JP2001263993A - Inducting device for performing signal processing for number of frame integrating times varying according to target relative distance - Google Patents
Inducting device for performing signal processing for number of frame integrating times varying according to target relative distanceInfo
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- JP2001263993A JP2001263993A JP2000072636A JP2000072636A JP2001263993A JP 2001263993 A JP2001263993 A JP 2001263993A JP 2000072636 A JP2000072636 A JP 2000072636A JP 2000072636 A JP2000072636 A JP 2000072636A JP 2001263993 A JP2001263993 A JP 2001263993A
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- flying object
- target
- image
- relative distance
- frame
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、飛翔体の目標物の
画像処理を伴う飛翔体の誘導装置及び誘導方法であっ
て、特にそこで行われる画像処理に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and method for guiding a flying object involving image processing of a target of the flying object, and more particularly to image processing performed there.
【０００２】[0002]
【従来の技術】最近、地対空誘導弾の誘導精度において
高い水準が求められてきており、そのため飛翔体の誘導
精度を左右する誘導装置での信号処理にも一層のＳ／Ｎ
比向上が望まれている。2. Description of the Related Art Recently, a high level of guidance accuracy for ground-to-air guided missiles has been demanded, and therefore, S / N has been further improved for signal processing in guidance devices that affect the guidance accuracy of flying objects.
An improvement in the ratio is desired.
【０００３】従来の画像処理を伴う誘導装置において
は、目標物画像はその信号処理の際にフレーム積分処理
が行われ、目標の信号成分（Ｓ）と雑音レベル（Ｎ）と
の比（Ｓ／Ｎ比）を向上させることに有効であり、理想
的にはできるだけ多くのフレーム積分が行われることが
好ましい。すなわち、（１）式で示されるとおり、Ｓ／
Ｎ比はフレーム積分回数の平方根に反比例して改善され
ることは広く知られていることである。In a conventional guidance apparatus with image processing, a target object image is subjected to frame integration at the time of signal processing, and a ratio (S / S) between a target signal component (S) and a noise level (N) is obtained. N ratio) is improved, and ideally, as many frame integrations as possible are preferably performed. That is, as shown in equation (1), S /
It is widely known that the N ratio improves in inverse proportion to the square root of the number of frame integrations.
【０００４】 Ｓ／Ｎ＝Ｓn／（√ｎ*Ｎn）……………………（１） ここで、Ｓn ：フレーム積分をｎ回行った後の信号成分 Ｎn ：フレーム積分をｎ回行った後の雑音成分 ｎ：フレーム積分回数 但し、このフレーム積分によるＳ／Ｎ比の改善は、目標
が画像の同一位置に存在することが前提であり、飛翔体
が目標物の間近にあり刻々と目標物が移動している場合
にフレーム積分を行っても、像流れ等の弊害が発生して
しまう。従って目標物が飛翔体に間近な場合のフレーム
積分は、Ｓ／Ｎ比の向上とはならず回避するべきもので
ある。S / N = S n / (√n * N n ) (1) where, S n : a signal component after frame integration is performed n times N n : frame integration Noise component after performing n times n: number of frame integrations However, the improvement of the S / N ratio by this frame integration is based on the premise that the target exists at the same position in the image, and the flying object is close to the target. However, even if the frame integration is performed when the target is moving every moment, adverse effects such as image deletion occur. Therefore, frame integration when the target is close to the flying object does not improve the S / N ratio and should be avoided.
【０００５】図１はこの様子を図面で表したものであ
り、（ａ）のように目標物が遠方にある場合、画像は安
定しておりフレーム積分はＳ／Ｎ比の向上に結びつく。
一方、（ｂ）のように飛翔体の目標物が近傍にあると、
時々刻々と目標Ｔは移動し、フレーム積分を繰り返すと
像流れ等の弊害を招くこととなり、二つの場合を最適に
実現する最適なフレーム回数は簡単には定まらない。FIG. 1 shows this situation in a drawing. When the target is located at a distant place as shown in FIG. 1A, the image is stable and the frame integration leads to an improvement in the S / N ratio.
On the other hand, when the target of the flying object is in the vicinity as shown in (b),
The target T moves from moment to moment, and if frame integration is repeated, adverse effects such as image flow will be caused. Therefore, the optimum number of frames for optimally realizing the two cases cannot be easily determined.
【０００６】従来装置においては、このフレーム積分回
数は、固定回数または目標探知等のトリガ信号により入
／切を制御されている。In the conventional apparatus, the number of frame integrations is controlled to be on / off by a fixed number or a trigger signal such as target detection.
