Optical information processor

Abstract: A visual recognition apparatus for use in, for example, a robot requires an optical information processor for optically performing an image processing or an image recognition. The optical information processor includes a first spatial light modulator (4) for displaying an input image, a first lens (6) having a front focal plane on which the first spatial light modulator (4) is positioned, a second spatial light modulator (9) for displaying at least one optical filter, a second lens (11) having a front focal plane on which the second spatial light modulator (9) is positioned, and a third lens (12) having a front focal plane on which a back focal plane of the second lens (11) lies. The optical information processor also includes a beam splitter (13) for combining together light transmitted through the first lens (6) with light transmitted through the third lens (12), and a fourth lens (14) having a front focal plane on which both a back focal plane of the first lens (6) and a back focal plane of the third lens (12) generally lie.

Description: BACKGROUND OF THE INVENTION Field of the Invention The present invention relates generally to a visual recognition apparatus for use in, for example, a robot, and more particularly to an optical information processor used in the visual recognition apparatus for optically performing an image processing or an image recognition. Description of the Prior Art Recently, there have been strong demands in the field of image processing or image recognition for a higher speed processing of a large number of pixels than that hitherto accomplished. To this end, the development of an optical information processor is being advanced by making use of a high-speed parallel operation function of light. JP-A-2-132412 discloses an optical information processor as shown in Fig. 1. In Fig. 1, reference numeral 20 denotes a TV camera; reference numeral 21 denotes a first liquid crystal display for displaying an image picked up by the TV camera 21; reference numeral 22 denotes a laser diode; reference numeral 23 denotes a collimator lens for collimating light from the laser diode 22; and reference numeral 24 denotes a first lens. The first liquid crystal display 21 is positioned on a first focal plane of the first lens 24 adjacent the collimator lens 23. Reference numeral 25 denotes a second liquid crystal display positioned on a second focal plane of the first lens 24 opposite to the first focal plane. Furthermore, reference numeral 26 denotes a ROM (read-only memory); reference numeral 27 denotes a second lens; and reference numeral 28 denotes a photodetector. In the ROM 26 are stored data of computer-generated Fourier-transform holograms obtained as a result of calculation performed using pixels of the second liquid crystal display as sampling points against a plurality of reference patterns. These data are indicative of data of applied voltages corresponding to the transmittance of the individual pixels of the second liquid crystal display 25. The second liquid crystal display 25 and the photodetector 28 are positioned on first and second, opposite planes of the second lens 27, respectively. The conventional optical information processor having the above-described construction operates as follows. An image of an object picked up by the TV camera 20 is initially displayed on the first liquid crystal display 21. The laser diode 22 applies to the first liquid crystal display 21 a coherent beam collimated by the collimator lens 23. Because the first liquid crystal display 21 is positioned on the first focal plane of the first lens 24 adjacent the collimator lens 23, a Fourier-transform image of the object optically transformed by the first lens 24 is formed on the second focal plane of the first lens 24 and, hence, on the second liquid crystal display 25. When at this moment the data stored in the ROM 26 are applied to the second liquid crystal display 25, the transmittance of each of the pixels of the second liquid crystal display 25 is spatially modulated. As a result, each of the computer-generated Fourier-transform holograms of the specific reference patterns, which functions as an optical filter, is displayed on the second liquid crystal display 25. Accordingly, on the second liquid crystal display 25, the Fourier-transform image, which has optically been transformed by the first lens 24 from the image of the object displayed on the first liquid crystal display 21, is superimposed on each of the Fourier-transform images. Furthermore, because the second liquid crystal display 25 is positioned on the first focal plane of the second lens 27 adjacent the display 25, when the Fourier-transform image of the object coincides with that of a specific reference pattern, i.e., when both of them come to indicate the same object, a bright point appears on the second focal plane of the second lens 27 opposite to the first focal plane thereof and is subsequently detected by the photodetector 28. In this way, an optical image processing is performed wherein an optical filter, which takes the form of a computer-generated hologram and is displayed on the second liquid crystal display 25, functions as a matched filter. The above optical information processor has, however, a problem in that an optical path is elongated for the following reasons, requiring an increased size of the apparatus. Let the wavelength of the laser diode 22, the pixel pitch of the first liquid crystal display 21, and the diameter of a Fourier-transform image displayed on the second liquid crystal display 25 be denoted by λ, P, and D, respectively. In this case, the focal length f of the first lens 24 is given by f=D·P/λ . When P=50µm, λ=0.8µm, and