CN100580706C - Method and system for locating gaze type camera motor point goal - Google Patents
Method and system for locating gaze type camera motor point goal Download PDFInfo
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- CN100580706C CN100580706C CN200810033429A CN200810033429A CN100580706C CN 100580706 C CN100580706 C CN 100580706C CN 200810033429 A CN200810033429 A CN 200810033429A CN 200810033429 A CN200810033429 A CN 200810033429A CN 100580706 C CN100580706 C CN 100580706C
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Abstract
The invention discloses a target location method and a system of starting camera movement points. The target location method comprises 1 carrying out space oversampling to movement point targets by using high frame rate character of the staring camera, 2 carrying multi-frame superposition to collected sequence images, 3, on the basis of multi-frame superposition, detecting and extracting small target spots, and then acquiring the central point of the small target points with sub-pixel processing method. The system includes an optical imaging system, a flat panel detector, an image collecting module and an image processing module, wherein the image collecting module realizes space oversampling to movement point target, the image processing module carries out multi-frame superposition, aiming at collected sequence images, carries out small target spots detecting, extracting and acquires the central position of point targets with sub-pixel method and the like.
Description
Technical field
The present invention relates to the extraterrestrial target location technology, specifically refer to a kind of gazing type camera motion point target localization method and system, it is used for the location to the little target of spatial movement.
Background technology
In engineering was used, requirement can be in the remote target of finding.At this moment, target is to occur with the point target form in the visual field.Improve the bearing accuracy of point target, at first consider to improve the pixel resolution of planar array detector.But because the restriction on the manufacturing process, the pixel resolution of planar array detector is difficult to improve; In addition, because the restriction of diffraction effect, the resolution of detector can not infinitely improve.The fill factor, curve factor of planar array detector is not 100% simultaneously, and these all exert an influence to the bearing accuracy of point target.Also have some to improve the way of resolution now, for example, Xu Chao mentions (electronic letters, vol in document " a kind of improved inferior pixel imaging processing of focus planardetector algorithm of staring ", Vol.35, No.8, P.1608-1611), utilize the micro scanning technology to improve the spatial sampling rate of focal plane array detector.This method is improved the transmission characteristic of system under the condition that guarantees system signal noise ratio, but has but increased the complicacy of system.Che Shuanliang mentions (applied optics in document " numerical analysis of system modulation transport function in the inferior pixel dynamic imaging technology ", Vol.25, No.2, P.19-24), utilize Amici prism that light path is divided into two-way, be imaged onto respectively on the planar array detector of two half pixels that staggers, again image carried out overall treatment to improve nearly one times spatial resolution.This way, except meeting increases the complexity of system, also can be because of having reduced the energy that arrives each focal plane, and reduce signal to noise ratio (S/N ratio).
Summary of the invention
The purpose of this invention is to provide a kind of simple gazing type camera motion point target localization method and system, improve the spatial resolution of system by the space over-sampling of moving spot targets and multiframe are superposeed, the system that finally makes is improved to the bearing accuracy of spatial movement point target.
Moving spot targets positioning system using gazing type camera of the present invention is to the moving spot targets imaging, by moving spot targets is carried out the space over-sampling, image carried out multiframe superpose and improve the spatial resolution of system.System's location workflow specifically comprises the following step as shown in Figure 1:
Step 1: system carries out the space over-sampling to moving spot targets.Because target range is far away, the translational speed of point target picture point on the planar array detector plane is slow; In addition, what present gazing type camera used is planar array detector, and the frame frequency of planar array detector can reach more than the 100Hz at present.Therefore, utilize the high frame frequency characteristic of planar array detector to be easy to point target is at a slow speed carried out the space over-sampling.Give an example, if the average velocity of point target is 10 pixel per seconds, the frame frequency of planar array detector is 80Hz, and like this, we can just gather piece image to moving spot targets every 0.125 pixel.Generally speaking, the interframe acquisition interval is preferably less than 0.5 pixel.
Step 2: the sequence image that collects is carried out the multiframe stack.Specific practice is, at each frame of sequence image, the preceding n frame and the back n frame of itself and this frame superposeed, and the value of n decide according to the degree of image over-sampling, and generally value is between the 1-4.For example, at the 50th frame in the sequence image, with preceding 3 frames and back 3 frames of itself and it, totally 7 two field pictures superpose and ask average again; Other two field pictures in the sequence, the rest may be inferred.The benefit of doing like this is:
1. the multiframe stack has become the moving spot targets of over-sampling into little target spot, and little target spot more can react the energy distribution of point target this moment, has been equivalent to improve the spatial resolution of system.
2. because the existence of spatial noise and time noise at random in the imaging process, greatly influenced the signal to noise ratio (S/N ratio) of image.And, can reduce the influence of random noise through the multiframe stack, and improved the signal to noise ratio (S/N ratio) of image, be beneficial to subsequent image processing algorithm and point target and accurately locate.
3. because the planar array detector filling rate can't reach 100%, the multiframe stack can avoid the point target center to drop on the problem that the gap produced of two pixels.
Step 3: on the basis of multiframe stack, detect, extract little target spot.Use inferior pixel disposal route (centroid method, method of interpolation, curve fitting method etc.) to try to achieve central point to little target spot then.Behind the central point of the point target that obtains each frame sequence image, just can judge the movement locus of point target in time, exactly.
