CN102244776A - Automatic tracking laser thermal imaging monitoring system - Google Patents
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Abstract
The invention relates to an automatic tracking laser thermal imaging monitoring system, which comprises a target recognition module and a target tracking module, wherein the target recognition module intercepts a real-time video image, differentiates the real-time video image and a background image, performs binarization, obtains a ship target by using a region growing algorithm, and performs target tracking and locking on the recognized ship target. The monitoring system still can capture a ship and obtain continuous ship videos even under the condition of fog or night to monitor a navigation channel in all day, ensure the smoothness of the navigation channel and the security of the ship, reduce manual operations and realize automatic management, stores monitored data information and the like into a database to bring convenience to digital ship management, and can timely call the data information when needed and help a manager to know more information about the ship.
Description
Technical field
The invention belongs to electrical communication technology; Test circuit or testing equipment; Be used to detect, indicate or report the circuit or the apparatus technology of fault or accident, particularly a kind of can by computer programming realize for the boats and ships in the navigation channel from motion tracking LASER HEAT imaging monitoring system.
Background technology
Along with the electron trade develop rapidly, electronic technology is upgraded constantly and is accelerated, various transducers, camera and collector etc. are widely applied in the research and development of electronic technology and using, and because every profession and trade makes that to the requirement raising of equipment automatization and function digitization number of electric parts such as transducer, camera and collector continue to increase, function constantly strengthens.
Supervisory control system constantly develops, and video monitoring system is upgraded rapidly to Based Intelligent Control from Artificial Control, and unattended boats and ships dynamic video supervisory control system also is born thereupon, and applies in the video monitoring system of existing navigation channel.But present supervisory control system running situation from the navigating area, existing navigation channel video monitoring system exists certain drawback, mainly show and have only competence exertion effect when visibility is high by day, under the very big condition of night or fog, existing supervisory control system works hardly, and existing supervisory control system manually control operation platform and zoom lens could be carried out real-time monitoring to boats and ships, has increased the difficulty of monitoring to a certain extent.
Summary of the invention
The technical problem that the present invention solves is, because prior art has only competence exertion effect when visibility is high by day, under the very big condition of night or fog, existing monitoring is worked hardly, and existing supervisory control system manually control operation platform and zoom lens could be carried out real-time monitoring to boats and ships, and the needs that cause also can't guarantee operating efficiency when utilizing great amount of manpower to address the above problem, increase the problem of the difficulty of monitoring to a certain extent, so provide a kind of optimization from motion tracking LASER HEAT imaging monitoring system.
The technical solution adopted in the present invention is, and is a kind of from motion tracking LASER HEAT imaging monitoring system, describedly comprises target identification module and target tracking module from motion tracking LASER HEAT imaging monitoring system, and the target identification module comprises following job step:
Step 1: obtain panoramic video, the initialization background image is changed to gray level image;
Step 2: intercept video image in real time, be changed to gray level image, do calculus of differences with background image, compare difference, difference is designated as M;
Step 3: the difference image to video image and background image carries out binaryzation, gets M and threshold value T relatively, is 255 if M then establishes the difference image gray value greater than threshold value T, is 0 otherwise establish its gray value, wherein 15＜T＜45;
Step 4: use the region growing algorithm, the binary image of scanning step four gained if it is 255 that the pixel value of consecutive points is arranged, then is merged into a zone;
Step 5: obtain four end points in each regional upper and lower, left and right and form a rectangle frame, be designated as target A;
Step 6: getting some frames is a circulation, in this process, judges whether the rectangle frame that region growing algorithm frame goes out can meet the characteristics of boats and ships regular movement, removes if do not satisfy with regard to regarding jamming target, obtains effective ship target;
After recognizing ship target by the work of target identification module boats and ships are carried out target following, target tracking module comprises following job step:
Step 1: in the live video stream of current location, intercept current frame image, if detecting target then continues next step, otherwise repeating step one;
Step 2: lock for detected target exploitation target lock-on module, and follow the tracks of.
Preferably, the target lock-on module described in the job step two of described target tracking module comprises following job step:
Step 1: get a two field picture, if detecting target then proceeds next step, otherwise repeating step one;
Step 2: detected target image is write effective target formation L;
Step 3: the traversal subsequent frame, the target among detected target and the former effective object queue L is carried out paired comparisons, if successful matching is then carried out next step, then increases fresh target in effective target formation L if pairing is unsuccessful;
Step 4: the effective target frame number adds one, and marks sequence number on the target frame, repeating step three.