D=60mm, a lens having a focal length of 3,125mm is required. Accordingly, as shown in Fig. 1, the distance between the first liquid crystal display 21 and the second liquid crystal display 25 results in 2·f=6,250mm which is extremely long. In short, the pixel pitch P of a spatial light modulator such as, for example, a liquid crystal display is generally ten or more times greater than that of a photographic dry plate, and therefore, an increased optical path is required. As a matter of course, the increased optical path makes optical information processors large. SUMMARY OF THE INVENTION The present invention has been developed to overcome the above-described disadvantages and is intended to provide a small-sized optical information processor wherein an optical system has a shortened optical path. In accomplishing the above and other objects, according to the present invention, there is provided an optical information processor comprising a first spatial light modulator to be coherently illuminated by a light source (1) for displaying an input image; a first lens having first and second focal planes opposite to each other, said first spatial light modulator being positioned in the first focal plane of said first lens; a memory means for storing at least one computer-generated hologram; a second spatial light modulator to be coherently illuminated by the light source and operatively connected with said memory means for displaying at least one optical filter which takes the form of said hologram; a second lens having first and second focal planes opposite to each other, said second spatial light modulator being positioned in the first focal plane of said second lens; a third lens having first and second focal planes opposite to each other, the second focal plane of said second lens lying in the first focal plane of said third lens; means for combining light transmitted through said first lens with light transmitted through said third lens; and a fourth lens having first and second focal planes opposite to each other, wherein both the second focal plane of said first lens and the second focal plane of said third lens generally lie in the first focal plane of said fourth lens, the second focal plane of said fourth lens being arranged to enable a photodetecting means to be generally positioned in said plane. In accordance with a further aspect of the present invention, there is also provided an optical information processor comprising: a first spatial light modulator to be coherently illuminated by a light source for displaying an input image; a first lens having first and second focal planes opposite to each other, said first spatial light modulator being positioned in the first focal plane of said first lens; a second lens having first and second focal planes, opposite to each other, the second focal plane of said first lens generally lying in the first focal plane of said second lens; a third lens having first and second focal planes opposite to each other, the second focal plane of said second lens generally lying in the first focal plane of said third lens; a memory means for storing at least one computer-generated hologram; a second spatial light modulator to be coherently illuminated by a light source and operatively connected with said memory means for displaying at least one optical filter which takes the form of said hologram; a fourth lens having first and second focal planes opposite to each other, said second spatial light modulator being positioned in the first focal plane of said fourth lens; a fifth lens having first and second focal planes opposite to each other, the second focal plane of said fourth lens lying in the first focal plane of said fifth lens (64); means for combining light transmitted through said third lens with light transmitted through said fifth lens; and a sixth lens having first and second focal planes opposite to each other, wherein both the second focal plane of said third lens and the second focal plane of said fifth lens generally lie in the first focal plane of said sixth lens, the second focal plane of said sixth lens being arranged to enable a photodetecting means to be generally positioned in said plane. Because the optical information processor is of the above-described construction, a required optical path is considerably reduced, thereby reducing the size of the optical information processor. BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects and features of the present invention will become more apparent from the following description of preferred embodiments thereof with reference to the accompanying drawings, throughout which like parts are designated by like reference numerals, and wherein: Fig. 1 is a schematic view of the prior art optical information processor; Fig. 2 is a schematic view of an optical information processor according to a first embodiment of the present invention; and Fig. 3 is a view similar to Fig. 2, but according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring now to the drawings, there is shown in Fig. 2 an optical information processor according to a first embodiment of the present invention. The optical information processor of Fig. 2 comprises a laser diode 1, a collimator lens 2 for collimating light from the laser diode 1, a first beam splitter 3 for splitting the collimated light from the collimator lens 2 into reflected light and transmitted light, a TV camera 5, and a first spatial light modulator 4 for displaying an image picked up by the TV camera 5. The first spatial light modulator 4 is positioned on a front focal plane of a first lens 6. An optical path of light having past through the first lens 6 is changed by a first mirror 7. An optical path of light reflected by the