【０００７】[0007]
【発明が解決しようとする課題】しかしながら、このよ
うな従来装置は、次のような問題を有している。すなわ
ち、フレーム積分回数が固定回数の装置では、フレーム
積分を行わない場合はＳ／Ｎ比が改善されず、また、フ
レーム積分を所定回数行う場合は、処理遅れが発生した
り、飛翔体と目標との相対距離に応じて増加する角速度
により目標の像流れが発生するという問題がある。However, such a conventional device has the following problems. That is, in a device in which the number of frame integrations is fixed, the S / N ratio is not improved when the frame integration is not performed, and when the frame integration is performed a predetermined number of times, a processing delay occurs or the flying object and the target There is a problem that a target image flow occurs due to an angular velocity that increases in accordance with the relative distance from the target image.
【０００８】一方、目標探知等のトリガ信号によりフレ
ーム積分の入／切を制御する場合は、フレーム積分を切
にした後、目標等の変動によりＳ／Ｎ比が急激に低下す
るという問題がある。On the other hand, when the on / off of the frame integration is controlled by a trigger signal for detecting a target or the like, there is a problem that after the frame integration is turned off, the S / N ratio sharply drops due to a change in the target or the like. .
【０００９】本発明は、上記事情に着目してなされたも
ので、飛翔体と目標物との相対距離に応じてフレーム積
分回数を多段階に可変させることで、状況に左右されず
高いＳ／Ｎ比をもつ信号処理により、安定した飛翔体の
誘導処理を行う誘導装置及びその誘導方法を提供するこ
とを目的としている。The present invention has been made in view of the above circumstances. By changing the number of frame integrations in multiple stages in accordance with the relative distance between the flying object and the target, a high S / S ratio is obtained regardless of the situation. An object of the present invention is to provide a guidance device and a guidance method for performing stable guidance processing of a flying object by signal processing having an N ratio.
【００１０】[0010]
【課題を解決するための手段】請求項１に記載された本
発明は、飛翔体の飛翔の目標となる目標物の画像を取り
込んで画像処理を行いこの処理に基づいて前記飛翔体へ
誘導信号を供給する飛翔体の誘導装置において、前記目
標物と前記飛翔体との相対距離を測定し、測定した相対
距離に基づき、前記画像のフレーム積分の回数を異なら
せて画像処理を行う画像処理手段を有することを特徴と
する飛翔体の誘導装置である。According to the first aspect of the present invention, an image of a target which is a target of flight of a flying object is captured, image processing is performed, and a guidance signal is sent to the flying object based on the processing. Image processing means for measuring a relative distance between the target and the flying object, and performing image processing by changing the number of frame integration of the image based on the measured relative distance. It is a flying object guidance device characterized by having:
【００１１】上述した飛翔体の誘導装置においては、目
標物と飛翔体との相対距離を基準にフレーム積分回数を
決定している。具体的には、測定した相対速度に応じた
フレーム積分回数を予め設けられた記憶領域内から読み
出し、読み出した回数分のフレーム積分を行うものであ
る。これにより、間近な目標物には少なく、遠方の目標
物にはより多いフレーム積分を施すことにより、像流れ
などが発生しない最適の高Ｓ／Ｎ比を実現することで高
精度な飛翔体の誘導を行う誘導装置を提供することがで
きる。In the above-described flying object guidance apparatus, the number of frame integrations is determined based on the relative distance between the target and the flying object. Specifically, the number of frame integrations corresponding to the measured relative speed is read from a storage area provided in advance, and the frame integration is performed for the number of times of reading. Thus, by applying less frame integration to a nearby target and more frame integration to a distant target, an optimal high S / N ratio that does not cause an image flow or the like is realized, so that a highly accurate flying object can be obtained. A guidance device for performing guidance can be provided.
【００１２】更に請求項２に記載された本発明は、飛翔
体の飛翔の目標となる目標物の画像を取り込んで画像処
理を行いこの処理に基づいて前記飛翔体へ誘導信号を供
給する飛翔体の誘導装置において、前記目標物と前記飛
翔体との相対距離及び前記飛翔体の速度とをそれぞれ測
定し、測定した相対距離及び相対速度に基づき、前記画
像のフレーム積分の回数を異ならせて画像処理を行う画
像処理手段を有することを特徴とする飛翔体の誘導装置
である。According to a second aspect of the present invention, there is provided a flying object which captures an image of a target which is a target of the flying object, performs image processing, and supplies a guidance signal to the flying object based on the processing. In the guiding device, the relative distance between the target and the flying object and the speed of the flying object are measured, respectively, and based on the measured relative distance and relative speed, the number of times of the frame integration of the image is changed to change the image. A flying object guidance device having image processing means for performing processing.
