CN101937505B - Target detection method and equipment and used image acquisition device thereof - Google Patents
Target detection method and equipment and used image acquisition device thereof Download PDFInfo
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- CN101937505B CN101937505B CN2009101081679A CN200910108167A CN101937505B CN 101937505 B CN101937505 B CN 101937505B CN 2009101081679 A CN2009101081679 A CN 2009101081679A CN 200910108167 A CN200910108167 A CN 200910108167A CN 101937505 B CN101937505 B CN 101937505B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/174—Segmentation; Edge detection involving the use of two or more images
Abstract
The invention relates to a target detection method which comprises the following steps of: controlling a modulated light transmitting device to transmit light pulse signals with first light intensity and second light intensity to a target to be detected and background, wherein the first light intensity and the second light intensity are not identical, and the reflecting capacity of the target to be detected and that of the background to the light pulse signals are different; controlling an image sensor to acquire images of the target to be detected and the background, wherein the image sensor comprises a plurality of image acquisition areas, and alternatively scanning the image acquisition areas in sequence under the first light intensity and the second light intensity to obtain an image containing alternately dark and bright pattern units; and recognizing the image containing the alternately dark and bright pattern units to distinguish the target to be detected and the background. The invention also provides target detection equipment and a used image acquisition device thereof. The method and the equipment can be used for accurately detecting the target in strong light, and the equipment is simple and has low cost.
Description
Technical field
The present invention relates to object detection field, more particularly, relate to the image collecting device of a kind of object detection method and equipment and use thereof.
Background technology
Typical imaging system generally is comprised of functional modules such as target detection, target acquistion, target with high precision tracking and target identifications.Wherein, target detection is that an important component part of imaging system also is one of them gordian technique and difficulties as the processing links of front end in the system.Only has the target that detects in time in the scene, the carrying out smoothly of a series of works for the treatment of such as object tracking and recognition that guarantee is follow-up.
Because contain the light of various wave bands in the daylight, target detection technique is easy to be subjected to the particularly impact of sunshine of extraneous light.Object detection apparatus if target to be measured has stronger bias light, particularly is subjected to sunshine or high light direct projection in outdoor application, and the accuracy of then measuring will be had a strong impact on.
How to solve high light is bottleneck problem and the technological difficulties that puzzlement to be solved and restriction imaging system Practical Performance are arranged to the interference of target detection always.Cause at present domestic and international expert's great attention and carried out deeply widely research around this problem.
Solve the prior art scheme that sunlight disturbs in the target detection technique and mainly contain following two kinds.
First method is to block device by adding filter plate or adding sunshine, filters visible light, only keeps the light signal of required wave band.Chinese patent application number for the patent disclosure of No.200820052299 a kind of light curtain that can under outdoor sunshine, use, it comprises single-chip microcomputer; Described single-chip microcomputer is connected with infrared emission head with infrared receiving terminal respectively, and dimmer is equipped with in the positive front of described infrared receiving terminal body.And the infrared probe that Chinese patent application number provides a kind of anti-sunlight to disturb for the patent of No.99238839.It comprises housing, is positioned at the filter glass of case top, places the infrared transmitting tube of housing bottom and the retaining piece between infrared receiving tube and infrared tube, the cavity that contains between case top, the bottom is platform shape cavity, the top cross-sectional area of platform shape cavity is greater than the bottom, and the side surface of platform shape cavity is rough surface.
Said method can not tackle the problem at its root, and the filtering meeting causes sensitivity, so system need improve emissive power, and the sensitivity that balancing out filters causes descends.In addition, system adds filter plate or blocks device increases system cost, uses inconvenient.
Second method is that infra-red (IR) decoding circuit is carried out signal compensation, eliminates the interference of external light source.Application No. be No.20040056199 patent disclosure the infrared detection system under a kind of daylight.This system comes the existence of ambient light with a module, and begins to carry out signal compensation, affects surround lighting to the performance of system to reduce as far as possible.The system of this kind method is complicated, and cost is high, is not easy to realize.
