CN102231205A - Multimode monitoring device and method - Google Patents
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Abstract
The invention discloses a multimode monitoring device and a multimode monitoring method. The device comprises a visible image acquiring module, an infrared image acquiring module, a synthetic aperture radar (SAR) image acquiring module, a central processor module, an image processing module and a wireless terminal. The method comprises the following steps that: the central processor module receives visible image data, infrared image data and SAR image data, transmits the visible image data, the infrared image data and the SAR image data to the image processing module, then receives data fused by the image processing module and transmits the fused data to the wireless terminal; and the wireless terminal wirelessly transmits the received data to a remote server. By the invention, the visible image and the infrared image or the SAR image can be fused together, so that the all-weather working capability of the monitoring device can be enhanced.
Description
Technical field
The technical field technical field of image processing that the present invention relates to relates in particular to a kind of with visible light, infrared ray and SAR(synthetic-aperture radar) supervising device and the method for image co-registration.
Background technology
Along with the development of Internet of Things, with ubiquitous, especially security monitoring is to life security, enterprise security and the important effect of national defense safety play more and more in people's life for sensor.
The existing sensors supervisory system mainly is a single-sensor, and monitoring effect is not desirable especially under the situation of night and bad weather, mainly uses at night such as infrared sensor, and the visible light camera is not brought into play effect at night; And at rainy day or foggy days, the actual effect of monitoring is relatively poor; Find target and confirm that the ability of target is relatively poor.
MULTISENSOR INTEGRATION decision-making and the technical development of judging are comparatively slow, present existing visible light and " infrared " incorporate rig camera, but what it comprised is not real thermal camera (only being infrared lamp), and does not carry out its image correlation and handle and fusion treatment.
Simultaneously, along with the development of SAR technology, small-sized light-duty SAR can be used for security monitoring (such as naval vessel, sea, vehicle on highway etc.).There is not SAR to be applied to the monitoring field at present as yet, normally being used to of practical application tests the speed or the normal radar that monitors (this class radar can not imaging, can only carry out use in conjunction in conjunction with map), and the SAR(synthetic-aperture radar), be a kind of imaging radar, its relative visual light imaging, visual weaker, but its penetration capacity and all weather operations ability are strong, and more effective to the detection of target (naval vessel, vehicle etc.).
Summary of the invention
Purpose of the present invention is exactly the problem that exists at prior art, provides a kind of with visible light, infrared ray and SAR(synthetic-aperture radar) supervising device and the method for image co-registration.
Above-mentioned purpose realizes by following proposal:
A kind of multimode supervising device is characterized in that, described device comprises:
The visible images acquisition module, it is used to obtain visible images;
The infrared view acquisition module, it is used to obtain infrared view;
The SAR image collection module, it is used to obtain the SAR image;
CPU module, it is connected with memory buffer and power module, described CPU module is used to receive described visible images, infrared view and SAR view data, and give image processing module with described visible images, infrared view and SAR image data transmission, and receive data after described image processing module is handled, the data after handling are sent to wireless terminal;
Image processing module, it is connected with described CPU module, and be used to receive visible images, infrared view and the SAR view data that described CPU module sends, visible images and infrared image or SAR image are carried out fusion treatment, then the data after the fusion treatment are sent to CPU module;
Wireless terminal, its data that are used for receiving send to remote server with wireless mode.
Multimode supervising device according to above-mentioned is characterized in that, image processing module carried out enhancement process to visible images earlier before visible images and infrared image or SAR image are carried out fusion treatment.
Multimode supervising device according to above-mentioned is characterized in that, described visible images acquisition module is connected with described CPU module with image encoder by the PAL input interface with the infrared view acquisition module; Described SAR image collection module is connected with described CPU module by the LVDS interface.
Multimode supervising device according to above-mentioned is characterized in that described image processing module is connected with independently storer.
Multimode supervising device according to above-mentioned is characterized in that, described memory buffer is the DDR2 storer.
Multimode supervising device according to above-mentioned is characterized in that, described independently storer is the SRAM storer.
Multimode supervising device according to above-mentioned is characterized in that, described image encoder is the ADV7179 scrambler.
Multimode supervising device according to above-mentioned is characterized in that, described CPU module is FPGA, and described image processing module is DSP, and described central processing module is connected with described image processing module by the EMIF interface.
Multimode supervising device according to above-mentioned is characterized in that, described CPU module is connected with described wireless terminal by 422 interfaces, USB interface or Ethernet interface.
