CN105120129B - The Infrared DIM-small Target Image sequence emulation mode of infrared area array cameras shake - Google Patents
The Infrared DIM-small Target Image sequence emulation mode of infrared area array cameras shake Download PDFInfo
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Abstract
The invention discloses a kind of Infrared DIM-small Target Image sequence emulation mode of infrared area array cameras shake, it is mainly used to generate the Infrared DIM-small Target Image scene for largely testing infrared area array cameras shake.Its method, which is realized, to be included：Gather image background and simulation objectives image background, create object module, targetpath is set, target image is synthesized, jitter parameter, generation shake offset are set, line number is imaged after calculating shake, imaging signal after shaking is calculated, generation shake target image, exports the Infrared DIM-small Target Image sequence that infrared area array cameras is shaken.The present invention has amount of calculation small, the Infrared DIM-small Target Image validity of infrared area array cameras shake is high, texture characteristics enrich and infrared small object size, infrared small object signal to noise ratio, infrared small object movement velocity, infrared small object flight path, the infrared controllable advantage of area array cameras jitter parameter.
Description
Technical Field
The invention belongs to the technical field of image processing, and further relates to an infrared small target image sequence simulation method for infrared area array camera shake in the technical field of infrared image processing. The method can provide a large number of sequences for testing the jittered infrared small and weak target images of the infrared area array camera for performance evaluation of the jittered infrared small and weak target images of the infrared area array camera, and is used for verifying the effectiveness of an infrared small and weak target detection algorithm.
Background
The infrared area-array camera is widely applied to modern weaponry, the infrared dim target image sequence actually shot by the infrared area-array camera cannot know the jitter degree of the infrared dim target image in advance, and the jitter infrared dim target image sequence of the infrared area-array camera under a large number of different infrared backgrounds is difficult to obtain. But when the influence of the infrared area array camera shake on the detection performance of the infrared weak and small target is verified, a large number of infrared area array camera shake infrared weak and small target image sequences with known infrared weak and small target image shake degrees are needed. The problem needs to be solved by using an infrared area array camera jitter infrared weak and small target image sequence simulation technology.
At present, generating a corresponding jitter infrared weak and small target image sequence through computer modeling simulation software is an effective technical method. The infrared area-array camera jittering infrared small target image sequence generated by the method lacks texture detail information, jitter parameters are uncontrollable, and a large error exists between the jittering infrared small target image sequence and a real infrared area-array camera jittering infrared small target image sequence. The jitter parameter controllable infrared small and weak target image sequence of the infrared area array camera cannot be provided for the performance evaluation of the infrared small and weak target detection by the infrared area array camera jitter.
A large amount of manpower and material resources are consumed in the process of outfield experiments generally, stability and repeatability are poor, weather influence is large, a semi-physical simulation platform is built through a computer, an infrared area array camera shaking infrared small target image sequence of an infrared small target under different infrared backgrounds and different shaking parameters can be simulated, the method can be realized under laboratory conditions, and is convenient and fast, and manpower and material resources are saved.
The patent "image dithering method and system" (patent application No. 201380001045.4, application publication No. CN 104303226A) filed by spread communication (shanghai) limited discloses an image dithering method, which includes analyzing each of a plurality of pixels of the image, the each pixel having a color depth of an integer value of N bits; an index value for each pixel of the image, a numerical value associated with a particular color component of each pixel of the image, and a threshold value associated with the particular color component of each pixel of the image are determined. Wherein pixels of the image that are spaced apart by a predetermined number of pixels have the same threshold. The method further comprises, based on the determination, revising individual pixels of the image to have a color depth of an integer value of M bits, the integer value M being less than the integer value N, with the disadvantages of: when the infrared weak and small target image sequence shaken by the infrared area array camera is generated through simulation, the calculated amount of all pixels traversing the infrared weak and small target image shaken by the infrared area array camera is large, and the method cannot control the shaking degree of the infrared weak and small target image shaken by the infrared area array camera.
The patent of Shenyang Automation research institute of Chinese academy of sciences "a real-time simulation method for infrared dynamic scenes of multiple targets in the sea-sky background" (patent application No. 201110447686.5, application publication No. CN 103186906A) discloses a real-time simulation method for infrared dynamic scenes of multiple targets in the sea-sky background. The method comprises the steps of infrared modeling, scene construction, infrared calculation, infrared atmospheric transmission calculation, real-time infrared scene generation and final rendering to generate an infrared scene real-time simulation image. The method has rich simulation scene contents, and can contain sea surface, sky, ships and airplanes of various models in the same scene. The real-time requirements can still be met under the condition of a complex scene, a dynamic scene is built in real time according to current data, and the sound field infrared scene image is simulated in real time. The method has the following defects: when the infrared small target image jittered by the infrared area array camera is generated in a simulation mode, the scenes are required to be classified and the texture types are specified, a scene three-dimensional model is established, a mapping file is generated, an atmospheric parameter model, an imaging model and atmospheric parameter conditions are loaded, the simulation output of the infrared scene image is completed, the generated infrared small target image sequence jittered by the infrared area array camera lacks texture detail characteristics, and has larger distortion compared with the real infrared small target image jittered by the infrared area array camera, and the method cannot control the size of the infrared small target, the signal-to-noise ratio of the infrared small target, the motion speed of the infrared small target and the flight path of the infrared small target.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the infrared small and weak target image sequence simulation method for the infrared area array camera shake.