Summary of the invention
The technical problem to be solved in the present invention is, detects target object under the high light background, for the high defective of the complicated cost of said system of prior art, provides the image collecting device of a kind of object detection method and equipment and use thereof.
The technical solution adopted for the present invention to solve the technical problems is: have the light pulse signal of the first light intensity and the second light intensity by making the emission of light modulated emitter, imageing sensor is divided into a plurality of image acquisition region, and alternately under described the first light intensity and described the second light intensity, above-mentioned a plurality of image acquisition region are scanned successively, to obtain to contain the image of light and dark pattern unit, it is identified to distinguish described target to be measured and described background.
The invention provides a kind of object detection method, may further comprise the steps:
Control light modulated emitter has the light pulse signal of the first light intensity and the second light intensity to target to be measured and background emission, wherein the first light intensity and the second light intensity are unequal, and described target to be measured is different to the reflection potential of described light pulse signal from described background;
The control chart image-position sensor carries out image acquisition to described target to be measured and described background, wherein said imageing sensor comprises a plurality of image acquisition region, and alternately under described the first light intensity and described the second light intensity, above-mentioned a plurality of image acquisition region are scanned successively, to obtain to contain the image of light and dark pattern unit;
The above-mentioned image that contains light and dark pattern unit is identified to distinguish described target to be measured and described background.
In object detection method of the present invention, a plurality of image acquisition region that described imageing sensor comprises are configured to: so that in the image that contains light and dark pattern unit that gathers, so that contain in the image of light and dark pattern unit in formation, the image of target to be measured drops on two or more described image acquisition region.
In object detection method of the present invention, described a plurality of image acquisition region arrange continuously, and correspond respectively to a positive integer pixel column or the pixel column of described imageing sensor.
In object detection method of the present invention, the described image that contains light and dark pattern unit identified comprise difference identification and template identification.
In object detection method of the present invention, the described image that contains light and dark pattern unit is carried out difference identification, comprising:
S10: select template, determine corresponding with it pixel Rule of judgment, and generate a blank image as the shop drawing picture;
S20: select pixel to be checked at the described image that contains light and dark pattern unit with scan mode;
S30: according to described pixel Rule of judgment, judge that whether pixel to be checked is target pixel points to be measured, is then to turn S40, otherwise turns S50;
S40: on described shop drawing picture, the pixel identical with location of pixels to be checked filled, be bright;
S50: judge whether the described image that contains light and dark pattern unit has scanned, EOP (end of program) then in this way, otherwise detect next pixel, namely turn S20.
The present invention also provides a kind of object detection apparatus, comprising:
The light modulated emitter, be used for having to target to be measured and background emission the light pulse signal of the first light intensity and the second light intensity, wherein the first light intensity and the second light intensity are unequal, and described target to be measured is different to the reflection potential of described light pulse signal from described background;
Imageing sensor is used for described target to be measured and described background are carried out image acquisition, and wherein said imageing sensor comprises a plurality of image acquisition region;
Control module, being used for the control chart image-position sensor alternately scans above-mentioned a plurality of image acquisition region under described the first light intensity and described the second light intensity successively, obtaining to contain the image of light and dark pattern unit, and the above-mentioned image that contains light and dark pattern unit is identified to distinguish described target to be measured and described background.
In object detection apparatus of the present invention, a plurality of image acquisition region that described imageing sensor comprises are configured to: so that in the image that contains light and dark pattern unit that gathers, so that contain in the image of light and dark pattern unit in formation, the image of target to be measured drops on two or more described image acquisition region.
In object detection apparatus of the present invention, described a plurality of image acquisition region arrange continuously, and correspond respectively to a positive integer pixel column or the pixel column of described imageing sensor.