Multimode supervising device according to above-mentioned is characterized in that, the enhancement process that described image processing module carries out visible light is that mist elimination is handled.
According to above-mentioned multimode supervising device, it is characterized in that, described image processing module comprises the fusion treatment of visible light and infrared view infrared view is carried out medium filtering, the visible images that carries out after filtered infrared view and the figure image intensifying is carried out image registration, infrared view behind the registration is carried out extracting based on the infrared image target of region growing and rim detection, carry out target then and cut apart, image and the visible images behind the registration after will cutting apart carry out fusion treatment.
According to above-mentioned multimode supervising device, it is characterized in that, described image processing module to the fusion treatment of visible light and SAR image comprise to the SAR image carry out coherent spot filtering successively, make up the clutter statistical model, CFAR detection, morphologic filtering, ROI locate extraction, described visible images is carried out geometrical registration, then the data map that ROI location is extracted to described can be with in the light image, with the identical target in location on visible images, merge then.
Multimode supervising device according to above-mentioned is characterized in that, before carrying out image co-registration, with SAR image and light image can be carried out feature extraction, carries out the fusion and the discriminating of image then.
A kind of multimode method for supervising is characterized in that, said method comprising the steps of:
(1) obtains visible images, infrared view and SAR image;
(2) visible images is carried out enhancement process, and the visible images after the enhancement process and infrared image or SAR image are carried out fusion treatment;
(3) data after will handling then send to wireless terminal, and wireless terminal sends to remote server with the data that receive with wireless mode.
Multimode method for supervising according to above-mentioned is characterized in that, in step (2), before visible images and infrared image or SAR image are carried out fusion treatment, earlier visible images is carried out enhancement process.
Multimode method for supervising according to above-mentioned is characterized in that, described enhancement process is that mist elimination is handled.
According to above-mentioned multimode method for supervising, it is characterized in that, described fusion treatment comprises carries out medium filtering to infrared view, visible images after filtered infrared view and the figure image intensifying is carried out image registration, infrared view behind the registration is carried out extracting based on the infrared image target of region growing and rim detection, carry out target then and cut apart, image and the visible images behind the registration after will cutting apart carry out fusion treatment.
According to above-mentioned multimode method for supervising, it is characterized in that, to the fusion treatment of visible light and SAR image comprise to the SAR image carry out coherent spot filtering successively, make up the clutter statistical model, CFAR detection, morphologic filtering, ROI locate extraction, described visible images is carried out geometrical registration, then the data map that ROI location is extracted to described can be with in the light image, with the identical target in location on visible images, merge then.
Multimode method for supervising according to above-mentioned is characterized in that, before carrying out image co-registration, with SAR image and light image can be carried out feature extraction, carries out the fusion and the discriminating of image then.
Beneficial effect of the present invention: the present invention with visible images and infrared image or SAR image co-registration together, thereby can improve supervising device all weather operations ability.
Description of drawings
Fig. 1 is the structural representation of multimode supervising device of the present invention;
Fig. 2 is the process flow diagram of multimode method for supervising of the present invention;
Fig. 3 is the visible light that relates in the multimode method for supervising of the present invention and the blending algorithm process flow diagram of infrared view;
Fig. 4 is the visible light that relates in the multimode method for supervising of the present invention and the blending algorithm process flow diagram of SAR image.
Embodiment
Referring to Fig. 1, multimode supervising device of the present invention comprises the visible images acquisition module 1 that is used to obtain visible images, is used to obtain the infrared view acquisition module 2 of infrared view, is used to obtain the SAR image, SAR image collection module 3.Also comprise CPU module 4, it is connected with memory buffer and power module, is used to receive described visible images, infrared view and SAR view data.Preferably, memory buffer is the DDR2 storer, data stream is carried out buffer memory by the DDR2 storer, CPU module 4 is given image processing module 5 with visible images, infrared view and SAR image data transmission, and the data after 5 processing of reception image processing module, the data after handling are sent to wireless terminal 6; Image processing module 5, it is connected with CPU module 4, and be used to receive visible images, infrared view and the SAR view data that CPU module 4 sends, can carry out space or image enhancement processing to visible images, and the visible images after the enhancement process and infrared image or SAR image carried out fusion treatment, then the data after the fusion treatment are sent to CPU module 5; Wireless terminal 6, its data that are used for receiving send to remote server with wireless mode.
