CN104601954A - Panoramic image splicing device and method and panoramic image monitoring system - Google Patents
Panoramic image splicing device and method and panoramic image monitoring system Download PDFInfo
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Abstract
The invention discloses a panoramic image splicing device. The panoramic image splicing device comprises an image splicing module and at least two image transmission paths, wherein each image transmission path comprises an image collection module, a distance detection module and a switch module, and a threshold distance is preset on each distance detection module. When each image collection module images an external object, each distance detection module detects the distance between each image collection module and the external object. When the distance between each image collection module and the external object is larger than or equal to each threshold distance of each distance detection module, each distance detection module controls opening and closing of each switch module, and an image collected by each image collection module is transmitted to the image splicing module through each switch module, and when the distance between each image collection module and the external object is less than each threshold distance of each distance detection module, each distance detection module controls each switch module to disconnect, and the image splicing module splices the image of each switch module and generates a panoramic image. The invention further discloses a panoramic image monitoring system which can accurately perform panoramic monitoring in real time.
Description
Technical field
The present invention relates to panoramic picture field, field, particularly relate to a kind of Panorama Mosaic device, method and supervisory control system.
Background technology
In existing video monitoring system, video frequency graphic monitoring system is widely used in public safety field, military detecting field and private detecting field etc.Along with the development of technology, the study hotspot that Panorama Mosaic is theoretical, techniques and methods is present image process field, its objective is the angle limitations solved because of imaging device, directly can not photograph the problem of 360 degree of full filed images.
A kind of full-view video image Camcording system of patent CN 103297668A publicity, it utilizes multiple camera to gather image from each orientation, and these image mosaic are become panoramic picture, thus is realizing 360 ° of overall view monitorings and monitoring in real time.But above-mentioned full-view video image Camcording system has the following disadvantages: on the one hand, because the image data amount transmitted in multi-angle or overall view monitoring system is the several times in single angle monitoring system, thus this system requires very high to data transmission capabilities; On the other hand, the image that this system is also invalid to some splices, and brings some view data unnecessarily processed, and then causes the processor of this system will process very large data volume, have impact on the speed of service of system and add power consumption to system.
Summary of the invention
For the problems referred to above, the object of the present invention is to provide a kind of Panorama Mosaic device, method, by removing the invalid image in the image of multiple camera collection, decreasing and needing view data to be processed, thus accelerating the speed of service, and decreasing power consumption.
The present invention also provides a kind of panoramic picture supervisory control system based on above-mentioned Panorama Mosaic device, method.
The embodiment of the present invention provides a kind of Panorama Mosaic device, comprise image mosaic module and at least two-way image transmitting road, described in each, image transmitting road comprises image capture module, distance detection module and switch module, one end of described switch module is electrically connected described image capture module and described distance detection module, the other end is electrically connected described image mosaic module, described distance detection module presets a threshold distance, described image capture module to external world image objects time, described distance detection module detects the distance of described image capture module and described external object, when described distance is more than or equal to described threshold distance, described distance detection module controls described switch module and closes, the image of described image capture module collection transfers to described image mosaic module by described switch module, when described distance is less than described threshold distance, described distance detection module controls described switch module and disconnects, the image that described image capture module gathers cannot pass through described switch module, and described image mosaic module is spliced the image by described switch module, and generating panorama image.
As the improvement of such scheme, described threshold distance is according to the operative scenario adaptive setting of described image capture module, and the threshold distance that the described distance detection module on different images transmission road is preset is identical or different.
As the improvement of such scheme, described Panorama Mosaic device also comprises image pre-processing module, one end of described image pre-processing module is electrically connected switch module described in each, the other end is electrically connected described image mosaic module, described image mosaic module is transferred to after preliminary treatment is carried out to the image of switch module transmission described in each, wherein, described preliminary treatment comprises at least one image processing operations in image enhaucament, Fast Median Filtering and image binaryzation.
As the improvement of such scheme, described in each, image transmitting road also comprises an image pre-processing module, one end of described image pre-processing module is electrically connected described switch module, the other end is electrically connected described image mosaic module, described image mosaic module is transferred to after preliminary treatment is carried out to the image by described switch module, wherein, described preliminary treatment comprises at least one image processing operations in image enhaucament, Fast Median Filtering and image binaryzation.