The present invention also provides a kind of image collecting device, comprising:
The light modulated emitter, be used for having to target to be measured and background emission the light pulse signal of the first light intensity and the second light intensity, wherein the first light intensity and the second light intensity are unequal, and described target to be measured is different to the reflection potential of described light pulse signal from described background;
Imageing sensor is used for described target to be measured and described background are carried out image acquisition, and wherein said imageing sensor comprises a plurality of image acquisition region;
Control module is used for the control chart image-position sensor and alternately under described the first light intensity and described the second light intensity above-mentioned a plurality of image acquisition region is scanned successively, to obtain to contain the image of light and dark pattern unit.
In image collecting device of the present invention, a plurality of image acquisition region that described imageing sensor comprises are configured to: so that in the image that contains light and dark pattern unit that gathers, so that contain in the image of light and dark pattern unit in formation, the image of target to be measured drops on two or more described image acquisition region.
In image collecting device of the present invention, described a plurality of image acquisition region arrange continuously, and correspond respectively to a positive integer pixel column or the pixel column of described imageing sensor.
The present invention also provides another kind of object detection method, may further comprise the steps:
Control light modulated emitter has the light pulse signal of the first light intensity and the second light intensity to target to be measured and background emission, wherein the first light intensity and the second light intensity are unequal, and described target to be measured is different to the reflection potential of described light pulse signal from described background;
The control chart image-position sensor carries out image acquisition to described target to be measured and described background under described the first light intensity and described the second light intensity, the image of wherein said target to be measured has owing to described the first light intensity and described the second light intensity alternating action produce the image that contains light and dark pattern unit;
The above-mentioned image that contains light and dark pattern unit is identified to distinguish described target to be measured and described background.
The present invention also provides another kind of object detection apparatus, comprising:
The light modulated emitter is used for having to target to be measured and background emission the light pulse signal of the first light intensity and the second light intensity, and wherein said target to be measured is different to the reflection potential of described light pulse signal from described background;
Imageing sensor, be used under described the first light intensity and described the second light intensity described target to be measured and described background being carried out image acquisition, the image of wherein said target to be measured has owing to described the first light intensity and described the second light intensity alternating action produce the image that contains light and dark pattern unit;
Control module is used for the above-mentioned image that contains light and dark pattern unit is identified to distinguish described target to be measured and described background.
The present invention also provides another kind of image collecting device, comprising:
The light modulated emitter is used for having to target to be measured and background emission the light pulse signal of the first light intensity and the second light intensity, and wherein said target to be measured is different to the reflection potential of described light pulse signal from described background; Imageing sensor, be used under described the first light intensity and described the second light intensity described target to be measured and described background being carried out image acquisition, the image of wherein said target to be measured has the image that contains light and dark pattern unit that produces owing to described the first light intensity and described the second light intensity alternating action.
Implement object detection method of the present invention and equipment, efficiently solve in the conventional target detection technique because a difficult problem that can not accurately detect by the sunshine serious interference.Equipment of the present invention does not need additionally to add filter plate or other radical occlusion device, does not need to design complicated circuit yet and comes signal is compensated, and the working method that only needs control can modulate light emitting devices and imageing sensor gets final product.In addition, the imageing sensor that present device and device adopt only needs common CMOS or ccd image sensor can produce good detection effect, and does not need to adopt expensive high-end imageing sensor, has greatly reduced cost.Method and apparatus of the present invention realizes easily, and is simple to operate, and can accurately detect object under the high light background, effective, substantially undeformed.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples, in the accompanying drawing:
Fig. 1 is various band of light synoptic diagram contained in the daylight;
Fig. 2 is the process flow diagram of object detection method embodiment of the present invention;
Fig. 3 is the structural drawing of object detection apparatus of the present invention and image collecting device embodiment;
Fig. 4 a-b is the shaded-image synoptic diagram that two different embodiment of object detection method of the present invention form;
Fig. 5 is the program flow diagram of the template detection method of object detection method embodiment of the present invention;
Fig. 6 a-b is the template detection method synoptic diagram of object detection method embodiment of the present invention;
Fig. 7 a-c is the result schematic diagram of object detection method of the present invention and apparatus embodiments.