Preferably, visible images acquisition module 1 is connected with CPU module 4 with image encoder 9,10 by PAL input interface 7,8 with infrared view acquisition module 2; SAR image collection module 3 is connected with CPU module 4 by LVDS interface 11.
In order to satisfy the requirement that image processing module 5 allows image processing algorithm, preferably, image processing module 5 is connected with independently SRAM storer.
Preferably, image encoder is selected the ADV7179 scrambler for use.CPU module 4 is FPGA, and image processing module 5 is DSP, and central processing module 4 is connected with image processing module 5 by the EMIF interface.CPU module 4 is connected with wireless terminal 6 by 422 interfaces, USB interface or Ethernet interface.
Further, FPGA can select the chip of the Spartan3A series of Xilinx company for use, and it is fast to have processing speed, the characteristic that power consumption is lower, and have technical grade product, can be good at is the application demand that adapts under the rugged surroundings.DSP selects 64 family chips of TI company for use, has processing power at a high speed and floating-point operation ability (be the precision that guarantees that algorithm is realized, need certain floating-point operation ability).IO interface is all selected ripe coding and decoding video chip, serial communication chip for use, and USB interface adopts the USB2.0 phy interface chip of Sai Pulasi company, can realize the high-speed data transmission ability.
The enhancement process that 5 pairs of visible lights of image processing module carry out comprises the mist elimination processing, goes rain processing etc.The mist elimination algorithm can use Dark Channel algorithm.
The fusion treatment of 5 pairs of visible lights of image processing module and infrared view comprises carries out medium filtering to infrared view, visible images is carried out spatial domain figure image intensifying, the visible images that carries out after filtered infrared view and the figure image intensifying is carried out image registration, infrared view behind the registration is carried out extracting based on the infrared image target of region growing and rim detection, carry out target then and cut apart, image and the visible images behind the registration after will cutting apart carry out fusion treatment.
In the present embodiment, can adopt rapid registering method that infrared image and visible images are carried out image registration based on wavelet transformation.Image co-registration can adopt common blending algorithm (selecting big algorithm, pyramid diagram as fusion method, wavelet image fusion method etc. as the pixel gray-scale value), can also adopt neighborhood of pixels can measure big method, promptly earlier each pixel in the image is calculated its region energy, the region energy size that compares corresponding pixel points in infrared image and the visible images, when the region energy of the pixel in the infrared image greater than visible images in during the region energy of pixel of correspondence position, get in the infrared image this gray values of pixel points as the gray-scale value of fused images correspondence position; Otherwise, if the region energy of the pixel in the infrared image during less than the region energy of the pixel of correspondence position in the visible images, is got in the visible images this gray values of pixel points as the gray-scale value of fused images correspondence position.And for the nontarget area, in order to keep spectral information abundant in the visible images as much as possible, we are directly with the pixel value of each pixel of visible images as correspondence position in the fused images.Can give prominence to our interested thermal target zone in the infrared image like this, keep the abundant spectral information in the visible images simultaneously again.It is little that this fusion method has the computational data amount, real-time characteristics, and be easy to realize.
Image processing module comprises the fusion treatment of visible light and SAR image the SAR image is carried out coherent spot filtering successively, makes up clutter statistical model, CFAR detection, morphologic filtering, ROI(Regions of Interest, area-of-interest) extract the location, described visible images is carried out geometrical registration, then the data map that ROI location is extracted to described can be with in the light image, with the identical target in location on visible images, merge then.
Before carrying out image co-registration,, carry out the fusion and the discriminating of image then with SAR image and light image can be carried out feature extraction.
Referring to Fig. 2, multimode method for supervising of the present invention may further comprise the steps: (1) obtains visible images, infrared view and SAR image; (2) visible images and infrared image or SAR image are carried out fusion treatment; (3) data after will handling then send to wireless terminal, and wireless terminal sends to remote server with the data that receive with wireless mode.
In step (2), can carry out space or image enhancement processing to visible images.The enhancement process that visible light is carried out comprises the mist elimination processing, goes rain processing etc.The mist elimination algorithm can use Dark Channel algorithm.
Referring to Fig. 3, the fusion treatment of visible light and infrared image comprises carries out medium filtering to infrared view, visible images is carried out spatial domain figure image intensifying, visible images after filtered infrared view and the figure image intensifying is carried out image registration, infrared view behind the registration is carried out extracting based on the infrared image target of region growing and rim detection, carry out target then and cut apart, image and the visible images behind the registration after will cutting apart carry out fusion treatment.