【００１３】上述した誘導装置においては、目標物の相
対距離だけにあらず、相対速度を含めフレーム積分の回
数を決定することで、例えば同じ距離にあった目標物で
も、目標物が高速に移動しており像流れが発生する危険
が高い場合は、より少ないフレーム積分回数に設定する
ものである。これにより、像流れなどの障害を回避しな
がらできるだけ多くフレーム積分回数を設定すること
で、より高いＳ／Ｎ比を実現することができる誘導装置
を提供するものである。In the above-described guidance apparatus, the number of frame integrations including the relative speed as well as the relative distance of the target is determined, so that the target moves at high speed even if the target is at the same distance, for example. If there is a high risk of image flow occurring, a smaller number of frame integrations is set. As a result, it is an object of the present invention to provide a guidance apparatus that can realize a higher S / N ratio by setting the number of times of frame integration as much as possible while avoiding an obstacle such as an image flow.
【００１４】更に請求項３に記載された本方法の発明
は、飛翔体の飛翔の目標となる目標物の画像を取り込ん
で画像処理を行いこの処理に基づいて前記飛翔体へ誘導
信号を供給する飛翔体の誘導方法において、前記目標物
と前記飛翔体との相対距離を測定し、測定した相対距離
に基づき、前記画像のフレーム積分の回数を異ならせて
画像処理を行うことを特徴とする飛翔体の誘導方法であ
る。According to a third aspect of the present invention, an image of a target which is a target of flight of a flying object is captured, image processing is performed, and a guidance signal is supplied to the flying object based on this processing. In the method for guiding a flying object, a flying distance is measured by measuring a relative distance between the target and the flying object, and performing the image processing by varying the number of frame integration of the image based on the measured relative distance. This is the body guidance method.
【００１５】更に請求項４に記載された本方法の発明
は、飛翔体の飛翔の目標となる目標物の画像を取り込ん
で画像処理を行いこの処理に基づいて前記飛翔体へ誘導
信号を供給する飛翔体の誘導方法において、前記目標物
と前記飛翔体との相対距離及び前記飛翔体の速度とをそ
れぞれ測定し、測定した相対距離及び相対速度に基づ
き、前記画像のフレーム積分の回数を異ならせて画像処
理を行うことを特徴とする飛翔体の誘導方法である。According to a fourth aspect of the present invention, an image of a target which is a target of flight of a flying object is captured, image processing is performed, and a guidance signal is supplied to the flying object based on this processing. In the method for guiding a flying object, the relative distance between the target and the flying object and the speed of the flying object are respectively measured, and the number of frame integration of the image is varied based on the measured relative distance and relative speed. This is a method for guiding a flying object, characterized in that image processing is performed by using the method.
【００１６】これら二つの誘導方法においても、上述し
た誘導装置と同様の趣旨で、像流れなどの障害を回避す
る動作信頼性とできるだけ多くのフレーム積分回数とを
両立することで、高精度の飛翔体の誘導方法を提供する
ことができる。Also in these two guidance methods, in the same manner as in the above-described guidance device, high-precision flying is achieved by achieving both operation reliability for avoiding obstacles such as image flow and the like and as many frame integration times as possible. A method for inducing the body can be provided.
【００１７】[0017]
【発明の実施の形態】以下、この発明の実施形態を図面
を用いて詳細に説明する。Embodiments of the present invention will be described below in detail with reference to the drawings.
【００１８】図２は、本発明に関わる目標相対距離に応
じてフレーム積分回数可変な信号処理を有する誘導装置
の一実施形態を示す回路ブロック図である。この図にお
いて、この飛翔体の誘導装置は、一例として飛翔体の突
端に搭載されて飛翔体の飛翔方向等を誘導するものであ
り、迎撃対象である目標を撮像する画像カメラ１は、飛
翔体の定義された一定方向を維持するための空間安定装
置２に接続され、更に画像カメラ１からの画像データは
フィルタ回路３に供給される。更にフィルタ回路３に接
続されるフレーム積分回路は、更に画像処理回路６に接
続され、ここから誘導信号等が供給される制御回路５
は、フレーム積分回路４に目標相対距離等の信号やフレ
ーム積分回数の指示信号を供給している。FIG. 2 is a circuit block diagram showing an embodiment of a guidance device having a signal processing in which the number of times of frame integration is variable according to a target relative distance according to the present invention. In this figure, this flying object guiding device is mounted on the tip of a flying object to guide the flying direction of the flying object, for example, and the image camera 1 that captures a target to be intercepted is a flying object. Is connected to a space stabilizing device 2 for maintaining a fixed direction defined as described above, and the image data from the image camera 1 is supplied to a filter circuit 3. Further, the frame integration circuit connected to the filter circuit 3 is further connected to an image processing circuit 6, from which a control circuit 5 to which an induction signal or the like is supplied.