Embodiment
As shown in Figure 1, be various band of light synoptic diagram contained in the daylight.As we can see from the figure, comprise the light of various wave bands in the daylight, such as ruddiness, blue light, purple light etc.Therefore, under high light or daylight background, target detection technique is easy to be subjected to the particularly impact of sunshine of extraneous light.
As shown in Figure 2, the process flow diagram for object detection method of the present invention may further comprise the steps:
In step S1, control light modulated emitter has the light pulse signal of the first light intensity and the second light intensity to target to be measured and background emission, wherein the first light intensity and the second light intensity are unequal, and described target to be measured is different to the reflection potential of described light pulse signal from described background; The difference of reflection potential may be owing to reflectivity, affect the factor of reflection potential apart from far and near difference or some other; In the present embodiment, be chosen in target surface to be measured and be coated with last layer high-performance reflectorized material and improve its reflection potential, or directly attach upper light reflecting membrane, as the light-reflection plyester film etc. of aluminizing.
In step S2, the control chart image-position sensor carries out image acquisition to described target to be measured and described background, wherein said imageing sensor comprises a plurality of image acquisition region, and alternately under described the first light intensity and described the second light intensity, above-mentioned a plurality of image acquisition region are scanned successively, to obtain to contain the image of light and dark pattern unit;
In step S3, the above-mentioned image that contains light and dark pattern unit is identified to distinguish described target to be measured and described background.
In method provided by the invention, because target to be measured is with respect to background, reflection potential to light pulse signal is stronger, therefore the gray scale of zones of different imaging gained under imaging under the first light intensity and the second light intensity of target to be measured has larger difference, the LO-pattern feature that namely forms is obvious, and the area grayscale difference of background imaging under two light intensity is little, therefore by corresponding image-recognizing method, as described in just distinguishing well such as the method for masterplate identification or difference identification target to be measured and as described in background.
The present invention also provides another kind of object detection method, its process is similar to said method, difference only is: in step S2, the control chart image-position sensor carries out image acquisition to described target to be measured and described background under described the first light intensity and described the second light intensity, the image of wherein said target to be measured has owing to described the first light intensity and described the second light intensity alternating action produce the image that contains light and dark pattern unit.
As shown in Figure 3, the present invention also provides a kind of object detection apparatus 100, comprises light modulated emitter 101, imageing sensor 102 and control module 103; Wherein, light modulated emitter 101, be used for having to target to be measured and background emission the light pulse signal of the first light intensity and the second light intensity, wherein the first light intensity and the second light intensity are unequal, and described target to be measured is different to the reflection potential of described light pulse signal from described background; Imageing sensor 102 is used for described target to be measured and described background are carried out image acquisition, and wherein said imageing sensor comprises a plurality of image acquisition region; Control module 103, being used for the control chart image-position sensor alternately scans above-mentioned a plurality of image acquisition region under described the first light intensity and described the second light intensity successively, obtaining to contain the image of light and dark pattern unit, and the above-mentioned image that contains light and dark pattern unit is identified to distinguish described target to be measured and described background.
The present invention also provides another kind of object detection apparatus, its structure is similar to above-mentioned object detection apparatus, difference only is: imageing sensor, be used under described the first light intensity and described the second light intensity described target to be measured and described background being carried out image acquisition, the image of wherein said target to be measured has owing to described the first light intensity and described the second light intensity alternating action produce the image that contains light and dark pattern unit; Control module is used for the above-mentioned image that contains light and dark pattern unit is identified to distinguish described target to be measured and described background.