In the present embodiment, can adopt rapid registering method that infrared image and visible images are carried out image registration based on wavelet transformation.Image co-registration can adopt common blending algorithm (selecting big algorithm, pyramid diagram as fusion method, wavelet image fusion method etc. as the pixel gray-scale value), can also adopt neighborhood of pixels can measure big method: promptly earlier each pixel in the image to be calculated its region energy, the region energy size that compares corresponding pixel points in infrared image and the visible images, when the region energy of the pixel in the infrared image greater than visible images in during the region energy of pixel of correspondence position, get in the infrared image this gray values of pixel points as the gray-scale value of fused images correspondence position; Otherwise, if the region energy of the pixel in the infrared image during less than the region energy of the pixel of correspondence position in the visible images, is got in the visible images this gray values of pixel points as the gray-scale value of fused images correspondence position.And for the nontarget area, in order to keep spectral information abundant in the visible images as much as possible, we are directly with the pixel value of each pixel of visible images as correspondence position in the fused images.Can give prominence to our interested thermal target zone in the infrared image like this, keep the abundant spectral information in the visible images simultaneously again.It is little that this fusion method has the computational data amount, real-time characteristics, and be easy to realize.
Referring to Fig. 4, to the fusion treatment of visible light and SAR image comprise to the SAR image carry out coherent spot filtering successively, make up the clutter statistical model, CFAR detects (constant false alarm rate target detection), morphologic filtering, ROI locatees extraction, described visible images is carried out geometrical registration, then the data map that ROI location is extracted to described can be with in the light image, with the identical target in location on visible images, merge then.
Coherent spot filtering can be undertaken by following algorithm:
(1) draw by a large amount of SAR data, for mono-vision system, noise levels off to Rayleigh/negative exponent and distributes, and 95.5% pixel distribution is in average and two sigma value scopes.
(2) therefore come analogue noise to distribute, calculate the scope of two sigma values with the negative exponent theoretical distribution.
(3) statistical pixel distribution histogram is found out the threshold value at cumulative distribution 98% place.Judge that whether central point is greater than threshold value in the window.If, and greater than luminance threshold k, then center pixel is kept and do not handle, if not, then carry out following processing.
(4) in a certain window, carry out least square MMSE computing, determine the sigma scope.Pixel in this scope as the valid pixel that participates in computing, is calculated the valid pixel mean variance, and carry out center pixel with least square MMSE and estimate.
(5) the pixel distribution threshold value is set, no longer with 95.5% as steady state value, when target was extracted, adaptively selected threshold parameter was best with the value between the 80-90%.
Target detection task based on the SAR image is exactly to seek the local anomaly of Luminance Distribution, and the quality of testing result depends on two basic radar parameters to a great extent: (1) target background ratio, i.e. signal to noise ratio (S/N ratio); (2) standard variance of background.Before being carried out target detection, the SAR image needs background clutter is carried out statistical modeling.By theoretical analysis and a large amount of measured data experiment, prove
Distributing is suitable for describing SAR picture noise characteristic most, and it is to evenly, general inhomogeneous and extremely inhomogeneous clutter zone (target-rich environment) modeling more accurately, and parameter estimation is easy, and computation complexity is low.Therefore adopt
Distribute as the statistical model in clutter zone in the local sliding window.Consider intensity data, use
The intensity form that distributes
The distribution modeling.
The CFAR detection method is a kind of object detection method of Pixel-level level, and its prerequisite is that target has stronger contrast with respect to background.The CFAR algorithm is by the purpose that relatively reaches the detection object pixel of single pixel grey scale and a certain thresholding.
Military target has certain geometry and size usually in the high-resolution optical image, and its profile is generally rectangle, triangle, regular figure such as circle, when the visual angle not simultaneously, can present parallelogram sturcutre.This artificial linear feature has good discriminating performance.Optics ROI treatment step is: at first utilize Canny operator extraction ROI edge, carry out then and the morphology operations that arrives obtains more smooth contoured.Extract the edge shape characteristic parameter at last, as length breadth ratio, area, mahalanobis distance invariant, target invariant moments etc.
Before carrying out image co-registration, can and light image can be carried out feature extraction with the SAR image, carry out the fusion and the discriminating of image then.