Supplies a signal such as a target relative distance and an instruction signal of the number of frame integrations to the frame integration circuit 4.
【００１９】上述したような構成をもつ誘導装置の動作
を、図１のフローチャートに基づいて以下に詳細に説明
する。迎撃対象である目標を撮像する画像カメラ１は、
空間安定装置２により飛翔体の定義された一定方向を維
持されるものであり、捉えられた画像情報は、種々のフ
ィルタ回路３を通過した後、フレーム積分回路４に入力
される。フレーム積分回路４は、飛翔体と目標との相対
距離を計算する制御回路５からの制御信号によって、フ
レーム積分回数を多段階に変化させてその結果を画像処
理回路６に出力する。更に、画像処理回路６は得られた
画像データから所定の画像処理を行い、画像の中から目
標を検出し画像中心からの誤差角度に基づき誘導信号を
計算して、空間安定装置２や制御回路５に出力される。The operation of the guidance apparatus having the above-described configuration will be described below in detail with reference to the flowchart of FIG. The image camera 1 for imaging the target to be intercepted is
The space stabilizing device 2 maintains a defined fixed direction of the flying object. The captured image information passes through various filter circuits 3 and is input to the frame integration circuit 4. The frame integration circuit 4 changes the number of frame integrations in multiple stages by a control signal from the control circuit 5 that calculates the relative distance between the flying object and the target, and outputs the result to the image processing circuit 6. Further, the image processing circuit 6 performs predetermined image processing from the obtained image data, detects a target from the image, calculates a guide signal based on an error angle from the center of the image, and outputs the space stabilizing device 2 and the control circuit. 5 is output.
【００２０】ここで本発明の特徴となる制御回路で決定
される、フレーム積分回数であるが、図１のフローチャ
ートに示されるように、まず最初に、レーダ等から目標
物Ｔの速度情報ｖや位置情報を受け取る（Ｓ１１）。更
に、速度情報ｖと位置情報とに基づき、飛翔体と目標物
Ｔとの距離ｄが求められる（Ｓ１２）。そして、飛翔体
と目標物Ｔとの距離ｄに基づいて、制御回路５内の図示
しない記憶領域に予め格納された距離ｄに対応したフレ
ーム積分回数ｎのデータが読み出され（Ｓ１３）、これ
に応じた積分回数ｎに応じた信号が制御回路５からフレ
ーム積分４へと出力される。フレーム積分は、これによ
り最適な積分回数ｎにより、像流れの危険が少ない範囲
で最も多いフレーム積分が実行され、高いＳ／Ｎ比を実
現することができる。Here, the number of frame integrations determined by the control circuit which characterizes the present invention is as shown in the flowchart of FIG. The position information is received (S11). Further, a distance d between the flying object and the target T is obtained based on the speed information v and the position information (S12). Then, based on the distance d between the flying object and the target T, data of the number n of frame integrations corresponding to the distance d stored in a storage area (not shown) in the control circuit 5 is read out (S13). Is output from the control circuit 5 to the frame integration 4. As for the frame integration, the frame integration is performed most frequently in a range where the risk of the image flow is small by the optimal integration number n, and a high S / N ratio can be realized.
【００２１】更にステップＳ１２においては、飛翔体と
目標物Ｔとの距離ｄだけに基づいて決定されるのではな
く、飛翔体Ｔの速度ｖについても考慮され、積分回数ｎ
を決定することも好適である。何故ならば、図３の飛翔
体と目標物との距離と目標物の速度とフレーム積分回数
ｎとの関係を示すグラフに見られるように、単に同じ距
離にある目標物Ｔであっても、高速で移動しているもの
は、像流れの危険がより高いため、目標物Ｔの相対速度
をも考慮して積分回数ｎを決定する意義があるのであ
る。Further, in step S12, not only the distance d between the flying object and the target T but also the speed v of the flying object T is considered, and the number of integrations n
It is also preferable to determine Because, as can be seen from the graph of FIG. 3 which shows the relationship between the distance between the flying object and the target, the speed of the target, and the number n of frame integrations, even if the targets T are merely at the same distance, A moving object moving at a high speed has a higher risk of image deletion, so that it is meaningful to determine the number of integrations n in consideration of the relative speed of the target T as well.