The gazing type camera motion point target Precise Position System that proposes according to the present invention mainly comprises optical imaging system, planar array detector, image capture module and four parts of image processing module.Optical imaging system adopts the general imaging system of looking in the distance; Planar array detector can be CCD, CMOS, IRFPA (infrared focal plane device) or the like, but their frame frequency must be enough high; Image capture module also must be able to be provided with suitable space over-sampling rate according to the speed of the moving spot targets in the concrete application scenario except general image collecting function; The content of image processing module comprises: carry out the multiframe stack at the sequence image that collects, carry out little target spot detection, extract and use inferior pixel method to try to achieve the center of point target.The content of image processing section can use devices such as FPGA, DSP to carry out real-time hardware processing, also sequence image can be transferred on the computing machine and handle.
The present invention has made full use of the advantage of the high frame frequency of gazing type camera, uses simple system structure, adopts succinct method, has improved the spatial resolution of system and the signal to noise ratio (S/N ratio) of sequence image, thereby has improved the bearing accuracy of moving spot targets.
Description of drawings
Fig. 1 is a gazing type camera motion point target positioning system workflow diagram.
Embodiment
Present embodiment at the speed of moving spot targets be approximately 7 pixel per seconds.
The gazing type camera motion point target Precise Position System that is adopted specifically comprises:
Optical imaging system: the imaging optical system major parameter of looking in the distance is:
Bore 90mm;
Focal length 270mm.
Detector: 512 * 512 yuan of medium wave infrared focal plane detectors.The frame frequency of detector is adjustable, and the highest frame frequency can reach 100Hz.
Image capture module: the frame frequency that detector is set is 50Hz, then approximately just point target is gathered piece image every 0.14 pixel.The sequence image that collects is transferred to the spatial cache of calculator memory appointment.
Image processing module: coding on computers, carried out following algorithm process at the sequence image of moving spot targets after through the space over-sampling.
1, the original infrared sequence image that collects is carried out pre-service such as Nonuniformity Correction and blind element compensation.
2, pretreated sequence image is carried out the multiframe stack.Specifically be with each two field picture and its front 3 frames and back 3 frames, totally 7 two field pictures carry out multiframe stack and ask average again.
3, detect, extract little target spot.Comprise that specifically utilization morphology nonlinear filtering wave technology carries out background and suppresses; Using adaptive threshold gray scale partitioning algorithm to carry out target cuts apart; Utilization frame correlation technique is removed false target, keeps real target.
4, last, to the little target spot that extracts, the utilization centroid method calculates the center of each frame point target.
Through experiment statistics, be 1.7 o'clock in signal to noise ratio (S/N ratio), system reaches 0.2 pixel to the bearing accuracy of this moving spot targets.
Claims (2)
1. gazing type camera motion point target localization method, it is characterized in that: it comprises step:
A. utilize the high frame frequency characteristic of planar array detector that the point target of microinching is carried out the space over-sampling, the interframe acquisition interval is just gathered piece image to moving spot targets less than 0.5 pixel every 0.125 pixel;
B. the sequence image that collects is carried out multiframe stack, its method is: at each frame of sequence image, with the preceding n frame of its and this frame and afterwards the n frame superpose, the value of n is decided according to the degree of image over-sampling, span is between 1-4;
C. on the basis of multiframe stack, detect, extract little target spot, then little target spot is used inferior pixel disposal route, be that centroid method, method of interpolation or curve fitting method are tried to achieve central point, the central point of the point target by each frame sequence image of obtaining is made the movement locus of measured target.
2. gazing type camera motion point target positioning system, it comprises optical imaging system, planar array detector, image capture module and image processing module, it is characterized in that:
A. planar array detector is the high frequency planar array detector, and it is a kind of in CCD, CMOS or the infrared focus plane IRFPA device;
B. image capture module is the image capture module that the space over-sampling rate can be set according to the speed of the moving spot targets in the concrete application scenario, and the space over-sampling rate should make spatial sampling at interval less than 0.5 pixel;
C. image processing module is to carry out the multiframe stack to the sequence image that image capture module collects, carry out little target spot detection, extract and use inferior pixel method to try to achieve the image processing module of the center of point target, wherein the multiframe stack is with each frame in the sequence image, superpose with the preceding n frame and the back n frame of this two field picture, the value view of n is decided as the degree of over-sampling, span is between 1-4, image processing module adopts FPGA or DSP device hardware to realize, perhaps adopts computer software to realize.
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| CN103047972B (en) * | 2012-12-25 | 2014-11-19 | 中国科学院长春光学精密机械与物理研究所 | Method for improving resolution of geostationary orbit satellite platform area array gazing camera |
| CN103489173B (en) * | 2013-09-23 | 2016-08-17 | 百年金海科技有限公司 | A kind of Superresolution Video Reconstruction method |
| CN107490436A (en) * | 2017-08-10 | 2017-12-19 | 成都市晶林科技有限公司 | A kind of infrared temperature measurement system atmospheric transmissivity bearing calibration |
| CN110097533B (en) * | 2019-02-12 | 2023-04-07 | 哈尔滨新光光电科技股份有限公司 | Method for accurately testing overall dimension and position of light spot |
| CN112529810A (en) * | 2020-12-15 | 2021-03-19 | 北京空间机电研究所 | Detection signal-to-noise ratio improving method of area array staring camera |
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| WO2007085341A1 (en) * | 2006-01-27 | 2007-08-02 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Method and apparatus for producing a high-resolution image for fibre-optic systems |
| CN101068357A (en) * | 2007-05-24 | 2007-11-07 | 北京航空航天大学 | Frequency domain fast sub picture element global motion estimating method for image stability |
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| US4567515A (en) * | 1983-04-20 | 1986-01-28 | Measuronics Corporation | Multiple image generation and analysis system |
| US6147709A (en) * | 1997-04-07 | 2000-11-14 | Interactive Pictures Corporation | Method and apparatus for inserting a high resolution image into a low resolution interactive image to produce a realistic immersive experience |
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