Claims (19)
1. a multimode supervising device is characterized in that, described device comprises:
The visible images acquisition module, it is used to obtain visible images;
The infrared view acquisition module, it is used to obtain infrared view;
The SAR image collection module, it is used to obtain the SAR image;
CPU module, it is connected with memory buffer and power module, described CPU module is used to receive described visible images, infrared view and SAR view data, and give image processing module with described visible images, infrared view and SAR image data transmission, and receive data after described image processing module is handled, the data after handling are sent to wireless terminal;
Image processing module, it is connected with described CPU module, and be used to receive visible images, infrared view and the SAR view data that described CPU module sends, visible images and infrared image or SAR image are carried out fusion treatment, then the data after the fusion treatment are sent to CPU module;
Wireless terminal, its data that are used for receiving send to remote server with wireless mode.
2. multimode supervising device according to claim 1 is characterized in that, image processing module carried out enhancement process to visible images earlier before visible images and infrared image or SAR image are carried out fusion treatment.
3. multimode supervising device according to claim 1 is characterized in that, described visible images acquisition module is connected with described CPU module with image encoder by the PAL input interface with the infrared view acquisition module; Described SAR image collection module is connected with described CPU module by the LVDS interface.
4. multimode supervising device according to claim 1 is characterized in that described image processing module is connected with independently storer.
5. multimode supervising device according to claim 1 is characterized in that, described memory buffer is the DDR2 storer.
6. multimode supervising device according to claim 3 is characterized in that, described independently storer is the SRAM storer.
7. multimode supervising device according to claim 2 is characterized in that, described image encoder is the ADV7179 scrambler.
8. multimode supervising device according to claim 1 is characterized in that, described CPU module is FPGA, and described image processing module is DSP, and described central processing module is connected with described image processing module by the EMIF interface.
9. multimode supervising device according to claim 1 is characterized in that, described CPU module is connected with described wireless terminal by 422 interfaces, USB interface or Ethernet interface.
10. multimode supervising device according to claim 2 is characterized in that, the enhancement process that described image processing module carries out visible light is that mist elimination is handled.
11. multimode supervising device according to claim 2, it is characterized in that, described image processing module comprises the fusion treatment of visible light and infrared view infrared view is carried out medium filtering, the visible images that carries out after filtered infrared view and the figure image intensifying is carried out image registration, infrared view behind the registration is carried out extracting based on the infrared image target of region growing and rim detection, carry out target then and cut apart, image and the visible images behind the registration after will cutting apart carry out fusion treatment.
12. multimode supervising device according to claim 1, it is characterized in that, described image processing module to the fusion treatment of visible light and SAR image comprise to the SAR image carry out coherent spot filtering successively, make up the clutter statistical model, CFAR detection, morphologic filtering, ROI locate extraction, described visible images is carried out geometrical registration, then the data map that ROI location is extracted to described can be with in the light image, with the identical target in location on visible images, merge then.
13. multimode supervising device according to claim 12 is characterized in that, before carrying out image co-registration, with SAR image and light image can be carried out feature extraction, carries out the fusion and the discriminating of image then.
14. a multimode method for supervising is characterized in that, said method comprising the steps of:
(1) obtains visible images, infrared view and SAR image;
(2) visible images is carried out enhancement process, and the visible images after the enhancement process and infrared image or SAR image are carried out fusion treatment;
(3) data after will handling then send to wireless terminal, and wireless terminal sends to remote server with the data that receive with wireless mode.
15. multimode method for supervising according to claim 14 is characterized in that, in step (2), before visible images and infrared image or SAR image are carried out fusion treatment, earlier visible images is carried out enhancement process.
16. multimode method for supervising according to claim 15 is characterized in that, described enhancement process is that mist elimination is handled.
17. multimode method for supervising according to claim 15, it is characterized in that, described fusion treatment comprises carries out medium filtering to infrared view, visible images after filtered infrared view and the figure image intensifying is carried out image registration, infrared view behind the registration is carried out extracting based on the infrared image target of region growing and rim detection, carry out target then and cut apart, image and the visible images behind the registration after will cutting apart carry out fusion treatment.
18. multimode method for supervising according to claim 14, it is characterized in that, to the fusion treatment of visible light and SAR image comprise to the SAR image carry out coherent spot filtering successively, make up the clutter statistical model, CFAR detection, morphologic filtering, ROI locate extraction, described visible images is carried out geometrical registration, then the data map that ROI location is extracted to described can be with in the light image, with the identical target in location on visible images, merge then.
19. multimode supervising device according to claim 14 is characterized in that, before carrying out image co-registration, with SAR image and light image can be carried out feature extraction, carries out the fusion and the discriminating of image then.
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