The present invention also provides a kind of image collecting device, its structure is identical with above-mentioned object detection apparatus, and light modulated emitter 101 is identical with above-mentioned functions with imageing sensor 102, difference only is: control module 103, only be used for the control chart image-position sensor and alternately under described the first light intensity and described the second light intensity, above-mentioned a plurality of image acquisition region scanned successively, to obtain to contain the image of light and dark pattern unit.
The present invention also provides another kind of image collecting device, it is comprised of light modulated emitter and imageing sensor, wherein: the light modulated emitter, be used for having to target to be measured and background emission the light pulse signal of the first light intensity and the second light intensity, wherein said target to be measured is different to the reflection potential of described light pulse signal from described background; Imageing sensor, be used under described the first light intensity and described the second light intensity described target to be measured and described background being carried out image acquisition, the image of wherein said target to be measured has the image that contains light and dark pattern unit that produces owing to described the first light intensity and described the second light intensity alternating action.
Above-mentioned object detection apparatus or image collecting device all can be connected with data transmission device 104, target detection result or image acquisition result are transferred to multi-purpose computer 200 carry out subsequent treatment.
Need to prove that the first light intensity and the second light intensity are unequal in said method, equipment and the device, and difference between the two should be so that can distinguish when carrying out image acquisition; There is one to be preferably zero in the first light intensity or the second light intensity, so that the difference between first and second light intensity is maximum, is convenient to the image recognition in later stage; In an embodiment of the present invention, select the second light intensity greater than the first light intensity.Method of the present invention, equipment and device can be chosen the light modulated emitter 101 that sends different wave length, such as infrared light, ultraviolet light etc.; Preferred infrared light.The imageing sensor 102 that method of the present invention, equipment and device are selected can be common cmos sensor or ccd image sensor.
Shown in Fig. 4 a-b, be the shaded-image synoptic diagram of two different embodiment formation of object detection method of the present invention.As mentioned above, the imageing sensor of method of the present invention, equipment and device comprises a plurality of image acquisition region; In different embodiment, the division of image acquisition region also may be different.The application has listed two kinds of concrete division methods, but the present invention's mode of the division of limited images pickup area not.Only need to satisfy so that in the image that contains light and dark pattern unit that gathers, the image of target to be measured drops on two or more described image acquisition region.So that target area to be measured has light and dark pattern characteristics, be convenient to follow-up image recognition like this.For the different demarcation of image acquisition region and the form of exposing accordingly, may need to customize corresponding imageing sensor.
Shown in Fig. 4 a, be the shaded-image synoptic diagram that forms in one embodiment of the invention, wherein said a plurality of image acquisition region arrange in one direction continuously, and correspond respectively to a positive integer pixel column or the pixel column of described imageing sensor.This is the simplest a kind of embodiment, also is applicable to common image sensor in the market.101 emissions of light modulated emitter have the light pulse signal of the first light intensity and the second light intensity, and control module 103 control chart image-position sensors 101 the first light intensity to the zone 1,3,5 ... scan, under the second light intensity to the zone 2,4,6 ... scan, so that the image that gathers presents light and dark striated, then this image is identified.And target area to be measured is better than background to the reflection of light ability, and therefore the light and shade streak feature of target area to be measured is more obvious, is very easy to identification by difference or other recognition methods.
Shown in Fig. 4 b, be the shaded-image synoptic diagram that forms in another embodiment of the present invention, wherein said a plurality of image acquisition region are with the formal distribution of multiple row.101 emissions of light modulated emitter have the light pulse signal of the first light intensity and the second light intensity, and control module 103 control chart image-position sensors 101 the first light intensity to the zone 11,13,22,24 ... scan, under the second light intensity to the zone 12,14,21,23 ... scan, so that the image that gathers presents is light and dark latticed, then adopt this image of corresponding recognition methods to identify.