In order to achieve the purpose, the method comprises the following specific steps:
(1) Acquiring an infrared image background:
(1a) Acquiring a real infrared image background sequence by using a thermal infrared imager to obtain an original infrared image background sequence;
(1b) Assigning the frame number i of the original infrared image background sequence to be 1;
(2) Simulating the background of the infrared weak and small target image:
(2a) Reading in an ith original infrared image background in the original infrared image background sequence, wherein i is more than 0 and less than or equal to R, and R represents the total frame number of the original infrared image background sequence;
(2b) Setting an initial row and an initial column for cutting the background of the ith frame of original infrared image;
(2c) Cutting the original infrared image background of the ith frame to obtain a simulated infrared weak and small target image background with the size of M multiplied by N, wherein M represents the line number of the simulated infrared weak and small target image background, N represents the column number of the simulated infrared weak and small target image background, M is required to be more than or equal to 0 and less than or equal to A, N is required to be more than or equal to 0 and less than or equal to B, A represents the line number of each frame image in the original infrared image background sequence, and B represents the column number of each frame image in the original infrared image background sequence;
(3) Carrying out mirror image expansion on the background edge of the simulated infrared small and weak target image;
(4) Creating an infrared small target model:
(4a) Setting the signal-to-noise ratio D of the infrared weak target, wherein D is an integer value within the range of more than 0 and less than or equal to 20;
(4b) Calculating the gray value of the infrared weak and small target pixel according to the following formula:
s＝D×e+c
the method comprises the following steps that (1) s represents an infrared weak small target pixel gray value, D represents a set infrared weak small target signal-to-noise ratio, e represents a standard deviation of all pixels in a local neighborhood with an infrared weak small target centroid as a center, and c represents a mean value of all pixels in a local neighborhood with the infrared weak small target centroid as the center;
(4c) Setting the size of the infrared dim target as m multiplied by m pixels, wherein m is an integer value within the range of more than 0 and less than or equal to 10;
(5) Setting an infrared small target track:
(5a) Setting the moving speed of the infrared weak and small target as delta x pixels/frame, wherein delta x is valued in the range of 0< delta x < 10;
(5b) Taking a pixel point at the top left corner vertex of the background of the ith frame of simulated infrared dim target image as an origin, taking the horizontal rightward direction as an x axis and taking the vertical downward direction as a y axis, and establishing a background track coordinate system of the ith frame of simulated infrared dim target image;
(5c) Judging whether the background frame number of the simulation infrared dim target image is 1, if so, executing the step (5 d); otherwise, executing step (5 e);
(5d) Setting the abscissa value of the infrared dim target in the 1 st frame simulation infrared dim target image background track coordinate system as x 1 ,0＜x 1 N is less than or equal to N, wherein N represents the column number of the background of the simulated infrared dim target image, and a linear model of the background track of the 1 st frame of the simulated infrared dim target image is established according to the following formula:
y 1 ＝ax 1 +b
wherein, y 1 The longitudinal coordinate value of the infrared dim target in the 1 st frame simulation infrared dim target image background track coordinate system is expressed, and y is more than 0 1 M is less than or equal to M, M represents the line number of the background of the simulated infrared dim target image, x 1 The abscissa value of the infrared dim target in the 1 st frame simulation infrared dim target image background track coordinate system is represented, and x is more than 0 1 N is less than or equal to N, N represents the column number of the background of the simulated infrared dim target image, a represents the slope of the linear model of the background track of the simulated infrared dim target image, b represents the intercept of the linear model of the background track of the simulated infrared dim target image, and the value ranges of a and b are as follows: 0< ax 1 + b is less than or equal to M, and M represents the line number of the background of the simulated infrared weak and small target image;
(5e) According to the following formula, a straight line model of the simulated infrared small dim target image background track except the 1 st frame is established:
wherein x is i The abscissa value of the infrared dim target in the ith frame simulation infrared dim target image background track coordinate system is represented, and x is more than 0 i N is less than or equal to N, wherein N represents the column number, x, of the background of the simulated infrared dim target image i-1 Representing the simulation of the background track coordinates of the infrared dim target image in the (i-1) th frameThe abscissa value in the series, 0< x i-1 N is less than or equal to N, N represents the column number of the background of the simulated infrared dim target image, deltax represents the movement speed of the infrared dim target, and Deltax is 0<Δx&Value of y within 10 i The vertical coordinate value of the infrared dim target in the ith frame simulation infrared dim target image background track coordinate system is expressed, y is more than 0 i M is less than or equal to M, M represents the line number of the background of the simulated infrared dim target image, a represents the slope of the linear model of the infrared dim target track, b represents the intercept of the linear model of the infrared dim target track, and the value ranges of a and b are as follows: 0< ax i +b≤M；
(6) Synthesizing a simulated infrared weak and small target image:
(6a) Setting the total frame number of the simulation infrared dim target image sequence according to the following formula:
0＜L≤min((N-x 1 )/Δx,R)
wherein L represents the total frame number of the simulated infrared small and weak target image sequence, min (·) represents the minimum operation, N represents the column number of the background of the simulated infrared small and weak target image, and x 1 The abscissa value of the infrared dim target in the 1 st frame of the simulated infrared dim target image sequence is represented, the delta x represents the movement speed of the infrared dim target, and the delta x is 0<Δx&Taking values within 10 range, wherein R represents the total frame number of the original infrared image background sequence;
(6b) Assigning the gray value s of the infrared weak and small target pixel in the step (4 b) to the pixel in the m multiplied by m pixel block, wherein the m multiplied by m pixel block is (x m pixel block) i ，y i ) The pixel blocks are pixel blocks of the heart of the infrared weak small target, m is an integer value within the range of more than 0 and less than or equal to 10, and a simulated infrared weak small target image, x i The abscissa value of the infrared dim target in the ith frame simulation infrared dim target image background track coordinate system is represented, and x is more than 0 i N is less than or equal to N, N represents the column number of the background of the simulated infrared dim target image, y i The longitudinal coordinate value of the infrared dim target in the ith frame simulation infrared dim target image background track coordinate system is expressed, and y is more than 0 i If the number of lines is less than M, M represents the number of lines of the background of the simulated infrared dim target image;
(7) Creating an infrared small target image matrix shaken by an infrared area-array camera:
(7a) Creating an infrared weak and small target image matrix P with the size of M multiplied by N for the infrared area array camera shake, wherein M represents the line number of the simulated infrared weak and small target image background, and N represents the column number of the simulated infrared weak and small target image background;
(7b) Assigning the number j of the simulation infrared small and weak target image lines of the ith frame to be 1,1 which is not less than j and not more than M, wherein M represents the number of lines of the simulation infrared small and weak target image background;
