CN109255353B - Moving target detection method and device, electronic equipment and storage medium - Google Patents
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Abstract
The invention relates to a moving target detection method, a moving target detection device, electronic equipment and a storage medium, and belongs to the technical field of data processing. The method comprises the following steps: acquiring at least two hyperspectral images of different spectral bands imaged by the same region; carrying out image registration on the at least two hyperspectral images according to a preset registration algorithm; and carrying out moving target detection on the registered hyperspectral image based on a preset detection algorithm to obtain a detection result. According to the method and the device, the characteristic that different spectral bands of the hyperspectral sensor have time difference when imaging the same ground object is utilized, at least two hyperspectral images of different spectral bands of imaging in the same area are obtained, then image registration is carried out on the obtained at least two hyperspectral images, and finally moving target detection is carried out on the registered hyperspectral images, so that the accuracy of moving target detection is improved, and the problem of missed detection caused by insufficient spectral resolution in the existing satellite image moving target detection is solved.
Description
Technical Field
The invention belongs to the technical field of data processing, and particularly relates to a moving target detection method and device, electronic equipment and a storage medium.
Background
The moving target detection of the satellite image is to separate the moving target from the background in the satellite image, and the multispectral image and the panchromatic image in the optical satellite image are good data for moving target detection, and are widely applied in the fields of military remote sensing, intelligent transportation and the like. The inventor of the application finds out in the process of the invention application that: the multispectral image moving target detection is to realize the detection of the fast moving target through the imaging time lag of different spectral images to the same ground object, the full-color image moving target detection is to use the adjacent frames of the satellite video or the full-color image obtained in different time in the same area to detect the moving target, and the two images have the phenomenon that certain moving targets and backgrounds (such as dark moving vehicles and asphalt pavements) can not be distinguished in the spectral regions, so that the detection rate is reduced.
Disclosure of Invention
In view of the above, the present invention provides a moving object detecting method, a moving object detecting apparatus, an electronic device and a storage medium, so as to effectively solve the above problems.
The embodiment of the invention is realized by the following steps:
in a first aspect, an embodiment of the present invention provides a moving target detection method, where at least two hyperspectral images of different spectral bands imaged for a same region are acquired; carrying out image registration on the at least two hyperspectral images according to a preset registration algorithm; and carrying out moving target detection on the registered hyperspectral image based on a preset detection algorithm to obtain a detection result.
In combination with an optional implementation manner of the first aspect, after the acquiring at least two hyperspectral images of different spectral bands imaged for the same region, the method further includes: performing data preprocessing on each image of the at least two hyperspectral images to obtain at least two preprocessed hyperspectral images; correspondingly, the image registration of the at least two hyperspectral images according to a preset registration algorithm comprises: and carrying out image registration on the at least two preprocessed hyperspectral images according to a preset registration algorithm.
With reference to yet another optional implementation manner of the first aspect, the performing data preprocessing on each of the at least two hyperspectral images includes: and carrying out radiation correction and geometric correction processing on the DN value of the original data of each image in the at least two hyperspectral images.
With reference to yet another optional implementation manner of the first aspect, the image registration of the at least two hyperspectral images according to a preset registration algorithm includes: and carrying out image registration on the at least two hyperspectral images based on a registration algorithm of the characteristic points and the characteristic areas.
With reference to still another optional implementation manner of the first aspect, the performing moving target detection on the registered hyperspectral image based on a preset detection algorithm includes: judging whether the number of the registered hyperspectral images is less than 3; if yes, performing moving target detection on the registered hyperspectral image based on a frame difference method; and if not, carrying out moving target detection on the registered hyperspectral image based on a background difference method and/or an optical flow method.
In a second aspect, a further embodiment of the present invention provides a moving target detection apparatus, including: the system comprises an acquisition module, a registration module and a detection module; the acquisition module is used for acquiring at least two hyperspectral images of different spectral bands imaged by the same region; the registration module is used for carrying out image registration on the at least two hyperspectral images according to a preset registration algorithm; and the detection module is used for carrying out moving target detection on the registered hyperspectral image based on a preset detection algorithm to obtain a detection result.