Fig. 5 is the program flow diagram of the adoptable template detection method of object detection method embodiment of the present invention.May further comprise the steps:
In step S10, select template, determine corresponding with it pixel Rule of judgment, and generate a blank image as the shop drawing picture;
In step S20, select pixel to be checked with scan mode at the described image that contains light and dark pattern unit; Namely each pixel is detected one by one;
In step S30, according to described pixel Rule of judgment, judge that whether pixel to be checked is target pixel points to be measured, is then to turn S40, otherwise turns S50;
In step S40, on described shop drawing picture, the pixel identical with location of pixels to be checked filled, be bright; Then the target area progressively obtains filling, thereby makes a distinction with background;
In step S50, judge whether the described image that contains light and dark pattern unit has scanned, EOP (end of program) is then carried out otherwise forward next pixel in this way, namely turns S20 and continues above-mentioned detection.
The template detection method is that selected template is carried out translation in whole image pixel scope, detect according to certain judgment rule and constantly to judge whether certain pixel is bright spot, if it is same position is filled bright pixel in blank image, until the entire image retrieval is complete, bar graph and the background separation of object will be opened.The advantage of template detection algorithm is not need image is carried out pre-service, reduces algorithm execution time, detects effective, substantially undeformed.
Shown in Fig. 6 a-b, be the template detection method synoptic diagram of object detection method embodiment of the present invention; Fig. 6 a is the template that one embodiment of the invention adopts, and this masterplate is identified mainly for the candy strip of pixel behavior 1, and it is by 1 point (K
1, K
2), 2 point (K
1-1, K
2), 3 point (K
1+ 1, K
2), 4 point (K
1-1, K
2-1) and 5 point (K
1+ 1, K
2-1) consists of; Judge pixel 1 point (K to be checked
1, K
2) for the necessary condition of fringe area point be:
(1) 1 point (K
1, K
2) gray-scale value must be greater than the average of all the other 4 some gray-scale values in the template;
(2) 2 point (K
1-1, K
2) and 1 point (K
1, K
2) absolute difference of gray-scale value, and 3 point (K
1+ 1, K
2) and 1 point (K
1, K
2) absolute difference of gray-scale value must be greater than set threshold value;
(3) when template respectively to the pixel that just moves right, to just lower mobile 2 pixels, to just lower mobile 2 again to just moving right a pixel, 1 point (K in the template then
1, K
2) move on to respectively 6 point (K
1, K
2+ 1), 7 point (K
1+ 2, K
2) and 8 point (K
1+ 2, K
2+ 1) position; 6 points, 7 points, 8 gray-scale value must be all greater than the average of the gray-scale value of all the other 4 points in its place template.
When above-mentioned three conditions all satisfy, determine that pixel 1 point (k1, k2) to be checked is qualified point, then be filled to bright to the blank image position pixel identical with it.
The step of method of difference detection method comprises: first the image that gathers is carried out pre-service; Then the image after processing is carried out the pixel Difference Calculation line by line or by column, obtain the differential pixel matrix; Again the differential pixel matrix is carried out Threshold segmentation, it is bright making the fringe area pixel, and other area pixel is dark, namely obtains target image to be measured.
The step of 3*3 template detection method comprises: first the image that gathers is carried out pre-service; Then by corresponding fringe area point decision condition, judge one by one line by line whether pixel to be checked is the fringe area point; Be the fringe area point if detect a certain pixel, determine whether again the dark pixel point in the fringe area, be then to this point with and other pixel of place row be filled to one by one bright, and constantly detect the difference that is filled a little with the pixel gray-scale value of adjacent lines, when this difference during less than a certain threshold value, judge then that this is filled and a little arrived the stripe pattern marginal position, stop padding; If pixel to be checked is the bright image vegetarian refreshments in the fringe area, then its next line is carried out above-mentioned same operation; It is complete to judge whether whole image detects, and is then to finish, otherwise continues aforesaid operations.
Although the present invention has referred to provide above-mentioned 3 kinds of recognition methodss to light and dark stripe pattern; but it should be understood that; those of ordinary skills know the method that multiple image recognition is arranged; the image-recognizing method that object detection method any and of the present invention is combined with is all in protection scope of the present invention.