(8) Setting jitter parameters of an infrared area-array camera:
(8a) Setting the average value of the jitter parameters of the infrared area-array camera as mu, wherein mu is more than or equal to 0 and less than or equal to 2;
(8b) Setting the standard deviation of the infrared area-array camera jitter parameter as sigma, wherein the standard deviation is more than or equal to 0.5 and less than or equal to 3 sigma and less than or equal to 2;
(9) Generating a jitter offset:
generating jitter offset h of ith frame simulation infrared dim target image subjected to normal distribution function with mean value mu and standard deviation sigma i ；
(10) Calculating the imaging line number of the ith frame of simulated infrared weak and small target image after the jth line shakes according to the following formula:
Q j ＝j+h i
wherein Q is j Representing the number of imaging lines of the ith frame of simulated infrared dim target image after the jth line shakes, j representing the number of imaging lines of the ith frame of simulated infrared dim target image, h i Representing the jitter offset of the ith frame of simulated infrared weak and small target image;
(11) Calculating a dithered imaging signal:
(11a) Judging the jth line jitter offset h of the ith frame simulation infrared weak and small target image i If the value is larger than 0, executing the step (11 b); otherwise, executing step (11 c);
(11b) Calculating a jittered imaging signal of the jth line of the ith frame of simulated infrared weak and small target image according to the following formula:
P j ＝V k ×(1-z)+V k+1 ×z
wherein, P j Representing the imaging signal V of the ith frame after the jth line of the simulated infrared weak and small target image shakes k Representing the imaging signal of the kth line of the ith frame of simulated infrared weak and small target image, k representing the imaging line number Q of the ith frame of simulated infrared weak and small target image after the jth line shakes j Z represents the imaging line number Q of the ith frame after the jth line of the simulated infrared weak and small target image is shaken j Fractional part of, V k+1 Representing the imaging signal of the (k + 1) th line of the ith frame of simulated infrared weak and small target image;
(11c) Calculating a jittered imaging signal of the jth line of the ith frame of simulated infrared weak and small target image according to the following formula:
P j ＝V k ×(1-z)+V k-1 ×z
wherein, P j Representing the imaging signal V of the ith frame after the jth line of the simulated infrared weak and small target image shakes k Representing the imaging signal of the kth line of the ith frame of simulated infrared weak and small target image, k representing the imaging line number Q of the ith frame of simulated infrared weak and small target image after the jth line shakes j Z represents the imaging line number Q of the ith frame of simulated infrared weak and small target image after the jth line dithering j Fractional part of, V k-1 Representing the imaging signal of the (k-1) th line of the simulation infrared weak and small target image of the ith frame,
(12) Shaking the jth line of the ith frame of simulated infrared weak and small target image to obtain an imaging signal P j Assigning to a jittered infrared weak and small target image matrix Pjth row of the infrared area array camera;
(13) Performing accumulation 1 operation on the line number j of the ith frame of simulated infrared small target image;
(14) Judging whether the line number j of the ith frame of simulation infrared weak and small target image is equal to M +1, if so, executing the step (15); otherwise, executing step (10); wherein M represents the line number of the background of the simulated infrared dim target image;
(15) Storing a simulated infrared small target image matrix P shaken by an infrared area array camera;
(16) Performing accumulation 1 operation on the background frame number i of the simulated infrared small and weak target image;
(17) Judging whether the background frame number i of the simulated infrared small dim target image after 1 accumulation is equal to the total frame number (L + 1) of the simulated infrared small dim target image sequence, if so, executing the step (18); otherwise, executing the step (2);
(18) And outputting the infrared weak and small target image sequence shaken by the infrared area array camera.
Compared with the prior art, the invention has the following advantages:
firstly, because each frame image generates a jitter offset, the jitter offset obeys a normal distribution function with the mean value of mu and the standard deviation of sigma, the defects that in the prior art, when an infrared dim target image sequence jittered by an infrared area array camera is generated through simulation, the calculated amount of all pixels traversing the infrared dim target image jittered by the infrared area array camera is large, and the jitter degree of the infrared dim target image jittered by the simulated infrared area array camera cannot be controlled are overcome, so that the method has the advantage of controllable jitter parameters of the infrared area array camera.
Secondly, the invention uses the high-performance thermal infrared imager to collect the real infrared image background sequence as the original infrared image background sequence and the modeling simulation method, thereby overcoming the defects that in the prior art, when the infrared area array camera shakes the target image, scenes need to be classified and the texture type is specified, a scene three-dimensional model is established, a mapping file is generated, an atmospheric parameter model, an imaging model and atmospheric parameter conditions are loaded, the simulation output of the infrared scene image is completed, the generated infrared weak small target image sequence shaken by the infrared area array camera lacks the texture detail characteristics, and has larger distortion compared with the real infrared weak small target image shaken by the infrared area array camera, and the method can not control the size of the infrared weak small target, the signal-to-noise ratio of the infrared weak small target, the movement speed of the infrared weak small target and the flight path of the infrared weak small target.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a background image of the original IR image of frame 50 according to the present invention;
FIG. 3 is a schematic view of a flight path of a simulated infrared small dim target according to the present invention;
FIG. 4 is a schematic diagram of a neighborhood of 9 × 9 size centered on the centroid of the small infrared target in the 50 th frame of small infrared target image according to the present invention;
FIG. 5 is a schematic diagram of a 50 th frame of simulated infrared small and weak target image according to the present invention;
FIG. 6 is a diagram illustrating the jitter of the jth row in the (j + 1) row direction according to the present invention;
FIG. 7 is a diagram illustrating the jth row direction (j-1) dithering according to the present invention;
FIG. 8 is a schematic diagram of a neighborhood of 9 × 9 size with the centroid of the small infrared target as the center in the image of the small infrared target dithered by the 50 th frame of infrared area-array camera according to the present invention;
FIG. 9 is a schematic diagram of a dithered infrared weak and small target image of a 50 th frame infrared area-array camera according to the present invention.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
Referring to fig. 1, the specific steps of the present invention are as follows.
Step 1, collecting an infrared image background.
And step 1, acquiring a real infrared image background sequence by using a thermal infrared imager to obtain an original infrared image background sequence.
In the embodiment of the invention, the real infrared image background sequence is an infrared sky background image sequence. Fig. 2 shows a 50 th frame of infrared sky background image in the infrared sky background image sequence, where the sky background shown in fig. 2 has rich texture features.
And step 2, assigning the frame number i of the original infrared image background sequence as 1.
And 2, simulating the infrared dim target image background.
Reading in the ith frame of original infrared image background in the original infrared image background sequence, wherein i is more than 0 and less than or equal to R, and R represents the total frame number of the original infrared image background sequence.
In the embodiment of the invention, the total frame number R of the original infrared image background sequence is 1000.
