently switched pixel regions 21.sub.2 located therebetween. This can be continued until a chequerboard-like pattern of individual pixels of the display, which are alternately switched to be transparent and non-transparent, is present. The pattern shown in FIG. 3 can either be a pattern formed within a single display 3.sub.1 to 3.sub.9 or a pattern formed by a plurality of displays, such as the pattern shown in FIG. 1, for example. Naturally, the number of transparent displays in this case is significantly higher than what is illustrated in FIG. 1.

[0041] Like the pattern of calibration marks shown in FIG. 2, the self-similar chequerboard-like pattern of calibration marks, described with reference to FIG. 3, can also be used in a plane calibration element instead of in a 3D calibration body.

[0042] A second exemplary embodiment of a 3D calibration body is shown in FIG. 4. This calibration body 101, too, is once again substantially cuboid and made of transparent layers. In contrast to the 3D calibration body 1 of FIG. 1, the 3D calibration body 101, however, does not include a stack of transparent displays but, instead, is made of stacked light guides 103.sub.1 to 103.sub.5. The light guides 103.sub.1 to 103.sub.5 are formed by alternating transparent layers 104 and 105, with the layers 105.sub.1 to 105.sub.6 having a higher refractive index than the layers 104.sub.1 to 104.sub.5 arranged therebetween. With selectively switchable light sources 107.sub.1 to 107.sub.5, light is coupled into the layers 105.sub.1 to 1055 in such a way that it undergoes total-internal reflection at the interfaces between the layers 104 and 105. Total-internal reflection can be obtained by virtue of the high refractive index of the layers 105.sub.1 to 105.sub.6 and the low refractive index of the layers 104.sub.1 to 104.sub.5 and the incoming radiation direction of the light being matched to one another in such a way that the critical angle for total-internal reflection is exceeded.

[0043] There is light propagation, i.e., a propagation of electromagnetic waves of the light, only within the respective light guides 103.sub.1 to 103.sub.5 on account of the total-internal reflection at the interfaces between the layers 104 and 105. By contrast, the electromagnetic fields of the light decrease exponentially in the layers 104.sub.1 to 104.sub.6 with the low refractive index, and thus no propagation of the light occurs in these layers. The exponentially decaying electromagnetic fields are also referred to as evanescent fields.

[0044] In order to be able to represent calibration marks in the light guides 103.sub.1 to 103.sub.5 of the 3D calibration body 101, thin films 109 are applied at certain distances on the layers 105.sub.1 to 105.sub.5 in this exemplary embodiment. Here, the refractive index of these films is chosen in such a way that the total-internal reflection is suppressed at these points such that there is light propagation into the layers 104.sub.1 to 104.sub.5 with a low refractive index. By way of example, to this end, the refractive index of the films 109 has a value lying between the high refractive index of the layers 105 and the low refractive index of the layers 104.

[0045] If light is now coupled into one of the light guides 103.sub.1 to 103.sub.5, the light is output coupled from the light guide at those points at which the films 109 have been applied such that luminous points arise in the volume of the transparent body constructed from the layers 104, 105, said luminous points serving as calibration marks. The luminous points arise at different depths of the transparent body depending on which light sources 107.sub.1 to 107.sub.5 are activated. In order to be able to individually choose the depth at which calibration marks should be represented, the individual light sources 107.sub.1 to 107.sub.5 can be selectively activated and deactivated by a control device 111.

[0046] In the exemplary embodiment shown in FIG. 4, light is output coupled from the light guides 103 by virtue of local films 109 with a suitable refractive index being applied to the layers 105 with the low refractive index. However, it is alternatively also possible to achieve output coupling by virtue of the angle of incidence of the light on the interface between the layers 104 and 105 being modified locally in such a way that the critical angle for total-internal reflection is undershot at the corresponding points. By way of example, a local change in the angle of incidence can be produced by virtue of the orientation of the interface between the layers 104 and 105 being structured locally by lasers, by impressing, by boring, by etching or by other suitable structuring methods.

[0047] In respect of the films 109 that assist with the output coupling, it is also possible to generate the output coupling not by way of the suitable choice of a refractive index but by virtue of the evanescent fields inducing an emission of electromagnetic waves in the thin films, for example by virtue of exciting fluorescence.

[0048] Calibration marks are generated in the volume of a transparent body in the described exemplary embodiments. It is understood that, as a rule, such a body is not 100% transparent. Variations in the transparency may also be present. The volume of the calibration body should therefore always be considered to be transparent if the Michelson contrast in the body is less than 0.2, in particular less than 0.1, apart from at the points at which the calibration marks are located.

[0049] A method for the spatial calibration of an optical imaging system 22 is described below with reference to FIG. 5. The method is described on the basis of the calibration of an optical imaging system 22, which is embodied as a stereo microscope 25 that has been equipped with a camera 23. In the exemplary embodiment shown in FIG. 5, a 3D calibration body 1, as has been described with reference to FIG. 1, is used for calibration purposes. However, it is self-evident that use can also be made of a calibration body 101, as has been described with reference to FIG. 4.