Preferably, described threshold value T gets 30.
Preferably, described paired comparisons may further comprise the steps:
Step 1: four endpoint values in upper and lower, left and right of the target among new detected target and the former effective object queue L are relatively got difference, get the absolute value of difference;
Step 2: when the left end point difference less than a and lower extreme point difference less than b, or right endpoint difference successful matching during less than d, otherwise be fresh target less than c and upper extreme point difference; Wherein, 15＜a＜45,1＜b＜9,15＜c＜45,15＜d＜45.
Preferably, described a gets 30, and b gets 5, and c gets 30, and d gets 30.
Preferably, describedly also comprise database management module from motion tracking LASER HEAT imaging monitoring system, described database management module comprises following job step:
Step 1: the video image that screens the boats and ships of tracked and locking;
Step 2: intercepting has the image of ship name, confirms official number, name of vessel;
Step 3: set up the time and the direction of motion that boats and ships entered and left monitoring range, be stored into database;
Step 4: call data base querying.
The invention provides a kind of optimization from motion tracking LASER HEAT imaging monitoring system, by the target identification module, target tracking module, the target lock-on module, the cooperation of paired comparisons and database management module, also can catch boats and ships even make this have from motion tracking LASER HEAT imaging monitoring system under the situation at mist or night, can obtain continuous boats and ships video, realization is to the round-the-clock monitoring in navigation channel, ensured the safety of the unobstructed and boats and ships in navigation channel, reduced manual operation, realized automatic management, and data message that monitoring is obtained etc. is stored into database, be convenient to the digital management of boats and ships, can in time call whenever necessary, and can help the more information of understanding about boats and ships of administrative staff, solve prior art supervisory function bit limited problem under the very big condition of night or fog, saved great amount of manpower, guarantee operating efficiency, reduced the difficulty of monitoring.
Description of drawings
Fig. 1 is the workflow diagram of target identification module among the present invention;
Fig. 2 is the workflow diagram of target tracking module among the present invention;
Fig. 3 is the workflow diagram of target lock-on module among the present invention;
Fig. 4 is the flow chart of paired comparisons process among the present invention;
Fig. 5 is the workflow diagram of database management module among the present invention.
Embodiment
Below in conjunction with embodiment the present invention is described in further detail, but protection scope of the present invention is not limited to this.
As shown in Figure 1, 2, the present invention relates to a kind ofly from motion tracking LASER HEAT imaging monitoring system, describedly comprise target identification module and target tracking module from motion tracking LASER HEAT imaging monitoring system, the target identification module comprises following job step:
Step 1: obtain panoramic video, the initialization background image is changed to gray level image;
Step 2: intercept video image in real time, be changed to gray level image, do calculus of differences with background image, compare difference, difference is designated as M;
Step 3: the difference image to video image and background image carries out binaryzation, gets M and threshold value T relatively, is 255 if M then establishes the difference image gray value greater than threshold value T, is 0 otherwise establish its gray value, wherein 15＜T＜45;
Step 4: use the region growing algorithm, the binary image of scanning step four gained if it is 255 that the pixel value of consecutive points is arranged, then is merged into a zone;
Step 5: obtain four end points in each regional upper and lower, left and right and form a rectangle frame, be designated as target A;
Step 6: getting some frames is a circulation, in this process, judges whether the rectangle frame that region growing algorithm frame goes out can meet the characteristics of boats and ships regular movement, removes if do not satisfy with regard to regarding jamming target, obtains effective ship target;
After recognizing ship target by the work of target identification module boats and ships are carried out target following, target tracking module comprises following job step:
Step 1: in the live video stream of current location, intercept current frame image, if detecting target then continues next step, otherwise repeating step one;
Step 2: lock for detected target exploitation target lock-on module, and follow the tracks of.