And 2, setting a starting row and a starting column for cutting the ith frame of original infrared image background, wherein the starting row for cutting the ith frame of original infrared image background is more than 0 and less than the row number of the original infrared image background, and the starting column for cutting the ith frame of original infrared image background is more than 0 and less than the column number of the original infrared image background.
In the embodiment of the invention, the starting row 150 of the background clipping of the ith frame of original infrared image is set, and the starting column 150 of the background clipping of the ith frame of original infrared image is set.
And 3, cutting the original infrared image background of the ith frame to obtain an artificial infrared weak and small target image background with the size of MxN, wherein M represents the line number of the artificial infrared weak and small target image background, N represents the column number of the artificial infrared weak and small target image background, M is more than or equal to 0 and less than or equal to A, N is more than or equal to 0 and less than or equal to B, A represents the line number of each frame image in the original infrared image background sequence, and B represents the column number of each frame image in the original infrared image background sequence.
In the embodiment of the invention, the original infrared image background with the size of 480 × 625 of the ith frame is cut to obtain the simulated infrared dim target image background with the size of 256 × 256.
And 3, carrying out mirror image expansion on the background edge of the simulated infrared small and weak target image.
Step 1, initializing a mirror image expansion image matrix to (M +2 t) x (N +2 t) to obtain an expansion image matrix, wherein t represents the width of the background expansion of the simulation infrared small and weak target image, M represents the number of rows of the simulation infrared small and weak target image background, N represents the number of columns of the simulation infrared small and weak target image background, and 0 to t < -min (M/4,N/4) and min (·) represents minimum value operation.
In an embodiment of the present invention, the mirror image expanded image matrix is initialized to 276 × 276, resulting in an expanded image matrix of 276 × 276 size.
Assigning the simulated infrared small target image background to the t +1 th row to the t + M row and the t +1 th row to the t + N row of the expanded image matrix, assigning the 2t to t +1 th row data of the expanded image matrix to the 1 st to t th rows of the expanded image matrix, assigning the M +1 to t + M th row data of the expanded image matrix to the 2t + M to t + M +1 th rows of the expanded image matrix, assigning the 2t to t +1 th column data of the expanded image matrix to the 1 st to t th rows of the expanded image matrix, assigning the N +1 to t + N th columns of the expanded image matrix to the 2t + N to t + N +1 th columns of the expanded image matrix to obtain the expanded simulated infrared small target image background, wherein M represents the row number of the simulated infrared small target image background, N represents the column number of the simulated infrared small target image background, t represents the expanded width of the simulated infrared small target image background, and 0 t/t (8978/z) represents the minimum value (· t) operation.
In the embodiment of the invention, the simulated infrared weak small target image background is assigned to the 11 th row to the 266 th row of the extended image matrix, the 11 th column to the 266 th column, the 20 th row to the 11 th row of the extended image matrix are assigned to the 1 st row to the 10 th row of the extended image matrix respectively, the 257 th row to the 266 th row of the extended image matrix are assigned to the 276 th row to the 267 th row of the extended image matrix respectively, the 20 th column to the 11 th column data of the extended image matrix are assigned to the 1 st column to the 10 th column of the extended image matrix respectively, the 257 th column to the 266 th column data of the extended image matrix are assigned to the 276 th column to the 267 th column of the extended image matrix respectively, and the expanded simulated infrared weak small target image background with the size of 276 x 276 is obtained.
And 4, creating an infrared small and weak target model.
Step 1, setting the signal-to-noise ratio D of the infrared weak target, wherein D is an integer value within the range that D is more than 0 and less than or equal to 20.
In the embodiment of the invention, the signal-to-noise ratio of the infrared weak target is set to be 6.
Step 2, calculating the gray value of the infrared weak and small target pixel according to the following formula:
s＝D×e+c
wherein s represents the gray value of the pixel of the infrared weak and small target, D represents the set signal-to-noise ratio of the infrared weak and small target, e represents the standard deviation of all pixels in a local neighborhood taking the centroid of the infrared weak and small target as the center, and c represents the mean value of all pixels in a local neighborhood taking the centroid of the infrared weak and small target as the center.
In the embodiment of the present invention, the size of the local neighborhood centered on the centroid of the infrared weak small target is 9 × 9, and includes 81 pixels, e represents the standard deviation of all pixels in the 9 × 9 range centered on the centroid of the infrared weak small target, and c represents the mean value of all pixels in the 9 × 9 range centered on the centroid of the infrared weak small target.
And 3, setting the size of the infrared small target as m multiplied by m pixels, wherein m is an integer value within the range of more than 0 and less than or equal to 10.
In the embodiment of the invention, the size of the infrared dim target is set to be 3 × 3 pixels.
And 5, setting an infrared small target track.
Step 1, setting the moving speed of the infrared weak and small target as delta x pixels/frame, wherein delta x takes a value within the range of 0< delta x < 10.
In the embodiment of the invention, the difference value of the horizontal coordinates of the infrared small and weak target between two adjacent frames in the infrared small and weak target image sequence sets the movement speed of the infrared small and weak target to be 1 pixel/frame.
And 2, taking the pixel point at the top left corner vertex of the background of the ith frame of simulated infrared dim target image as an origin, taking the horizontal rightward direction as an x axis, taking the vertical downward direction as a y axis, and establishing a background track coordinate system of the ith frame of simulated infrared dim target image.
Step 3, judging whether the background frame number of the simulated infrared dim target image is 1, if so, executing step 4 in step 5; otherwise, executing step 5 in step 5.
Step 4, setting the abscissa value of the infrared dim target in the 1 st frame simulation infrared dim target image background track coordinate system as x 1 ,0＜x 1 N is less than or equal to N, wherein N represents the column number of the background of the simulated infrared dim target image, and a linear model of the background track of the 1 st frame of the simulated infrared dim target image is established according to the following formula:
y 1 ＝ax 1 +b
wherein, y 1 Indicating small infrared objectsLongitudinal coordinate value in the 1 st frame simulation infrared dim target image background track coordinate system, y is more than 0 1 M is less than or equal to M, M represents the line number of the background of the simulated infrared dim target image, x 1 The abscissa value of the infrared dim target in the 1 st frame simulation infrared dim target image background track coordinate system is represented, and x is more than 0 1 N is less than or equal to N, N represents the column number of the background of the simulated infrared dim target image, a represents the slope of the linear model of the background track of the simulated infrared dim target image, b represents the intercept of the linear model of the background track of the simulated infrared dim target image, and the value ranges of a and b are as follows: 0< ax 1 And + b is less than or equal to M, wherein M represents the line number of the background of the simulated infrared weak and small target image.