Fig. 7 a-c is the result schematic diagram of method and apparatus embodiment of the present invention.Wherein, Fig. 7 a is the object delineation to be measured under the complex background, and Fig. 7 b adopts the taken object synoptic diagram to be checked of interlacing exposure technique under the high light background, and target location to be measured presents candy strip as we can see from the figure; And the scheme before improving is having under the sunlight background, and target to be measured and background all present white to be obscured seriously, and basic identification does not go out target to be measured.Fig. 7 c is detected target image to be measured, be Fig. 7 b after image recognition, the target image to be measured that accurately extracts from background can be seen substantially undeformed.
By the above results synoptic diagram as can be known, utilize method and apparatus of the present invention under than the strong sunlight background, to detect accurately target to be measured, and deformation is less.Compare with two methods of prior art, equipment of the present invention does not need additionally to add filter plate or other radical occlusion device, does not need to design complicated circuit yet and comes signal is carried out signal compensation, only needs control light modulated emitter and imageing sensor to get final product.In addition, the imageing sensor that present device and device adopt only needs common CMOS or ccd image sensor can produce good detection effect, and does not need to adopt expensive high-end imageing sensor, has greatly reduced cost.Method and apparatus of the present invention realizes easily, and is simple to operate, and can accurately detect the infrared target thing under the high light background, effective, substantially undeformed, is worthy to be popularized.
Above embodiment has only expressed preferred implementation of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention; Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention; Therefore, all equivalents that the claim scope is done according to the present invention and modification all should belong to the covering scope of claim of the present invention.
Claims (8)
1. an object detection method is characterized in that, may further comprise the steps:
Control light modulated emitter has the light pulse signal of the first light intensity and the second light intensity to target to be measured and background emission, wherein the first light intensity and the second light intensity are unequal, and described target to be measured is different to the reflection potential of described light pulse signal from described background;
The control chart image-position sensor carries out image acquisition to described target to be measured and described background, wherein said imageing sensor comprises a plurality of image acquisition region, and alternately under described the first light intensity and described the second light intensity, above-mentioned a plurality of image acquisition region are scanned successively, to obtain to contain the image of light and dark pattern unit; And a plurality of image acquisition region that described imageing sensor comprises are configured to: so that contain in the image of light and dark pattern unit in formation, the image of target to be measured drops on two the above image acquisition region;
The above-mentioned image that contains light and dark pattern unit is identified to distinguish described target to be measured and described background.
2. object detection method according to claim 1 is characterized in that, described a plurality of image acquisition region arrange continuously, and corresponds respectively to a positive integer pixel column or the pixel column of described imageing sensor.
3. object detection method according to claim 1 is characterized in that, the described image that contains light and dark pattern unit is identified comprise difference identification and template identification.
4. each described object detection method is characterized in that according to claim 1-3, and the described image that contains light and dark pattern unit is carried out difference identification, comprising:
S10: select template, determine corresponding with it pixel Rule of judgment, and generate a blank image as the shop drawing picture;
S20: select pixel to be checked at the described image that contains light and dark pattern unit with scan mode;
S30: according to described pixel Rule of judgment, judge that whether pixel to be checked is target pixel points to be measured, is then to turn S40, otherwise turns S50;
S40: on described shop drawing picture, the pixel identical with location of pixels to be checked filled, be bright;
S50: judge whether the described image that contains light and dark pattern unit has scanned, EOP (end of program) then in this way, otherwise detect next pixel, namely turn S20.