Among the present invention, target identification module main purpose is for to catch the boats and ships profile.The main flow process of this module is: obtain the panoramic video in navigation channel by video camera, and select initial picture image as a setting, background image is changed to gray level image; Intercept real-time video image incessantly, the video image of this moment all is a coloured image also, and it is changed to gray level image, and continuous and background image is done difference processing; The difference M that difference processing is obtained constantly and threshold value T compare, in case find that difference M is greater than threshold value T then represent to have the target boats and ships to sail the navigation channel into, so it is 255 that current difference image is provided with its gray value, it is the binary conversion treatment of full display white, and difference M is not provided with its gray value greater than the difference image of threshold value T is 0, promptly shows the binary conversion treatment of black entirely; Use the region growing algorithm, the binary image of scanning gained if it is 255 that the pixel value of consecutive points is arranged, then is merged into a zone; Behind the region growing algorithm, obtain four end points in each regional upper and lower, left and right and form a rectangle frame, be designated as target A; Because the meeting of supervising device is subjected to the interference of ripples line in the process of ship monitor, need to remove, so need characteristics according to ship motion, get some frames as a circulation, in this process, judge whether the rectangle frame that above-mentioned zone growth algorithm frame goes out can meet the characteristics of boats and ships regular movement, remove as jamming target that the control of some frames is herein obtained by study if just can't satisfy.
Threshold value T in the target identification module of the present invention generally chooses in a scope, obtains according to study and calculating, is preferably 30 in the embodiments of the invention.
Image among the present invention all is set to gray level image after intercepting.Gray scale promptly uses black tone to represent object, from 0%(white) to 100%(black) brightness value of represented object.
Simultaneously, piece image comprises that target object, background also have noise, want from many-valued digital picture, directly to extract target object, the most frequently used method is set a threshold value T exactly, with the data separated into two parts of T with image: greater than the pixel group of T with less than the pixel group of T, this is the binaryzation (BINARIZATION) of image.The binaryzation of image, the gray values of pixel points on the image is set to 0 or 255 exactly, just entire image is presented significantly to have only black and white visual effect.And generally speaking, the edge of object can present the discontinuity of gray scale, so can merge some zones identical that be scattered around the pixel group cut apart behind the pixel group by the region growing algorithm with gray scale target, finally obtain a target frame near rectangle, be target.
The present invention utilizes video camera to obtain the navigation channel panoramic picture by target identification module work, utilizes difference algorithm that the boats and ships profile is caught, and having solved traditional supervisory control system is having the problem that boats and ships are difficult to catch under mist or the night situation.
Among the present invention, target tracking module is mainly used in supervisory control system and finds in the scope of a certain discovery target target to be followed the tracks of after the target, and the assurance target is not lost.This module groundwork flow process is: intercept current frame image in the live video stream of the current scope that has recognized target, when detecting boats and ships detected target is locked and follows the tracks of.
The work of the present invention by target tracking module has realized the round-the-clock monitoring to the navigation channel, has ensured the safety of the unobstructed and boats and ships in navigation channel, has reduced manual operation, has realized automatic management.
As shown in Figure 3, the target lock-on module described in the job step two of described target tracking module comprises following job step:
Step 1: get a two field picture, if detecting target then proceeds next step, otherwise repeating step one;
Step 2: detected target image is write effective target formation L;
Step 3: the traversal subsequent frame, the target among detected target and the former effective object queue L is carried out paired comparisons, if successful matching is then carried out next step, then increases fresh target in effective target formation L if pairing is unsuccessful;
Step 4: the effective target frame number adds one, and marks sequence number on the target frame, repeating step three.
Among the present invention, the target lock-on module is mainly used in and obtains continuous boats and ships image, and guarantees that obscuring does not appear in the sequence number of boats and ships when having many boats and ships.The groundwork flow process of this module is: carry out real-time image interception in the current scope that has recognized target, intercept the image of first frame, and in image, detect target, detect target and then detected target image is write effective target formation L, intercept and detect the image of next frame then, the target of intercepting and the existing target among former effective formation L are carried out paired comparisons, when pairing is unsuccessful, represent that this is initiate target boats and ships, so in effective target formation L, increase target in addition, when successful matching, then the effective target frame number is added one, and on the target frame, mark sequence number.For example, retrieve same ship 1, what then mark on all target frame in this formation all is 1 always, and available frame count is the number of times of successful matching, means locking ship 1; When going out spot 2 in the monitoring range, owing to the data of ship 1 and ship 2 can't be matched, so ship 2 is increased to another target, on the target frame, mark 2, after detect 2 continuation and on the target frame, mark 2, available frame count is the number of times of successful matching, means locking ship 2.