In combination with an optional implementation manner of the second aspect, the apparatus further includes: the preprocessing module is used for preprocessing data of each image in the at least two hyperspectral images to obtain at least two preprocessed hyperspectral images; correspondingly, the registration module is further configured to perform image registration on the at least two preprocessed hyperspectral images according to a preset registration algorithm.
With reference to the second aspect, in yet another optional implementation manner, the preprocessing module is further configured to perform radiation correction and geometric correction processing on the raw data DN value of each of the at least two hyperspectral images.
With reference to yet another optional implementation manner of the second aspect, the registration module is further configured to perform image registration on the at least two hyperspectral images based on a registration algorithm of the feature points and the feature regions.
With reference to still another optional implementation manner of the second aspect, the detection module is further configured to determine whether the number of the registered hyperspectral images is less than 3; and when the hyperspectral image is the image of the target, performing moving target detection on the registered hyperspectral image based on a frame difference method; and when the hyperspectral image is not registered, detecting the moving object of the registered hyperspectral image based on a background difference method and/or an optical flow method.
In a third aspect, a further embodiment of the present invention provides an electronic device, including a memory and a memory, where the memory is connected to the processor; the memory is used for storing programs; the processor is configured to invoke a program stored in the memory to perform the first aspect and/or the method provided in connection with any one of the alternative embodiments of the first aspect.
In a fourth aspect, a further embodiment of the present invention provides a storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the method of the first aspect and/or the method provided in connection with any one of the optional implementations of the first aspect.
The moving target detection method provided by the embodiment of the invention comprises the following steps: acquiring at least two hyperspectral images of different spectral bands imaged by the same region; carrying out image registration on the at least two hyperspectral images according to a preset registration algorithm; and carrying out moving target detection on the registered hyperspectral image based on a preset detection algorithm to obtain a detection result. According to the method and the device, the characteristic that different spectral bands of the hyperspectral sensor have time difference when imaging the same ground object is utilized, at least two hyperspectral images of different spectral bands of imaging in the same area are obtained, then image registration is carried out on the obtained at least two hyperspectral images, and finally moving target detection is carried out on the registered hyperspectral images, so that the accuracy of moving target detection is improved, and the problem of missed detection caused by insufficient spectral resolution in the existing satellite image moving target detection is solved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts. The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings. Like reference numerals refer to like parts throughout the drawings. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention.
Fig. 1 shows a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Fig. 2 shows a flowchart of a moving object detection method according to an embodiment of the present invention.
Fig. 3 shows a flowchart of step S103 in fig. 2 according to an embodiment of the present invention.
Fig. 4 shows a schematic block diagram of a moving object detection apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "first", "second", "third", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance. Further, the term "and/or" in the present application is only one kind of association relationship describing the associated object, and means that three kinds of relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone.
First embodiment
As shown in fig. 1, fig. 1 is a block diagram illustrating a structure of an electronic device 100 according to an embodiment of the present invention. The electronic device 100 includes: a moving object detecting device 110, a memory 120, a memory controller 130, and a processor 140.
The memory 120, the memory controller 130, and the processor 140 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The moving object detecting device 110 includes at least one software function module which can be stored in the memory 120 in the form of software or firmware (firmware) or is fixed in an Operating System (OS) of the electronic device 100. The processor 140 is configured to execute executable modules stored in the memory 120, such as software functional modules or computer programs included in the moving object detecting device 110.
The Memory 120 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 120 is configured to store a program, and the processor 140 executes the program after receiving an execution instruction, and a method executed by the electronic device 100 defined by a flow disclosed in any embodiment of the invention described later may be applied to the processor 140, or implemented by the processor 140.
The processor 140 may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Second embodiment
Referring to fig. 2, steps included in a moving object detection method applied to the electronic device 100 according to an embodiment of the present invention will be described with reference to fig. 2.