In the embodiment of the invention, the abscissa value of the infrared dim small target in the 1 st frame simulation infrared dim small target image background track coordinate system is set as 30, the slope of the linear model simulating the infrared dim small target image background track is 1, the intercept of the linear model simulating the infrared dim small target image background track is 10, and the linear model simulating the 1 st frame simulation infrared dim small target image background track is y 1 ＝x 1 +10, the coordinates of the infrared dim target in the 1 st frame simulation infrared dim target image background track coordinate system are (30, 40), and step 6 is executed after the 4 th step in step 5 is finished.
And 5, establishing a linear model of the background track of the simulation infrared dim small target image except the 1 st frame according to the following formula:
wherein x is i The abscissa value of the infrared dim target in the ith frame simulation infrared dim target image background track coordinate system is represented, and x is more than 0 i N is less than or equal to N, wherein N represents the column number, x, of the background of the simulated infrared small target image i-1 The abscissa value of the infrared dim target in the (i-1) th frame simulation infrared dim target image background track coordinate system is represented, and x is more than 0 i-1 N is less than or equal to N, N represents the column number of the background of the simulated infrared dim target image, deltax represents the movement speed of the infrared dim target, and Deltax is 0<Δx&Value of y within 10 i The vertical coordinate value of the infrared dim target in the ith frame simulation infrared dim target image background track coordinate system is expressed, y is more than 0 i M is less than or equal to M, M represents the line number of the background of the simulated infrared dim target image, a represents the slope of the linear model of the infrared dim target track, b represents the intercept of the linear model of the infrared dim target track, and the value ranges of a and b are as follows: 0< ax i +b≤M。
In the embodiment of the invention, the slope of the linear model for simulating the background track of the infrared dim small target image is 1, the intercept of the linear model for simulating the background track of the infrared dim small target image is 10, and the linear models for simulating the background track of the infrared dim small target image except for the 1 st frame are as follows:
the coordinate of the infrared dim target in the ith frame simulation infrared dim target image background track coordinate system is (x) i ，y i ) Fig. 3 is a schematic view of a flight path of a simulated infrared small dim target according to the present invention.
And 6, synthesizing a simulated infrared small target image.
Step 1, setting the total frame number of the simulated infrared weak and small target image sequence according to the following formula:
0＜L≤min((N-x 1 )/Δx,R)
wherein, L represents the total frame number of the simulated infrared dim target image sequence, min (·) represents the minimum operation, N represents the column number of the background of the simulated infrared dim target image, and x 1 The abscissa value of the infrared dim target in the 1 st frame of the simulated infrared dim target image sequence is represented, the delta x represents the movement speed of the infrared dim target, and the delta x is 0<Δx&And (4) taking a value within the range of 10, wherein R represents the total frame number of the original infrared image background sequence.
In the embodiment of the invention, the total frame number L of the simulation infrared small and weak target image sequence is set to be 226.
Step 2, the gray value of the infrared weak and small target pixel in the step 4b is compareds is assigned to a pixel within an m x m pixel block, which is (x) i ，y i ) The pixel blocks are pixel blocks of the infrared weak small target centroid, m is an integer value within the range of more than 0 and less than or equal to 10, and a simulated infrared weak small target image is obtained, x i The abscissa value of the infrared dim target in the ith frame simulation infrared dim target image background track coordinate system is represented, and x is more than 0 i N is less than or equal to N, N represents the column number of the background of the simulated infrared small target image, y i The longitudinal coordinate value of the infrared dim target in the ith frame simulation infrared dim target image background track coordinate system is expressed, and y is more than 0 i And < M, wherein M represents the number of lines of the background of the simulated infrared weak and small target image.
In the embodiment of the invention, the gray value s of the infrared weak and small target pixel in the step (4 b) is assigned to the pixel in the 3 × 3 pixel block, and the 3 × 3 pixel block is (x) i ，y i ) Is a pixel block of the infrared weak small target centroid. The centroid coordinate of the infrared weak small target in the 50 th frame of simulated infrared weak small target image is (79, 89).
Fig. 4 is a schematic diagram of a neighborhood of 9 × 9 size centered at (79, 89) in the 50 th frame of infrared small target image, where the gray values of 9 pixels in a 3 × 3 size range centered at the centroid of the infrared small target are all s. As can be seen from fig. 4, the infrared small target is a mean value model.
Fig. 5 is a schematic diagram of a 50 th frame of simulated infrared small and weak target image, and it can be seen from fig. 5 that the simulated infrared small and weak target image is generated by simulating and embedding the infrared small and weak target on the basis of fig. 3.
And 7, creating an infrared weak and small target image matrix shaken by the infrared area array camera.
Step 1, creating an infrared weak and small target image matrix P with the size of M multiplied by N for the infrared area array camera shake, wherein M represents the line number of the simulated infrared weak and small target image background, and N represents the column number of the simulated infrared weak and small target image background.
In the embodiment of the invention, an infrared weak and small target image matrix P with the size of 256 multiplied by 256 of the infrared area-array camera shake is created.
And secondly, assigning the number j of the simulation infrared small and weak target image lines of the ith frame to be 1,1 which is not less than j and not more than M, wherein M represents the number of lines of the simulation infrared small and weak target image background.
And 8, setting a shaking parameter of the infrared area-array camera.
Step 1, setting the average value of the infrared area-array camera shaking parameters as mu, wherein mu is more than or equal to 0 and less than or equal to 2.
In the embodiment of the invention, the average value mu in the jitter parameters of the infrared area-array camera is set to be 0.
And step 2, setting the standard deviation of the infrared area-array camera jitter parameters as sigma, wherein the standard deviation is more than or equal to 0.5 and less than or equal to 3 sigma and less than or equal to 2.
In the embodiment of the invention, the standard deviation sigma in the jitter parameters of the infrared area-array camera is set to be 0.3.
Step 9, generating a jitter offset.