5. an object detection apparatus is characterized in that, comprising:
The light modulated emitter, be used for having to target to be measured and background emission the light pulse signal of the first light intensity and the second light intensity, wherein the first light intensity and the second light intensity are unequal, and described target to be measured is different to the reflection potential of described light pulse signal from described background;
Imageing sensor is used for described target to be measured and described background are carried out image acquisition, and wherein said imageing sensor comprises a plurality of image acquisition region;
Control module, being used for the control chart image-position sensor alternately scans above-mentioned a plurality of image acquisition region under described the first light intensity and described the second light intensity successively, to obtain to contain the image of light and dark pattern unit, and a plurality of image acquisition region that described imageing sensor comprises are configured to: so that contain in the image of light and dark pattern unit in formation, the image of target to be measured drops on two the above image acquisition region; And described control module also identifies to distinguish described target to be measured and described background to the above-mentioned image that contains light and dark pattern unit.
6. object detection apparatus according to claim 5 is characterized in that, described a plurality of image acquisition region arrange continuously, and corresponds respectively to a positive integer pixel column or the pixel column of described imageing sensor.
7. an object detection method is characterized in that, may further comprise the steps:
Control light modulated emitter has the light pulse signal of the first light intensity and the second light intensity to target to be measured and background emission, wherein the first light intensity and the second light intensity are unequal, and described target to be measured is different to the reflection potential of described light pulse signal from described background;
The control chart image-position sensor carries out image acquisition to described target to be measured and described background under described the first light intensity and described the second light intensity, the image of wherein said target to be measured has owing to described the first light intensity and described the second light intensity alternating action produce the image that contains light and dark pattern unit; And contain in the image of light and dark pattern unit in formation, target area to be measured has light and dark pattern characteristics;
The above-mentioned image that contains light and dark pattern unit is identified to distinguish described target to be measured and described background.
8. an object detection apparatus is characterized in that, comprising:
The light modulated emitter is used for having to target to be measured and background emission the light pulse signal of the first light intensity and the second light intensity, and wherein said target to be measured is different to the reflection potential of described light pulse signal from described background;
Imageing sensor, be used under described the first light intensity and described the second light intensity described target to be measured and described background being carried out image acquisition, the image of wherein said target to be measured has owing to described the first light intensity and described the second light intensity alternating action produce the image that contains light and dark pattern unit; And contain in the image of light and dark pattern unit in formation, target area to be measured has light and dark pattern characteristics;
Control module is used for the above-mentioned image that contains light and dark pattern unit is identified to distinguish described target to be measured and described background.
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| CN2009101081679A CN101937505B (en) | 2009-07-03 | 2009-07-03 | Target detection method and equipment and used image acquisition device thereof |
| PCT/CN2010/070881 WO2011000226A1 (en) | 2009-07-03 | 2010-03-05 | Target detecting method and device and used image collecting apparatus thereof |
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| CN2009101081679A CN101937505B (en) | 2009-07-03 | 2009-07-03 | Target detection method and equipment and used image acquisition device thereof |
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| CN103957362B (en) * | 2014-05-05 | 2017-06-06 | 广东欧珀移动通信有限公司 | A kind of method and system of adjust automatically camera exposure effect |
| CN106803086A (en) * | 2016-12-30 | 2017-06-06 | 北京旷视科技有限公司 | Distinguish method, the apparatus and system of certificate authenticity |
| CN108320303A (en) * | 2017-12-19 | 2018-07-24 | 中国人民解放军战略支援部队航天工程大学 | A kind of pinhole cameras detection method based on binocular detection |
| CN110214328B (en) * | 2019-04-15 | 2021-03-19 | 深圳市汇顶科技股份有限公司 | Fingerprint identification method and device and electronic equipment |
| CN110849911B (en) * | 2019-11-25 | 2021-10-15 | 厦门大学 | Glass defect image acquisition device, glass defect detection equipment and detection method |
| CN111614915B (en) * | 2020-05-13 | 2021-07-30 | 深圳市欢创科技有限公司 | Space positioning method, device and system and head-mounted equipment |
| CN113569713A (en) * | 2021-07-23 | 2021-10-29 | 浙江大华技术股份有限公司 | Stripe detection method and device for video image and computer readable storage medium |
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