【００２２】又更に目標物Ｔの加速度ａが測定可能であ
れば、これをも考慮して積分回数ｎを決定することも有
効となるだろう。Furthermore, if the acceleration a of the target T can be measured, it will be effective to determine the number of integrations n taking this into consideration.
【００２３】以上本発明によれば、像流れを回避するべ
く目標物Ｔと飛翔体との距離ｄや飛翔体の速度や加速度
を考慮してフレーム積分回数を決定することで、最も多
いフレーム積分を行いながら像流れも回避できるため、
高精度の誘導を可能する誘導装置及びその誘導方法を提
供するものである。According to the present invention, the number of frame integrations is determined in consideration of the distance d between the target T and the flying object and the speed and acceleration of the flying object in order to avoid the image flow, so that the most frame integration is performed. Image flow can be avoided while performing
An object of the present invention is to provide a guidance device and a guidance method capable of performing highly accurate guidance.
【００２４】なお、これらの実施形態の記載は、本発明
の製造・使用をこの技術分野の当業者に容易にするもの
であり、これらの様々な変形例が、発明的な飛躍なしに
当業者により可能である。このように本発明は、記載さ
れた実施形態に限定されるものではなく、この原理と新
規な特徴に対応した広い範囲での形態に応じるものであ
ることは言うまでもない。It should be noted that the description of these embodiments facilitates the manufacture and use of the present invention to those skilled in the art, and these various modifications may be made without departing from the invention. Is possible. Thus, it goes without saying that the present invention is not limited to the described embodiments, but covers a wide range of forms corresponding to this principle and novel features.
【００２５】[0025]
【発明の効果】以上詳述したように本発明によれば、目
標物Ｔと飛翔体との距離ｄや飛翔体の速度や加速度を考
慮してフレーム積分回数を決定することで、像流れを回
避しながら最も多いフレーム積分を行うことができ、高
いＳ／Ｎ比の画像処理を行うことにより高精度の誘導を
可能する誘導装置及びその誘導方法を提供するものであ
る。As described in detail above, according to the present invention, the number of frame integrations is determined in consideration of the distance d between the target T and the flying object, and the speed and acceleration of the flying object, so that the image flow can be reduced. It is an object of the present invention to provide a guidance device and a guidance method capable of performing the most frame integration while avoiding it and performing high-precision guidance by performing image processing with a high S / N ratio.
【図１】本発明に係る誘導装置の一実施形態におけるフ
レーム積分回数の決定方法を示すフローチャート。FIG. 1 is a flowchart showing a method for determining the number of times of frame integration in an embodiment of the guidance device according to the present invention.
【図２】本発明に係る誘導装置の一実施形態を示すブロ
ックダイアグラム。FIG. 2 is a block diagram showing an embodiment of the guidance device according to the present invention.
【図３】本発明に係る誘導装置において、飛翔体と目標
物との距離と、目標物の速度と、フレーム積分回数との
関係を示すグラフ。FIG. 3 is a graph showing a relationship among a distance between a flying object and a target, a speed of the target, and the number of times of frame integration in the guidance apparatus according to the present invention.
【図４】飛翔体の誘導装置において、飛翔体と目標物と
の距離と像流れの発生との関係を説明するための図。FIG. 4 is a view for explaining the relationship between the distance between the flying object and the target and the occurrence of image flow in the flying object guidance device.
１ … 画像カメラ ２ … 空間安定装置 ３ … フィルタ回路 ４ … フレーム積分回路 ５ … 制御回路 ６ … 画像処理回路 Ｍ … 飛翔体 Ｔ … 対象物 DESCRIPTION OF SYMBOLS 1 ... Image camera 2 ... Spatial stabilizer 3 ... Filter circuit 4 ... Frame integration circuit 5 ... Control circuit 6 ... Image processing circuit M ... Flying object T ... Target object
Claims (4)
取り込んで画像処理を行いこの処理に基づいて前記飛翔
体へ誘導信号を供給する飛翔体の誘導装置において、 前記目標物と前記飛翔体との相対距離を測定し、測定し
た相対距離に基づき、前記画像のフレーム積分の回数を
異ならせて画像処理を行う画像処理手段を有することを
特徴とする飛翔体の誘導装置。1. A flying object guidance device which captures an image of a target which is a target of flight of a flying object, performs image processing, and supplies a guidance signal to the flying object based on the image processing, wherein: An apparatus for guiding a flying object, comprising: an image processing unit that measures a relative distance to the flying object and performs image processing by varying the number of frame integrations of the image based on the measured relative distance.