The present invention follows the tracks of boats and ships by the work of target lock-on module, be intended to obtain continuous boats and ships video, when especially many boats and ships being arranged in monitoring range, this module can guarantee the effective tracking to boats and ships, guarantee in tracing process, can lock each ship, and can fast it be changed to fresh target when in tracing process, occurring newly advancing the target boats and ships in the monitoring range and implement to follow the tracks of, understand the different movement locus of each ship conscientiously, guarantee can in monitoring range, not occur boats and ships with the situation of losing.
The target lock-on module is the part in the target tracking module, has only target lock-on module operate as normal could guarantee carrying out smoothly of target tracking module conscientiously.
As shown in Figure 4, the paired comparisons of mentioning in the above-mentioned target lock-on module mainly may further comprise the steps:
Step 1: four endpoint values in upper and lower, left and right of the target among new detected target and the former effective object queue L are relatively got difference, get the absolute value of difference;
Step 2: when the left end point difference less than a and lower extreme point difference less than b, or right endpoint difference successful matching during less than d, otherwise be fresh target less than c and upper extreme point difference; Wherein, 15＜a＜45,1＜b＜9,15＜c＜45,15＜d＜45.
Described a gets 30, and b gets 5, and c gets 30, and d gets 30.
Among the present invention, whether the target that paired comparisons is mainly used among newer detected target and the former effective object queue L matches whether will add new target in former effective object queue L with decision.The main flow process of this process is: by the workflow of above-mentioned module as can be known, the mode of main intercepting target of the present invention for obtain the target place by the target frame of binaryzation, the trend of always determining target of walking according to the target frame, so four endpoint values in upper and lower, left and right by the target among newer detected target and the former effective object queue L, obtain difference, get the absolute value of difference; When the difference of left end point is worth b less than the difference of certain value a and lower extreme point less than certain, or the then successful matching during less than d less than the difference of certain value c and upper extreme point of the difference of right endpoint, being considered as is the proper motion frame of same existing target; When not satisfying above-mentioned comparison condition, then being considered as is a target that newly appears in the supervisory control system, and promptly pairing is unsuccessful.
Among the embodiment of this paired comparisons, a value gets 30, and the b value gets 5, and the c value gets 30, and the d value gets 30, more than each value can determine by calculating study.
Whether the ship target that the present invention judges in the present supervisory control system tracing process by paired comparisons is existing ship target, be intended to control continuous target, when especially many boats and ships being arranged in monitoring range, this process can guarantee the effective tracking to boats and ships, guarantee in tracing process, can lock each ship, and can fast it be changed to fresh target when occurring newly advancing the target boats and ships in the monitoring range in tracing process implements to follow the tracks of, conscientiously understand the different movement locus of each ship, guarantee can in monitoring range, not occur boats and ships with the situation of losing.
Paired comparisons is the part in the target lock-on module, and having only paired comparisons normally to carry out conscientiously guaranteeing the target lock-on module, everything goes well with your work carries out.
As shown in Figure 5, describedly also comprise database management module from motion tracking LASER HEAT imaging monitoring system, described database management module comprises following job step:
Step 1: the video image that screens the boats and ships of tracked and locking;
Step 2: intercepting has the image of ship name, confirms official number, name of vessel;
Step 3: set up the time and the direction of motion that boats and ships entered and left monitoring range, be stored into database;
Step 4: call data base querying.
Among the present invention, database management module is mainly used in intercepting and has the picture of ship name, confirms the boats and ships data message, sets up boats and ships and enters and leave information such as the time of control point and the direction of motion, is stored into database.The groundwork flow process of this module is: the video image that screens the boats and ships of tracked and locking in the effective formation that obtains by above-mentioned steps, intercepting has the image of ship name and confirms official number and name of vessel, even derive more information, difference is set up out boats and ships and is entered and leave information such as the time of monitoring range and the direction of motion according to the information of official number and name of vessel, and be stored into database, when needs use database, call database and carry out inquiry job.
The present invention is by the data preparation warehouse-in of database management module with boats and ships, and in needs, can accomplish in time to have access to, the be more convenient for management of boats and ships, and the more information of understanding about boats and ships of help administrative staff, more be applicable to the management work of large batch of boats and ships, raise the efficiency, reduce mistake.
The invention solves prior art and have only competence exertion effect when visibility is high by day, under the very big condition of night or fog, existing monitoring is worked hardly, and existing supervisory control system is control operation platform and the zoom lens problem that could carry out real-time monitoring to boats and ships manually, has changed also can't guarantee operating efficiency when need utilize great amount of manpower to address the above problem, increased the present situation of the difficulty of monitoring to a certain extent.