first beam splitter 3 is changed by a second mirror 8. Light reflected by the second mirror 8 is directed to a second spatial light modulator 9. The second spatial light modulator 9 is operatively connected with a memory 10. This memory 10 stores data of computer-generated Fourier-transform holograms obtained as a result of calculation performed using pixels of the second spatial light modulator 9 as sampling points against a plurality of reference patterns. These data are indicative of data of applied voltages corresponding to the transmittance of the individual pixels of the second spatial light modulator 9. The second spatial light modulator 9 is positioned on a front focal plane of a second lens 11 of which a back focal plane lies substantially on a front focal plane of a third lens 12. The second and third lenses 11 and 12 are so chosen that a focal length f2 of the second lens 11 is greater than a focal length f3 of the third lens 12. Accordingly, the second and third lenses 11 and 12 constitute an optical reduction system having a reduction ratio of f3/f2. A second beam splitter 13 is provided as a combining means for combining together light transmitted through the first lens 6 and light transmitted through the third lens 12. A back focal plane of the first lens 6 and that of the third lens 12 lie substantially on the same plane behind the second beam splitter 13. Behind the back focal planes of the first and third lenses 6 and 12 are disposed a fourth lens 14 and a photodetector 15 positioned on a back focal plane of the fourth lens 14. The optical information processor having the above-described construction operates as follows. An image of an object picked up by the TV camera 5 is initially displayed on the first spatial light modulator 4. A coherent beam emitted from the laser diode 1 is collimated by the collimator lens 2 and is then transmitted in part to the first spatial light modulator 4 via the first beam splitter 3. As a result, an optical Fourier-transform image of the object displayed on the first spatial light modulator 4 is formed on the back focal plane of the first lens 6. On the other hand, Fourier-transform images of the specific reference patterns are stored, as optical filters, in the memory 10. Therefore, when these data are supplied to the second spatial light modulator 9, the transmittance of each of the pixels thereof is spatially modulated, thereby displaying each of the computer-generated Fourier-transform holograms of the specific reference patterns on a region having a diameter of D. The computer-generated Fourier-transform holograms displayed on this region are projected on a reduced scale onto another region having a diameter of D×(f3/f2) and lying on the back focal plane of the third lens 12 by the optical reduction system constituted by the second and third lenses 11 and 12. Because the back focal plane of the first lens 6 and that of the third lens 12 lie substantially on the same plane, the Fourier-transform image, which has optically been transformed by the first lens 6 from the object image displayed on the first spatial light modulator 4, is superimposed on each of the Fourier-transform images obtained as a result of calculation with respect to the specific reference patterns. This takes place on the common focal plane of the first and third lenses 6 and 12. Because the common focal plane lies on the front focal plane of the fourth lens 14, when the Fourier-transform image of the object and that of a specific reference pattern coincide with each other, i.e., when both of them come to indicate the same object, a bright point appears on the back focal plane of the fourth lens 14 and is detected by the photodetector 15. In this way, an optical image processing is performed wherein an optical filter, which takes the form of a computer-generated hologram and is displayed on the second spatial light modulator 9, functions as a matched filter. As described hereinabove, according to this embodiment, the size of the optical filter can be substantially reduced to f3/f2, and hence, the focal length of the first lens 6 for optically performing Fourier transformation can be shortened to f3/f2. For example, when f2=200mm (F No.=3.3) and f3=50mm (F No.=3.3), the reduction ratio becomes 1/4. Accordingly, the focal length f1 of the first lens 6, which was, according to the prior art, required to be 3,125mm, can be shortened to 781mm, one fourth of 3,125mm. In this case, the distance between the second spatial light modulator 9 and the back focal plane of the third lens 12 is 2×(200mm+50mm)=500mm. Because these two optical paths extend parallel as shown in Fig. 2, the optical information processor according to this embodiment can be considerably reduced in size as compared with the conventional one. The optical reduction system constituted by the second and third lenses 11 and 12 has a longitudinal magnification of (f3/f2) 2 . For example, when f2=200mm and f3=50mm, the longitudinal magnification becomes 1/16. In this case, fluctuations of the laser beam in a direction parallel to the optic axis in an optical system resulting from, for example, astigmatic difference of a laser diode, can be reduced to 1/16. A reduction in such fluctuations contributes to the manufacture of a highly precise optical information processor. Fig. 3 depicts an optical information processor according to a second embodiment of the present invention. This processor comprises a laser diode 51, a collimator lens 52 for collimating light from the laser diode 51, a first beam splitter 53 for splitting the collimated light from the collimator lens 52 into reflected light and transmitted light, a TV camera 55, and a first spatial light modulator 54 for displaying an image