Step S101: at least two hyperspectral images of different spectral bands imaged for the same region are acquired.
At least two hyperspectral images of different spectral bands imaged for the same region are acquired. According to the method and the device, the characteristic that different spectral bands of the hyperspectral sensors have time difference when imaging the same ground object is utilized, and at least two hyperspectral images of different spectral bands aiming at imaging in the same area are obtained. The width of each wave band of hyperspectral imaging is within 10nm, compared with multispectral images with the wave band width of 100-200 nm and full-color images with the wave band width of about 300nm, the resolution capability of the ground object is greatly improved, the phenomena of 'same object different spectrum' and 'foreign object same spectrum' are effectively inhibited, and meanwhile, different spectrum bands of the hyperspectral sensor have time difference in imaging of the same ground object, so that moving targets with similar background spectrum characteristics can be distinguished from the moving targets based on hyperspectral images in the application, and the detection rate is improved.
In order to facilitate understanding that different spectral bands of the hyperspectral sensor have time difference for imaging the same ground object, a push-broom hyperspectral sensor is taken as an example below, the sensor is provided with a plurality of spectral bands, at a certain moment, a first spectral band images a region I, after a satellite moves for a period of time, the first spectral band images a region II, and a second spectral band images the region I; along with the satellite movement, the first spectrum band images an object III, the second spectrum band images a region II, and the third spectrum band images a region I. Therefore, different spectral band images in the same region have a certain time difference, and the position of the moving target is also changed.
In the process of the present invention, the inventors of the present invention find that: existing moving object detection is based on multispectral images as well as panchromatic images. The multispectral image moving target detection is to detect a fast moving target through the imaging time lag of different spectral images to the same ground object, the full-color image moving target detection is to detect the moving target by using adjacent frames of a satellite video or full-color images acquired in different time in the same area, and the two images have the phenomenon that certain moving targets and backgrounds (such as dark moving vehicles and asphalt pavements) cannot be distinguished in the spectral regions, so that the detection rate is reduced.
It should be noted that the defects of the above solutions are the results obtained after the inventor has practiced and studied carefully, and therefore, the discovery process of the above problems and the solutions proposed by the following embodiments of the present invention for the above problems should be the contribution of the inventor to the present invention in the process of the present invention.
Step S102: and carrying out image registration on the at least two hyperspectral images according to a preset registration algorithm.
And after at least two hyperspectral images of different spectral bands imaged in the same region are acquired, carrying out image registration on the at least two hyperspectral images according to a preset registration algorithm. During image registration, automatic registration can be performed by a registration algorithm based on the feature points, automatic registration can be performed by a registration algorithm based on the feature areas, and image registration can be performed on the at least two hyperspectral images by the registration algorithm based on the feature points and the feature areas. It should be noted that the background of the images in the satellite flight process may not be completely the same, and therefore, two or more images need to be automatically registered, so that the background points of each image correspond to each other.
Step S103: and carrying out moving target detection on the registered hyperspectral image based on a preset detection algorithm to obtain a detection result.
And after image registration is carried out on at least two hyperspectral images, moving target detection is carried out on the registered hyperspectral images based on a preset detection algorithm, and a detection result is obtained.
Alternatively, as a possible implementation, the process may be described with reference to the steps shown in fig. 3.
Step S201: and judging whether the number of the registered hyperspectral images is less than 3.
And (3) performing moving target detection on the registered hyperspectral images, and judging whether the number of the registered hyperspectral images is less than 3, namely equal to 2 or not as a possible implementation mode. If so, that is, the number of the registered hyperspectral images is 2, step S202 is executed, and if not, that is, the number of the registered hyperspectral images is greater than or equal to 3, step S203 is executed.
Step S202: and carrying out moving target detection on the registered hyperspectral image based on a frame difference method.
And when the number of the registered hyperspectral images is 2, carrying out moving target detection on the registered hyperspectral images based on a frame difference method.