The present invention is by the target identification module, target tracking module, the target lock-on module, the cooperation of paired comparisons and database management module, also can catch ship target even make this have from motion tracking LASER HEAT imaging monitoring system under the situation at mist or night, can obtain continuous boats and ships video, realization is to the round-the-clock monitoring in navigation channel, ensured the safety of the unobstructed and boats and ships in navigation channel, reduced manual operation, realized automatic management, and data message that monitoring is obtained etc. is stored into database, be convenient to the digital management of boats and ships, can in time call whenever necessary, and can help the more information of understanding about boats and ships of administrative staff.
Claims (6)
1. one kind from motion tracking LASER HEAT imaging monitoring system, it is characterized in that: describedly comprise target identification module and target tracking module from motion tracking LASER HEAT imaging monitoring system, the target identification module comprises following job step:
Step 1: obtain panoramic video, the initialization background image is changed to gray level image;
Step 2: intercept video image in real time, be changed to gray level image, do calculus of differences with background image, compare difference, difference is designated as M;
Step 3: the difference image to video image and background image carries out binaryzation, gets M and threshold value T relatively, is 255 if M then establishes the difference image gray value greater than threshold value T, is 0 otherwise establish its gray value, wherein 15＜T＜45;
Step 4: use the region growing algorithm, the binary image of scanning step four gained if it is 255 that the pixel value of consecutive points is arranged, then is merged into a zone;
Step 5: obtain four end points in each regional upper and lower, left and right and form a rectangle frame, be designated as target A;
Step 6: getting some frames is a circulation, in this process, judges whether the rectangle frame that region growing algorithm frame goes out can meet the characteristics of boats and ships regular movement, removes if do not satisfy with regard to regarding jamming target, obtains effective ship target;
After recognizing ship target by the work of target identification module boats and ships are carried out target following, target tracking module comprises following job step:
Step 1: in the live video stream of current location, intercept current frame image, if detecting target then continues next step, otherwise repeating step one;
Step 2: lock for detected target exploitation target lock-on module, and follow the tracks of.
2. according to claim 1 a kind of from motion tracking LASER HEAT imaging monitoring system, it is characterized in that: the target lock-on module described in the job step two of described target tracking module comprises following job step:
Step 1: get a two field picture, if detecting target then proceeds next step, otherwise repeating step one;
Step 2: detected target image is write effective target formation L;
Step 3: the traversal subsequent frame, the target among detected target and the former effective object queue L is carried out paired comparisons, if successful matching is then carried out next step, then increases fresh target in effective target formation L if pairing is unsuccessful;
Step 4: the effective target frame number adds one, and marks sequence number on the target frame, repeating step three.
3. according to claim 1 a kind of from motion tracking LASER HEAT imaging monitoring system, it is characterized in that: described threshold value T gets 30.
4. according to claim 2 a kind of from motion tracking LASER HEAT imaging monitoring system, it is characterized in that: described paired comparisons may further comprise the steps:
Step 1: four endpoint values in upper and lower, left and right of the target among new detected target and the former effective object queue L are relatively got difference, get the absolute value of difference;
Step 2: when the left end point difference less than a and lower extreme point difference less than b, or right endpoint difference successful matching during less than d, otherwise be fresh target less than c and upper extreme point difference; Wherein, 15＜a＜45,1＜b＜9,15＜c＜45,15＜d＜45.
5. according to claim 4 a kind of from motion tracking LASER HEAT imaging monitoring system, it is characterized in that: described a gets 30, and b gets 5, and c gets 30, and d gets 30.
6. according to claim 1 a kind of from motion tracking LASER HEAT imaging monitoring system, it is characterized in that: describedly also comprise database management module from motion tracking LASER HEAT imaging monitoring system, described database management module comprises following job step:
Step 1: the video image that screens the boats and ships of tracked and locking;
Step 2: intercepting has the image of ship name, confirms official number, name of vessel;
Step 3: set up the time and the direction of motion that boats and ships entered and left monitoring range, be stored into database;
Step 4: call data base querying.
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| CN108712633A (en) * | 2018-05-18 | 2018-10-26 | 中船重工鹏力（南京）大气海洋信息系统有限公司 | A kind of multichannel CCTV while the monitoring method to ship relay tracking |
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| CN102244776B (en) | 2013-03-20 |
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