As the improvement of such scheme, described Panorama Mosaic device also comprises image compression encoding module, one end of described image compression encoding module is electrically connected described image mosaic module, the other end is electrically connected a display terminal, after the panoramic picture of described image mosaic module transfer is compressed, transfer to described display terminal.
As the improvement of such scheme, described distance detection module is infrared distance sensor.
The embodiment of the present invention also provides a kind of Panorama Mosaic method, comprises the steps:
By at least two-way image transmitting road to external world object carry out imaging, to obtain at least two images, wherein, image transmitting road described in each comprises image capture module, distance detection module and switch module;
When the distance that described distance detection module detects institute's image capture module and described external object is more than or equal to the described threshold distance default apart from detection module, closed described switch module, transfers to image mosaic module to make the image of described image capture module collection by described switch module;
When the distance that described distance detection module detects institute's image capture module and described external object is less than the described threshold distance default apart from detection module, disconnect described switch module, image mosaic module cannot be transferred to by described switch module to make the image of described image capture module collection; And
Image by described switch module is spliced, to obtain panoramic picture.
As the improvement of such scheme, described Panorama Mosaic method also comprises:
Carry out preliminary treatment to the image by described switch module, wherein, described preliminary treatment comprises at least one image processing operations in image enhaucament, Fast Median Filtering and image binaryzation.
As the improvement of such scheme, described Panorama Mosaic method also comprises:
Described panoramic picture is compressed, and the panoramic picture after compression is transferred to a display terminal.
The embodiment of the present invention also provides a kind of panoramic picture supervisory control system, comprise display terminal and above-mentioned Panorama Mosaic device, wherein, described display terminal is electrically connected with described Panorama Mosaic device, with receive and show described Panorama Mosaic device transmission panoramic picture.
The image splicing device that the embodiment of the present invention provides, method and supervisory control system, by described distance detection module and the cooperation of described switch module, judge in image transmitting road, described N road one or more transmission image be invalid image after, forbid allowing this one or more image transmitting to described image mosaic module, decrease the quantity of the image that described image mosaic module will be spliced, thus accelerate the speed of image mosaic and process, and decrease power consumption.In addition, because invalid image is removed, can ensure that the final panoramic picture obtained has preferably imaging effect, be convenient to from described panoramic picture, obtain the real information needed.
Accompanying drawing explanation
In order to be illustrated more clearly in technical scheme of the present invention, be briefly described to the accompanying drawing used required in execution mode below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation that first embodiment of the invention provides image splicing device.
Fig. 2 is the structural representation on the first image transmitting road shown in Fig. 1.
Fig. 3 is the structural representation of the image splicing device that second embodiment of the invention provides.
Fig. 4 is the structural representation on the first image transmitting road of third embodiment of the invention.
Fig. 5 is the structural representation of the image splicing device that fourth embodiment of the invention provides.
Fig. 6 is the structural representation of the panoramic picture supervisory control system that fifth embodiment of the invention provides.
Fig. 7 is the flow chart of the image split-joint method that sixth embodiment of the invention provides.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1, Fig. 1 is the structural representation of the image splicing device that first embodiment of the invention provides.In embodiments of the present invention, described image splicing device 100 comprises at least two-way image transmitting road and image mosaic module 40, described at least two-way image transmitting road gathers image, and will the image transmitting of pre-provisioning request be met to described image mosaic module 40, after described image mosaic module 40 is spliced the image received, the panoramic picture that splicing generates is transferred to a display terminal, to show described panoramic picture on described display terminal.
Refer to Fig. 2, in embodiments of the present invention, described at least two-way image transmitting road can comprise the first image transmitting road 20, image transmitting road 10, second, the 3rd image transmitting road 30 ... N image transmitting road etc., wherein, the relation of each image transmitting road each other in similar parallel connection, and arbitrary image transmitting road includes at least one image capture module, distance detection module and switch module.For described first image transmitting road 10, described first image transmitting road 10 comprises the first image capture module 11, first distance detection module 12 and the first switch module 13, wherein, one end described first image capture module 11 of electrical connection of described first switch module 13 and described first distance detection module 12, the other end is then electrically connected described image mosaic module 40.