Step S203: and detecting the moving target of the registered hyperspectral image based on a background difference method and/or an optical flow method.
And when the number of the registered hyperspectral images is more than or equal to 3, detecting the moving target of the registered hyperspectral images based on a background difference method and/or an optical flow method.
As an optional embodiment, after the acquiring at least two hyperspectral images of different spectral bands imaged for the same region, the method further comprises: and performing data preprocessing on each image of the at least two hyperspectral images to obtain at least two preprocessed hyperspectral images. Correspondingly, the image registration of the at least two hyperspectral images according to a preset registration algorithm comprises: and carrying out image registration on the at least two preprocessed hyperspectral images according to a preset registration algorithm.
When performing data preprocessing on each of at least two hyperspectral images, the method may perform radiation correction on a DN (digital number) value of original data of each of the at least two hyperspectral images, may also perform geometric correction on a DN value of original data of each of the at least two hyperspectral images, and may also perform radiation correction and geometric correction on a DN value of original data of each of the at least two hyperspectral images.
The DN value of the remote sensing image raw data recorded by the sensor is inconsistent with the real spectral reflectivity of the ground object due to the solar position, angle, atmospheric condition, terrain influence and performance influence of the sensor, and the real spectral reflectivity of the ground object is obtained through radiation correction such as spectral calibration, radiation calibration, atmospheric correction and the like so as to compare the images. The method comprises the following steps that spectrum calibration is carried out to determine the central wavelength, the bandwidth and the spectrum response function of each wave band of a remote sensing sensor; the radiometric calibration eliminates the error of the sensor through the gain and the offset of each spectral channel and the illumination condition at the data acquisition moment, and determines the apparent reflectivity of the atmosphere outer layer at the inlet of the sensor; and (4) selecting a proper atmospheric radiation correction algorithm model (such as 5S, 6S, MODTRAN and the like) for atmospheric correction to remove atmospheric influence and calculating the actual reflectivity of the ground object. Among these, geometric correction is to remove geometric distortion of an image due to various factors such as an atmospheric environment and curvature of the earth. In addition, if the image resolution does not meet the moving target detection requirement, the hyperspectral image is subjected to super-resolution processing by combining with high-resolution images from other sources to improve the image resolution.
Third embodiment
The embodiment of the present application provides a moving object detection apparatus 110, as shown in fig. 4. The moving object detecting device 110 includes: an acquisition module 111, a registration module 112, a detection module 113.
The acquiring module 111 is configured to acquire at least two hyperspectral images of different spectral bands imaged for the same region.
A registration module 112, configured to perform image registration on the at least two hyperspectral images according to a preset registration algorithm. Wherein the registration module 112 is further configured to perform image registration on the at least two hyperspectral images based on a registration algorithm of the feature points and the feature areas.
And the detection module 113 is configured to perform moving target detection on the registered hyperspectral image based on a preset detection algorithm to obtain a detection result. The detection module 113 is further configured to determine whether the number of the registered hyperspectral images is less than 3; and when the hyperspectral image is the image of the target, performing moving target detection on the registered hyperspectral image based on a frame difference method; and when the hyperspectral image is not registered, detecting the moving object of the registered hyperspectral image based on a background difference method and/or an optical flow method.
Optionally, the moving object detecting device 110 further includes: and a preprocessing module. The preprocessing module is used for preprocessing data of each image in the at least two hyperspectral images to obtain at least two preprocessed hyperspectral images; correspondingly, the registration module 112 is further configured to perform image registration on the at least two preprocessed hyperspectral images according to a preset registration algorithm. The preprocessing module is further configured to perform radiation correction and geometric correction on the original data DN value of each of the at least two hyperspectral images.
It should be noted that, in this specification, each embodiment is described in a progressive manner, and each embodiment focuses on differences from other embodiments, and portions that are the same as and similar to each other in each embodiment may be referred to.