取り込んで画像処理を行いこの処理に基づいて前記飛翔
体へ誘導信号を供給する飛翔体の誘導装置において、 前記目標物と前記飛翔体との相対距離及び前記飛翔体の
速度とをそれぞれ測定し、測定した相対距離及び相対速
度に基づき、前記画像のフレーム積分の回数を異ならせ
て画像処理を行う画像処理手段を有することを特徴とす
る飛翔体の誘導装置。2. A flying object guidance apparatus which captures an image of a target which is a target of flight of the flying object, performs image processing, and supplies a guidance signal to the flying object based on the image processing. An image processing unit that measures a relative distance to a flying object and a speed of the flying object, respectively, and performs image processing by changing the number of times of frame integration of the image based on the measured relative distance and relative speed. Characteristic flying object guidance device.
取り込んで画像処理を行いこの処理に基づいて前記飛翔
体へ誘導信号を供給する飛翔体の誘導方法において、 前記目標物と前記飛翔体との相対距離を測定し、測定し
た相対距離に基づき、前記画像のフレーム積分の回数を
異ならせて画像処理を行うことを特徴とする飛翔体の誘
導方法。3. A flying object guidance method for capturing an image of a target that is a target of flight of a flying object, performing image processing, and supplying a guidance signal to the flying object based on the processing, comprising: A method for guiding a flying object, comprising: measuring a relative distance to the flying object, and performing image processing while varying the number of frame integrations of the image based on the measured relative distance.
取り込んで画像処理を行いこの処理に基づいて前記飛翔
体へ誘導信号を供給する飛翔体の誘導方法において、 前記目標物と前記飛翔体との相対距離及び前記飛翔体の
速度とをそれぞれ測定し、測定した相対距離及び相対速
度に基づき、前記画像のフレーム積分の回数を異ならせ
て画像処理を行うことを特徴とする飛翔体の誘導方法。4. A flying object guidance method for capturing an image of a target that is a target of flight of a flying object, performing image processing, and supplying a guidance signal to the flying object based on the processing, wherein: A flying object which measures a relative distance to the flying object and a velocity of the flying object, and performs image processing by varying the number of frame integration of the image based on the measured relative distance and relative velocity. Induction method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000072636A JP2001263993A (en) | 2000-03-15 | 2000-03-15 | Inducting device for performing signal processing for number of frame integrating times varying according to target relative distance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000072636A JP2001263993A (en) | 2000-03-15 | 2000-03-15 | Inducting device for performing signal processing for number of frame integrating times varying according to target relative distance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2001263993A true JP2001263993A (en) | 2001-09-26 |
Family
ID=18591008
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000072636A Abandoned JP2001263993A (en) | 2000-03-15 | 2000-03-15 | Inducting device for performing signal processing for number of frame integrating times varying according to target relative distance |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2001263993A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010050607A (en) * | 2008-08-20 | 2010-03-04 | Nec Corp | Image processor, and noise reducing method and program |
| WO2013089038A1 (en) * | 2011-12-15 | 2013-06-20 | Ｊｆｅスチール株式会社 | Laser welding position-detecting device and welding position-detecting method |
-
2000
- 2000-03-15 JP JP2000072636A patent/JP2001263993A/en not_active Abandoned
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010050607A (en) * | 2008-08-20 | 2010-03-04 | Nec Corp | Image processor, and noise reducing method and program |
| WO2013089038A1 (en) * | 2011-12-15 | 2013-06-20 | Ｊｆｅスチール株式会社 | Laser welding position-detecting device and welding position-detecting method |
| CN103998177A (en) * | 2011-12-15 | 2014-08-20 | 杰富意钢铁株式会社 | Laser welding position-detecting device and welding position-detecting method |
| CN103998177B (en) * | 2011-12-15 | 2015-08-05 | 杰富意钢铁株式会社 | The welding position checkout gear of laser weld and welding position detection method |
| US9492888B2 (en) | 2011-12-15 | 2016-11-15 | Jfe Steel Corporation | Welding position detecting apparatus and welding position detecting method for laser beam welding |
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