Generating jitter offset h of ith frame simulation infrared dim target image subjected to normal distribution function with mean value mu and standard deviation sigma i 。
In the embodiment of the invention, the jitter offset h of the jth line of the ith frame of simulated infrared dim target image obeying the normal distribution function with the mean value of 0 and the standard deviation of 0.3 is generated i 。
Step 10, calculating the number of imaging lines of the ith frame of simulated infrared weak and small target image after the jth line shakes according to the following formula:
Q j ＝j+h i
wherein Q j Showing the number of imaging lines of the ith frame of simulated infrared small and weak target image after the jth line shakes, j showing the number of imaging lines of the ith frame of simulated infrared small and weak target image, h i And the jitter offset of the simulated infrared weak and small target image of the ith frame is shown.
And step 11, calculating the imaging signal after shaking.
Step 1, judging the jitter offset h of the ith frame of simulated infrared weak and small target image i If yes, executing step 11, step 2; otherwise, step 11, step 3, is executed.
Step 2, calculating a jittered imaging signal of the jth line of the ith frame of simulation infrared weak and small target image according to the following formula:
P j ＝V k ×(1-z)+V k+1 ×z
wherein, P j Representing the imaging signal V of the ith frame after the jth line of the simulated infrared weak and small target image shakes k Representing the imaging signal of the kth line of the ith frame of simulated infrared weak and small target image, k representing the imaging line number Q of the ith frame of simulated infrared weak and small target image after the jth line shakes j Z represents the imaging line number Q of the ith frame after the jth line of the simulated infrared weak and small target image is shaken j Fractional part of, V k+1 And (3) representing the imaging signal of the (k + 1) th line of the simulation infrared weak and small target image of the ith frame.
In the embodiment of the invention, the ith frame simulates the jitter offset h of the infrared weak and small target image i Greater than 0, as shown in fig. 6, indicates that all rows simulating the infrared small and weak target image to the ith frame are dithered to the row (i.e., j +1, j +2, … …, M) direction after the j-th row.
And 3, calculating a j row jittered imaging signal of the ith frame of simulated infrared weak and small target image according to the following formula:
P j ＝V k ×(1-z)+V k-1 ×z
wherein, P j Showing the imaging signal V of the jth line of the ith frame of simulated infrared weak and small target image after shaking k Representing the imaging signal of the kth line of the ith frame of simulated infrared weak and small target image, k representing the imaging line number Q of the ith frame of simulated infrared weak and small target image after the jth line shakes j Z represents the imaging line number Q of the ith frame after the jth line of the simulated infrared weak and small target image is shaken j Fractional part of, V k-1 And (3) representing the (k-1) th line imaging signal of the ith frame simulation infrared weak and small target image.
In the embodiment of the invention, the ith frame simulates the jitter offset h of the jth line of the infrared weak and small target image j Less than 0, as shown in fig. 7, it means that all the lines simulating the infrared weak and small target image to the ith frame are dithered to the direction of the line before the jth line (i.e. j-1,j-2, … …, 1).
Step 12, shaking the jth line of the ith frame of simulated infrared weak and small target image to obtain an imaging signal P j Assigning to an infrared area-array camera jittering infrared weak and small target image matrix PthAnd j rows.
And step 13, performing accumulation 1 operation on the line number j of the ith frame of simulated infrared small target image.
Step 14, judging whether the line number j of the ith frame of simulation infrared small target image is equal to M +1, if so, executing step 15; otherwise, executing step 10; wherein M represents the line number of the background of the simulated infrared dim target image.
And step 15, storing the simulated infrared weak and small target image matrix P shaken by the infrared area array camera.
In the embodiment of the present invention, fig. 8 is a schematic diagram of a 9 × 9 neighborhood with an infrared weak small target centroid as a center in an infrared weak small target image dithered by a 50 th frame of infrared area array camera according to the present invention, and fig. 9 is a schematic diagram of an infrared weak small target image dithered by a 50 th frame of infrared area array camera according to the present invention, as can be seen from fig. 9, a dithered infrared weak small target image dithered by an infrared area array camera is generated by simulating and embedding the dithered infrared weak small target on the basis of fig. 3 in the present invention.
And step 16, accumulating 1 operation on the background frame number i of the simulation infrared dim target image.
Step 17, judging whether the background frame number i of the simulated infrared dim target image after 1 accumulation is equal to the total frame number (L + 1) of the simulated infrared dim target image sequence, if so, executing step 18; otherwise, step 2 is executed.
And step 18, outputting the infrared weak and small target image sequence shaken by the infrared area array camera.
In the embodiment of the invention, the total frame number of the infrared weak and small target image sequence shaken by the infrared area array camera is 226, and the size of each frame of the simulated infrared weak and small target image is 256 multiplied by 256.
The effect of the present invention will be further described with reference to simulation experiments.
1. Simulation conditions are as follows:
the running system of the simulation experiment is an Intel (R) Core (TM) i3-4130@3.20GHz,32 Windows operating system, and simulation software adopts MATLAB R2012a software.
2. The experimental contents are as follows:
in order to verify the effectiveness of the infrared small dim target image simulation method for infrared area-array camera shake, an original infrared image background with the total frame number of an original infrared image background sequence being 226 frames is selected for carrying out a simulation experiment.
As shown in fig. 3, the size of the original infrared image background is 480 × 625 pixels, a 256 × 256 pixel simulated infrared weak small target image background is intercepted from the 150 th row and 150 th column of the original infrared image background to the right lower side of the original infrared image background, and the size of the infrared weak small target is set to be 3 × 3 pixels; the horizontal movement speed of the infrared small and weak target is set to be 1 pixel/frame, and the signal-to-noise ratio of the infrared small and weak target is set to be 6; the initial point of the motion level of the infrared dim target is set to be 30, the track of the infrared dim target is a straight line model, the mean value mu in the jitter parameters of the infrared area array camera is set to be 0, the standard deviation sigma in the jitter parameters of the infrared area array camera is set to be 0.3, and as shown in fig. 9, the image of the infrared dim target jittered by the infrared area array camera is shown.
Comparing fig. 3 and fig. 9, it can be seen that the present invention effectively realizes the generation simulation of the infrared small target image dithered by the infrared area array camera, and provides a large number of infrared small target image sequences capable of testing the dithering of the infrared area array camera for the subsequent research of the performance evaluation of the infrared small target image dithered by the infrared area array camera.