picked up by the TV camera 55. The first spatial light modulator 54 is positioned on a front focal plane of a first lens 56. A back focal plane of the first lens 56 lies substantially on the same plane as a front focal plane of a second lens 57. The first and second lenses 56 and 57 are so chosen that a focal length f1 of the former is greater than a focal length f2 of the latter. Accordingly, the first and second lenses 56 and 57 constitute an optical reduction system having a reduction ratio of f2/f1. A back focal plane of the second lens 57 lies substantially on the same plane as a front focal plane of a third lens 58. An optical path of light transmitted through the third lens 58 is changed by a first mirror 59. An optical path of light transmitted through the first beam splitter 53 is changed by a second mirror 60. Light reflected by the second mirror 60 is directed to a second spatial light modulator 61. The second spatial light - modulator 61 is operatively connected with a memory 62, which stores data of computer-generated Fourier-transform holograms obtained as a result of calculation performed using pixels of the second spatial light modulator 61 as sampling points against a plurality of reference patterns, as is the case with the first embodiment shown in Fig. 2. These data are indicative of data of applied voltages corresponding to the transmittance of the individual pixels of the second spatial light modulator 61. The second spatial light modulator 61 is positioned on a front focal plane of a fourth lens 63, of which a back focal plane lies substantially on the same plane as a front focal plane of a fifth lens 64. The fourth and fifth lenses 63 and 64 are so chosen that a focal length f4 of the former is greater than a focal length f5 of the latter. Accordingly, the fourth and fifth lenses 63 and 64 constitute an optical reduction system having a reduction ratio of f4/f5. A second beam splitter 65 is provided as a combining means for combining together light transmitted through the third lens 58 and light transmitted through the fifth lens 64. A back focal plane of the third lens 58 and that of the fifth lens 64 lie substantially on the same plane behind the second beam splitter 65. Behind the second beam splitter 65 is positioned a sixth lens 66 having a front focal plane lying substantially on the common back focal plane of the third and fifth lenses 58 and 64. A photodetector 67 is positioned on a back focal plane of the sixth lens 66. The optical information processor having the above-described construction operates as follows. An image of an object picked up by the TV camera 55 is initially displayed on the first spatial light modulator 54. A coherent beam emitted from the laser diode 51 is collimated by the collimator lens 52. The collimated light is in turn applied in part to the first spatial light modulator 54 via the first beam splitter 53. The optical reduction system constituted by the first and second lenses 56 and 57 reduces the scale of the object image, and the reduced image is projected on the back focal plane of the second lens 57 at a reduction ratio of f2/f1. In other words, the pixel pitch P of the first spatial light modulator 54 is substantially reduced to P×(f2/f1). The third lens 58 forms an optical Fourier-transform image of the reduced object image on the back focal plane thereof. On the other hand, Fourier-transform images of the specific reference patterns are stored, as optical filters, in the memory 62. When these data are applied to the second spatial light modulator 61, the transmittance of each of individual pixels thereof is spatially modulated, thereby displaying each of the computer-generated Fourier-transform holograms of the specific reference patterns on a region having a diameter of D. The computer-generated Fourier-transform holograms displayed on this region are projected on a reduced scale onto another region having a diameter of D×(f5/f4) and lying on the back focal plane of the fifth lens 64 by the optical reduction system constituted by the fourth and fifth lenses 63 and 64. As mentioned previously, the back focal plane of the third lens 58 and that of the fifth lens 64 lie substantially on the same plane. Accordingly, the Fourier-transform image, which has been optically transformed by the third lens 58 from the object image displayed on the first spatial light modulator 54 and projected on a reduced scale by the first and second lenses 56 and 57, is superimposed on each of the Fourier-transform images obtained as a result of calculation with respect to the specific reference patterns and similarly projected on a reduced scale by the fourth and fifth lenses 63 and 64. Such superimposition takes place on the common focal plane of the third and fifth lenses 58 and 64. Because the common focal plane lies on the front focal plane of the sixth lens 66, when the Fourier-transform image of the object and that of a specific reference pattern coincide with each other, i.e., when both of them come to indicate the same object, a bright point appears on the back focal plane of the sixth lens 66 and is detected by the photodetector 67. In this way, an optical image processing is performed wherein an optical filter, which takes the form of a computer-generated hologram and is displayed on the second spatial light modulator 61, functions as a matched filter. As described hereinabove, according to the second embodiment of the present invention, the size D of the optical filter can be substantially reduced to f5/f4 by the optical reduction system constituted by the fourth and fifth lenses 63 and 64, whereas the pixel pitch P of the first spatial light modulator 54 is substantially reduced to f2/f1 by the optical reduction