The implementation principle and the resulting technical effects of the moving object detection apparatus 110 provided by the embodiment of the present invention are the same as those of the foregoing method embodiments, and for brevity, reference may be made to the corresponding contents in the foregoing method embodiments for the parts not mentioned in the apparatus embodiments.
Fourth embodiment
An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the method described in the second embodiment. For specific implementation, reference may be made to the method embodiment, which is not described herein again.
Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, and the like, and when a program code on the storage medium is executed, the moving target detection method shown in the above embodiment can be executed, by acquiring at least two hyperspectral images of different spectral bands imaged in a same region, then performing image registration on the acquired at least two hyperspectral images, and finally performing moving target detection on the registered hyperspectral images, the accuracy of moving target detection is improved, and meanwhile, the problem of missed detection caused by insufficient spectral resolution in the existing satellite image moving target detection is solved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.
The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the present invention or a part thereof, which essentially contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a notebook computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes. It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A moving object detection method is characterized by comprising the following steps:
acquiring at least two hyperspectral images of different spectral bands imaged by the same region;
carrying out image registration on the at least two hyperspectral images according to a preset registration algorithm;
performing moving target detection on the registered hyperspectral image based on a preset detection algorithm to obtain a detection result;
the acquiring of at least two hyperspectral images of different spectral bands for imaging of the same region comprises:
and acquiring at least two hyperspectral images which have time difference according to different spectral bands of the hyperspectral sensor for imaging the same ground object.
2. The method of claim 1, wherein after said acquiring at least two hyperspectral images of different spectral bands imaged for the same region, the method further comprises:
performing data preprocessing on each image of the at least two hyperspectral images to obtain at least two preprocessed hyperspectral images; correspondingly, the image registration of the at least two hyperspectral images according to a preset registration algorithm comprises: and carrying out image registration on the at least two preprocessed hyperspectral images according to a preset registration algorithm.
3. The method according to claim 2, wherein the data preprocessing each of the at least two hyperspectral images comprises:
and carrying out radiation correction and geometric correction processing on the DN value of the original data of each image in the at least two hyperspectral images.
4. The method according to any one of claims 1-3, wherein image registering the at least two hyperspectral images according to a preset registration algorithm comprises:
and carrying out image registration on the at least two hyperspectral images based on a registration algorithm of the characteristic points and the characteristic areas.
5. The method according to claim 4, wherein the moving target detection is performed on the registered hyperspectral image based on a preset detection algorithm, and comprises the following steps:
judging whether the number of the registered hyperspectral images is less than 3;
if yes, performing moving target detection on the registered hyperspectral image based on a frame difference method;
and if not, carrying out moving target detection on the registered hyperspectral image based on a background difference method and/or an optical flow method.
6. A moving object detecting device, comprising:
the acquisition module is used for acquiring at least two hyperspectral images of different spectral bands imaged by the same region;
The registration module is used for carrying out image registration on the at least two hyperspectral images according to a preset registration algorithm;
the detection module is used for carrying out moving target detection on the registered hyperspectral image based on a preset detection algorithm to obtain a detection result;
the acquisition module is further used for acquiring at least two hyperspectral images which have time difference according to different spectral bands of the hyperspectral sensor for imaging the same ground object.
7. The apparatus of claim 6, further comprising: the preprocessing module is used for preprocessing data of each image in the at least two hyperspectral images to obtain at least two preprocessed hyperspectral images; correspondingly, the registration module is further configured to perform image registration on the at least two preprocessed hyperspectral images according to a preset registration algorithm.
8. The apparatus of claim 7, wherein the preprocessing module is further configured to perform a radiation correction and a geometric correction process on the raw data DN values of each of the at least two hyperspectral images.
9. An electronic device comprising a memory and a processor, the memory and the processor being connected;
The memory is used for storing programs;
the processor is configured to invoke a program stored in the memory to perform the method of any of claims 1-5.
10. A storage medium, having stored thereon a computer program which, when executed by a processor, performs the method of any one of claims 1-5.
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