In conclusion, the infrared small and weak target image sequence dithered by the infrared area-array camera generated by the method provided by the invention has the advantages of being closer to a real infrared scene, controllable in infrared small and weak target parameters and infrared area-array camera dithering parameters and the like, and therefore, the method has a wide engineering application value.
Claims (4)
1. A method for simulating an infrared small and weak target image sequence jittered by an infrared area-array camera comprises the following steps:
(1) Acquiring an infrared image background:
(1a) Acquiring a real infrared image background sequence by using a thermal infrared imager to obtain an original infrared image background sequence;
(1b) Assigning the frame number i of the original infrared image background sequence to be 1;
(2) Simulating the background of the infrared weak and small target image:
(2a) Reading in an ith original infrared image background in the original infrared image background sequence, wherein i is more than 0 and less than or equal to R, and R represents the total frame number of the original infrared image background sequence;
(2b) Setting an initial row and an initial column for cutting the background of the ith frame of original infrared image;
(2c) Cutting the original infrared image background of the ith frame to obtain a simulated infrared weak and small target image background with the size of M multiplied by N, wherein M represents the line number of the simulated infrared weak and small target image background, N represents the column number of the simulated infrared weak and small target image background, M is required to be more than or equal to 0 and less than or equal to A, N is required to be more than or equal to 0 and less than or equal to B, A represents the line number of each frame image in the original infrared image background sequence, and B represents the column number of each frame image in the original infrared image background sequence;
(3) Carrying out mirror image expansion on the background edge of the simulated infrared small and weak target image;
(4) Creating an infrared small target model:
(4a) Setting the signal-to-noise ratio D of the infrared weak target, and taking an integer value when D is more than 0 and less than or equal to 20;
(4b) Calculating the gray value of the infrared weak and small target pixel according to the following formula:
s＝D×e+c
the method comprises the following steps that (1) s represents an infrared weak small target pixel gray value, D represents a set infrared weak small target signal-to-noise ratio, e represents a standard deviation of all pixels in a local neighborhood with an infrared weak small target centroid as a center, and c represents a mean value of all pixels in a local neighborhood with the infrared weak small target centroid as the center;
(4c) Setting the size of the infrared dim target as m multiplied by m pixels, wherein m is an integer value within the range of more than 0 and less than or equal to 10;
(5) Setting an infrared small target track:
(5a) Setting the moving speed of the infrared weak and small target as delta x pixels/frame, wherein delta x is valued in the range of 0< delta x < 10;
(5b) Taking a pixel point at the top left corner vertex of the background of the ith frame of simulated infrared dim target image as an origin, taking the horizontal rightward direction as an x axis and taking the vertical downward direction as a y axis, and establishing a background track coordinate system of the ith frame of simulated infrared dim target image;
(5c) Judging whether the background frame number of the simulation infrared dim target image is 1, if so, executing the step (5 d); otherwise, executing step (5 e);
(5d) Setting the abscissa value of the infrared dim target in the 1 st frame simulation infrared dim target image background track coordinate system as x 1 ,0＜x 1 N is less than or equal to N, wherein N represents the column number of the background of the simulated infrared dim target image, and a linear model of the background track of the 1 st frame of the simulated infrared dim target image is established according to the following formula:
y 1 ＝ax 1 +b
wherein, y 1 The longitudinal coordinate value of the infrared dim target in the 1 st frame simulation infrared dim target image background track coordinate system is expressed, and y is more than 0 1 M is less than or equal to M, M represents the line number of the background of the simulated infrared dim target image, x 1 The abscissa value of the infrared dim target in the 1 st frame simulation infrared dim target image background track coordinate system is represented, and x is more than 0 1 N is less than or equal to N, N represents the column number of the background of the simulated infrared dim target image, a represents the slope of the linear model of the background track of the simulated infrared dim target image, b represents the intercept of the linear model of the background track of the simulated infrared dim target image, and the value ranges of a and b are as follows: 0< ax 1 + b is less than or equal to M, and M represents the line number of the background of the simulated infrared weak and small target image;
(5e) According to the following formula, establishing a straight line model of the background track of the simulation infrared dim target image except the 1 st frame:
wherein x is i The abscissa value of the infrared dim target in the ith frame simulation infrared dim target image background track coordinate system is represented, and x is more than 0 i N is less than or equal to N, wherein N represents the column number, x, of the background of the simulated infrared dim target image i-1 The abscissa value of the infrared dim target in the (i-1) th frame simulation infrared dim target image background track coordinate system is represented, and x is more than 0 i-1 N is less than or equal to N, N represents the column number of the background of the simulated infrared dim target image, and the delta x tableShows the moving speed of the infrared weak and small target, and deltax is 0<Δx&Value of y within 10 i The vertical coordinate value of the infrared dim target in the ith frame simulation infrared dim target image background track coordinate system is expressed, y is more than 0 i M is less than or equal to M, M represents the line number of the background of the simulated infrared dim target image, a represents the slope of the linear model of the infrared dim target track, b represents the intercept of the linear model of the infrared dim target track, and the value ranges of a and b are as follows: 0< ax i +b≤M；
(6) Synthesizing a simulated infrared small target image:
(6a) Setting the total frame number of the simulation infrared dim target image sequence according to the following formula:
0＜L≤min((N-x 1 )/Δx,R)
wherein, L represents the total frame number of the simulated infrared dim target image sequence, min (·) represents the minimum operation, N represents the column number of the background of the simulated infrared dim target image, and x 1 The abscissa value of the infrared dim target in the 1 st frame of the simulated infrared dim target image sequence is represented, the delta x represents the movement speed of the infrared dim target, and the delta x is 0<Δx&Taking values within 10 range, wherein R represents the total frame number of the original infrared image background sequence;
(6b) Assigning the gray value s of the infrared weak and small target pixel in the step (4 b) to the pixel in the m multiplied by m pixel block, wherein the m multiplied by m pixel block is (x) i ，y i ) The pixel blocks are pixel blocks of the infrared weak small target centroid, m is an integer value within the range of more than 0 and less than or equal to 10, and a simulated infrared weak small target image is obtained, x i The abscissa value of the infrared dim target in the ith frame simulation infrared dim target image background track coordinate system is represented, and x is more than 0 i N is less than or equal to N, N represents the column number of the background of the simulated infrared dim target image, y i The longitudinal coordinate value of the infrared dim target in the ith frame simulation infrared dim target image background track coordinate system is expressed, and y is more than 0 i If the number of lines is less than M, M represents the number of lines of the background of the simulated infrared dim target image;