system constituted by the first and second lenses 56 and 57. Accordingly, the focal length of the third lens 58 for optically performing Fourier transformation can be shortened to (f2/f1)×(f5/f4). For example, when f1=160mm, f2=40mm, f4=160mm, and f5=40mm, the reduction ratio becomes 1/16. Accordingly, the focal length f1 of the first lens 56, which was, according to the prior art, required to be 3,125mm, can be shortened to 195mm that is 1/16 of 3,125mm. In this case, the distance between the second spatial light modulator 61 and the back focal plane of the fifth lens 64 is 2×(160mm+40mm)=400mm, whereas the distance between the first spatial light modulator 54 and the back focal plane of the third lens 58 becomes 2(160mm+40mm)+195mm=595mm. As shown in Fig. 3, because these two optical paths extend parallel, the optical information processor according to the second embodiment can be considerably reduced in size as compared with the conventional one. The optical reduction system constituted by the first and second lenses 56 and 57 has a longitudinal magnification of (f2/f1) 2 , while the optical reduction system constituted by the fourth and fifth lenses 63 and 64 has a longitudinal magnification of (f5/f4) 2 . For example, when f1=160mm=f4 and f2=40mm=f5, the longitudinal magnification cation becomes 1/16. In this case, fluctuations of the laser beam in a direction parallel to the optic axis of an optical system resulting from astigmatisms of the optics, can be reduced to 1/16. A reduction in such fluctuations contributes to the manufacture of a highly precise optical information processor. In the above two embodiments, although each lens has been shown as a single lens, it may be a doublet or may be replaced by a group of lenses. Furthermore, although each spatial light modulator has been shown of a transmission type, any other suitable spatial light modulator such as, for example, a reflection type liquid crystal display, may be used in place thereof.

Claims: An optical information processor comprising: a first spatial light modulator (4) to be coherently illuminated by a light source (1) for displaying an input image; a first lens (6) having first and second focal planes opposite to each other, said first spatial light modulator (4) being positioned in the first focal plane of said first lens (6); a memory means (10) for storing at least one computer-generated hologram; a second spatial light modulator (9) to be coherently illuminated by the light source (1) and operatively connected with said memory means (10) for displaying at least one optical filter which takes the form of said hologram; a second lens (11) having first and second focal planes opposite to each other, said second spatial light modulator (9) being positioned in the first focal plane of said second lens (11); a third lens (12) having first and second focal planes opposite to each other, the second focal plane of said second lens (11) lying in the first focal plane of said third lens (12); means (13) for combining light transmitted through said first lens (6) with light transmitted through said third lens (12); and a fourth lens (14) having first and second focal planes opposite to each other, wherein both the second focal plane of said first lens (6) and the second focal plane of said third lens (12) generally lie in the first focal plane of said fourth lens (14), the second focal plane of said fourth lens (14) being arranged to enable a photodetecting means (15) to be generally positioned in said plane. An optical information processor comprising: a first spatial light modulator (54) to be coherently illuminated by a light source (1) for displaying an input image; a first lens (56) having first and second focal planes opposite to each other, said first spatial light modulator (54) being positioned in the first focal plane of said first lens (56); a second lens (57) having first and second focal planes opposite to each other, the second focal plane of said first lens (56) generally lying in the first focal plane of said second lens (57); a third lens (58) having first and second focal planes opposite to each other, the second focal plane of said second lens (57) generally lying in the first focal plane of said third lens (58); a memory means (62) for storing at least one computer-generated hologram; a second spatial light modulator (61) to be coherently illuminated by a light source (1) and operatively connected with said memory means (62) for displaying at least one optical filter which takes the form of said hologram; a fourth lens (63) having first and second focal planes opposite to each other, said second spatial light modulator (61) being positioned in the first focal plane of said fourth lens (63); a fifth lens (64) having first and second focal planes opposite to each other, the second focal plane of said fourth lens (63) lying in the first focal plane of said fifth lens (64); means (65) for combining light transmitted through said third lens (58) with light transmitted through said fifth lens (64); and a sixth lens (66) having first and second focal planes opposite to each other, wherein both the second focal plane of said third lens (58) and the second focal plane of said fifth lens (64) generally lie in the first focal plane of said sixth lens (66), the second focal plane of said sixth lens (66) being arranged to enable a photodetecting means (67) to be generally positioned in said plane.

Inventors: HUKUI ATSUSHI, ITO MASAMI, NISHII KANJI, HUKUI, ATSUSHI, ITO, MASAMI, NISHII, KANJI
Applicants: MATSUSHITA ELECTRIC IND CO LTD, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD.
Application year: 1993
Main classification: G06E3
IPC codes: G01N27, G02F3, G02B27, G02F1, G06E3, G06K9