[0050] Images of the 3D calibration body 1 are successively recorded in this exemplary embodiment for the purposes of calibrating the optical imaging system, which in addition to the camera at least still include a main objective lens 29 and a zoom system 27, with different arrangements of calibration marks being present in the 3D calibration body. FIG. 5 shows how an image of calibration marks is recorded, said calibration marks being arranged approximately in the center of the calibration body in a plane that extends perpendicular to the optical axis of the imaging system. Depending on the type of calibration to be undertaken, this image may already suffice for carrying out the calibration. However, images are additionally recorded at different distances from the main objective lens 29 in other calibration processes, with calibration marks extending in different planes that are perpendicular to the optical axis of the imaging system to be calibrated. In some types of calibration, it may be additionally or alternatively be necessary for images to be recorded of calibration marks arranged in planes that are not arranged perpendicular to the optical axis of the optical imaging system to be calibrated. In this case, use can be made, for example, of a configuration of the calibration marks as illustrated in FIG. 1. It is likewise possible to use a configuration of calibration marks in which the calibration marks lie on an imagined curved surface instead of in a plane surface.

[0051] The information items necessary for the calibration can be obtained from the position of the calibration marks in the images of the calibration body 1 recorded by the optical imaging system and the calibration can finally be carried out on the basis of a suitable algorithm.

[0052] If a calibration should take place in various zoom levels of the zoom system 27, it is advantageous if the calibration body 1 is able to generate a pattern of calibration marks which has a variable spatial frequency, or which is self-similar. In particular, it is possible to use patterns of calibration points as have been described with reference to FIGS. 2 and 3.

[0053] Even though a 3D calibration is described with reference to FIG. 5, in the exemplary embodiment of a calibration of an optical imaging system, it is also possible to carry out a 2D calibration with different zoom settings. In this case, an areal calibration element can be used instead of a 3D calibration body, said areal calibration element having a pattern of calibration marks whose spatial frequency changes within the areal calibration element, as shown in FIG. 2 in an exemplary manner. Alternatively, it is possible for the employed areal calibration element to be provided with a pattern of calibration marks which have a self-similar distribution, as shown in FIG. 3 in exemplary fashion. If an areal calibration element is used, the latter naturally need not be transparent. In that case, the calibration marks could also be printed onto the areal calibration element, for example.

[0054] The present disclosure has been explained in detail on the basis of exemplary embodiments for explanatory purposes. However, a person skilled in the art will appreciate that they may depart from details of these exemplary embodiments. By way of example, transparent TFT displays could also be used instead of transparent LCD displays in the calibration body 1 of the first exemplary embodiment shown in FIG. 1. Moreover, it is possible, as a matter of principle, to use self-luminous displays, for instance LED displays or OLED displays. The illumination panel and the diffuser can then be dispensed with. At this point, reference is also made, once again, to the fact that the number of layers of the 3D calibration bodies and/or the number of pixels in the layers need not correspond to the number of layers illustrated in the figures or the number of pixels illustrated in the figures. In particular, a very high number of layers and/or a very high number of pixels may be present, for as long as this does not reduce the transparency of the volume of the 3D calibration body too much. In particular, the lower-most layers of the 3D calibration body must be sufficiently visible through the layers located thereabove.

[0055] In respect of the exemplary embodiment described with reference to FIG. 5, reference is made to the fact that the films for bringing about output coupling are illustrated significantly larger than they actually are in a real calibration body so as to aid identifiability in FIG. 5. The lower structures not being covered by upper structures is decisive for the quality of the calibration in a real calibration body. Although this may be achieved by a lateral offset of lower structures in relation to structures lying thereover in telecentric imaging systems, this, however, will not suffice in the case of non-telecentric systems. If the size of the individual structures that aid in output coupling of the light from the light guides can be kept sufficiently small, a coverage in the case of calibration marks, which are arranged with an offset, in the different planes of the light guides can be obtained with the smallest possible coverage of lower-lying calibration marks by calibration marks lying thereabove. Since, as a matter of principle, infinitesimal films or infinitesimal regions with an angle of incidence that is suitable for output coupling at the interfaces between the layers with a high and a low refractive index suffice for output coupling the light from the light guide, the films or the introduced structures can be kept very small. This allows coverage to be largely avoided such that also a plurality of planes of calibration marks can be used at the same time.

[0056] With reference to the self-similar distribution of calibration marks in FIG. 3, reference is made to the fact that the pattern may also be constructed from geometric forms other than quadratic areas, for instance from other polygonal areas such as triangular areas or hexagonal areas. Irregular structures, too, are conceivable as a matter of principle.

[0057] Since it is possible to deviate from the individual described exemplary embodiments in a manner evident to a person skilled in the art, the present disclosure should not be restricted by the described exemplary embodiments.

LIST OF REFERENCE NUMERALS

[0058] 1 Calibration body [0059] 3 Transparent display [0060] 5 Controller [0061] 7 Transparent pixel [0062] 9 Non-transparent pixel [0063] 11 Illumination panel [0064] 13 Light source [0065] 15 Diffuser [0066] 16 Pattern [0067] 17 Pattern [0068] 19 Calibration mark [0069] 21 Transparent region [0070] 22 Optical imaging system [0071] 23 Camera [0072] 25 Main objective lens [0073] 27 Zoom system [0074] 101 Calibration body [0075] 103 Light guide [0076] 104 Layer with a high refractive index [0077] 105 Layer with a low refractive index [0078] 107 Light source [0079] 109 Film [0080] 111 Control device