(7) Creating an infrared small target image matrix shaken by an infrared area-array camera:
(7a) Creating an infrared weak and small target image matrix P with the size of M multiplied by N for the infrared area array camera shake, wherein M represents the line number of the simulated infrared weak and small target image background, and N represents the column number of the simulated infrared weak and small target image background;
(7b) Assigning the number j of the simulation infrared small and weak target image lines of the ith frame to be 1,1 which is not less than j and not more than M, wherein M represents the number of lines of the simulation infrared small and weak target image background;
(8) Setting jitter parameters of an infrared area-array camera:
(8a) Setting the average value in the infrared area-array camera shaking parameters as mu, wherein mu is more than or equal to 0 and less than or equal to 2;
(8b) Setting the standard deviation of the infrared area-array camera jitter parameter as sigma, wherein the standard deviation is more than or equal to 0.5 and less than or equal to 3 sigma and less than or equal to 2;
(9) Generating a jitter offset:
generating jitter offset h of ith frame simulation infrared dim target image subjected to normal distribution function with mean value mu and standard deviation sigma i ；
(10) Calculating the imaging line number of the ith frame of simulated infrared weak and small target image after the jth line shakes according to the following formula:
Q j ＝j+h i
wherein Q j Representing the number of imaging lines of the ith frame of simulated infrared dim target image after the jth line shakes, j representing the number of imaging lines of the ith frame of simulated infrared dim target image, h i Representing the jitter offset of the ith frame of simulated infrared weak and small target image;
(11) Calculating a dithered imaging signal:
(11a) Judging the jitter offset h of the ith frame of simulated infrared weak and small target image i If the value is larger than 0, executing the step (11 b); otherwise, executing step (11 c);
(11b) Calculating a jittered imaging signal of the jth line of the ith frame of simulated infrared weak and small target image according to the following formula:
P j ＝V k ×(1-z)+V k+1 ×z
wherein, P j Representing the imaging signal V of the ith frame after the jth line of the simulated infrared weak and small target image shakes k Representing the imaging signal of the kth line of the ith frame of simulated infrared weak and small target image, k representing the imaging line number Q of the ith frame of simulated infrared weak and small target image after the jth line shakes j Z represents the ith frame simulated infraredImaging line number Q after j line dithering of weak and small target image j Fractional part of, V k+1 Representing the imaging signal of the (k + 1) th line of the ith frame of simulated infrared weak and small target image;
(11c) Calculating a j row jittered imaging signal of the ith frame of simulated infrared weak and small target image according to the following formula:
P j ＝V k ×(1-z)+V k-1 ×z
wherein, P j Representing the imaging signal V of the ith frame after the jth line of the simulated infrared weak and small target image shakes k Representing the imaging signal of the kth line of the ith frame of simulated infrared small target image, k representing the number Q of imaging lines of the ith frame of simulated infrared small target image after the jth line shakes j Z represents the imaging line number Q of the ith frame after the jth line of the simulated infrared weak and small target image is shaken j Fractional part of, V k-1 Representing the imaging signal of the (k-1) th line of the ith frame of simulated infrared weak and small target image;
(12) Dithering the jth line of the ith frame of simulated infrared weak and small target image to obtain an imaging signal P j Assigning to a jittered infrared weak and small target image matrix Pjth row of the infrared area array camera;
(13) Performing 1 accumulation operation on the line number j of the ith frame of simulated infrared weak and small target image;
(14) Judging whether the line number j of the ith frame of simulation infrared weak and small target image is equal to M +1, if so, executing the step (15); otherwise, executing step (10); wherein M represents the line number of the background of the simulated infrared dim target image;
(15) Storing a simulated infrared small target image matrix P shaken by an infrared area array camera;
(16) Performing accumulation 1 operation on the background frame number i of the simulated infrared small and weak target image;
(17) Judging whether the background frame number i of the simulated infrared dim target image after 1 accumulation is equal to the total frame number (L + 1) of the simulated infrared dim target image sequence, if so, executing the step (18); otherwise, executing the step (2);
(18) And outputting the infrared weak and small target image sequence shaken by the infrared area array camera.
2. The method for simulating the dithered infrared weak small target image sequence of the infrared area array camera according to claim 1, wherein the range of values of the starting row and the starting column of the i-th frame original infrared image background cropping in step (2 b) is that the starting row of the i-th frame original infrared image background cropping is greater than 0 and less than the row of the original infrared image background, and the starting column of the i-th frame original infrared image background cropping is greater than 0 and less than the column of the original infrared image background.
3. The method for simulating the dithered infrared small target image sequence of the infrared area-array camera according to claim 1, wherein the step (3) of simulating the background edge mirror image extension of the infrared small target image comprises the following steps:
initializing a mirror image expansion image matrix to (M +2 t) x (N +2 t) to obtain an expansion image matrix, wherein t represents the width of the background expansion of the simulation infrared small and weak target image, M represents the number of rows of the simulation infrared small and weak target image background, N represents the number of columns of the simulation infrared small and weak target image background, 0 & lt t & ltmin (M/4,N/4), and min (·) represents minimum value operation;
assigning the simulated infrared small target image background to the t +1 th row to the t + M row and the t +1 th row to the t + N row of the expanded image matrix, assigning the 2t to t +1 th row data of the expanded image matrix to the 1 st to t th rows of the expanded image matrix, assigning the M +1 to t + M th row data of the expanded image matrix to the 2t + M to t + M +1 th rows of the expanded image matrix, assigning the 2t to t +1 th column data of the expanded image matrix to the 1 st to t th rows of the expanded image matrix, assigning the N +1 to t + N th columns of the expanded image matrix to the 2t + N to t + N +1 th columns of the expanded image matrix to obtain the expanded simulated infrared small target image background, wherein M represents the row number of the simulated infrared small target image background, N represents the column number of the simulated infrared small target image background, t represents the expanded width of the simulated infrared small target image background, and 0 t/t (8978/z) represents the minimum value (· t) operation.
4. The method for simulating an infrared small target image sequence by infrared area-array camera shake according to claim 1, wherein the moving speed of the infrared small target in step (5 a) is a difference value of the abscissa of the infrared small target between two adjacent frames of the simulated infrared small target image.
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