In embodiments of the present invention, described first distance detection module 12 presets a threshold distance, described first image capture module 11 to external world image objects time, described first distance detection module 12 detects the distance of described first image capture module 11 and described external object, when described distance is more than or equal to described threshold distance, described first distance detection module 12 controls described first switch module 13 and closes, and the image that described first image capture module 11 gathers transfers to described image mosaic module 40 by described first switch module 13; When described distance is less than described threshold distance, described first distance detection module 12 controls described first switch module 13 and disconnects, the image that described first image capture module 11 gathers cannot pass through described first switch module 12, namely cannot transfer to described image mosaic module 40.
In embodiments of the present invention, the structure on image transmitting road, N road is all roughly the same with the structure on described first image transmitting road 10, thus can be used for removing the invalid image in imaging process, reduces the pressure of image transmitting and process.Be specially, in the imaging process of reality, N number of image capture module on image transmitting road, N road is when carrying out IMAQ, the camera lens of several image capture modules may be had to be blocked by obstructions, particularly be positioned at the shelter before camera lens to block, this image causing the image capture module be blocked by obstructions to collect is invalid image, namely these images are undesirable images, these images not only increase the pressure of image transmitting and process, and, disturb really useful image information, thus need to remove it.The embodiment of the present invention presets a threshold distance by described distance detection module, and when the distance between image capture module and described imaging object is less than described threshold distance, the image setting that described image capture module collects is invalid image, and forbid that these invalid images pass through by described switch module, thus achieve the removal to these invalid pictures.
It should be noted that, in embodiments of the present invention, described image capture module can be but is not limited to: charge coupled cell (Charge-coupled Device, CCD), complementary metal oxide semiconductors (CMOS) (Complementary Metal Oxide Semiconductor, or N-type metal-oxide semiconductor (MOS) (N Mental Oxide Semiconductor CMOS), NMOS), its image-forming principle can be electronic imaging, optical imagery or imaging fiber etc., does not limit at this.
It should be noted that; in embodiments of the present invention; N number of image capture module in image transmitting road, described N road can be put according to the position of presetting; as as described in N number of image capture module equally spacedly can be arranged in one circumferentially; to realize the omnidirectional images collection of 360 degree; or described N number of image capture module also can be arranged in semi-circumference, rectangle or other arbitrary shapes, and these designs, all within protection scope of the present invention, do not repeat them here.
It should be noted that, in embodiments of the present invention, described distance detection module can be infrared distance sensor, described distance detection module accessible site is in described image capture module, or be close to described image capture module, thus at described image capture module when carrying out IMAQ, described distance detection module detects that namely the distance of himself and described external object is substantially equal to the distance of described image capture module and described external object.
It should be noted that, in embodiments of the present invention, the threshold distance that described distance detection module is preset can set according to the application scenarios of reality, such as, remote imaging or closely imaging according to application scenarios, different threshold distances can be set, to take into account imaging effect and image processing speed.
It should be noted that; in embodiments of the present invention; the threshold distance preset of N number of distance detection module in image transmitting road, described N road can identical also can be different; these all can set according to the actual needs; as long as meet the scheme of this project organization; all within protection scope of the present invention, do not repeat them here.
In embodiments of the present invention, described image mosaic module 40 can be the image mosaic circuit based on field programmable gate array (FPGA) or application-specific integrated circuit (ASIC) (ASIC), and it belongs to a kind of semi-custom IC in application-specific integrated circuit (ASIC).Described image mosaic module 40 carries out image mosaic to multiple images that described image pre-processing module 50 transmits, and after the steps such as elimination edge ghost image, generates described panoramic picture.
In sum, the image splicing device 100 that the embodiment of the present invention provides, by described distance detection module and the cooperation of described switch module, judge in image transmitting road, described N road one or more transmission image be invalid image after, forbid allowing this one or more image transmitting to described image mosaic module 40, decrease the quantity of the image that described image mosaic module 40 will be spliced, thus accelerate the speed of described image mosaic and process, and decrease power consumption.In addition, because invalid image is removed, can ensure that the final panoramic picture obtained has preferably imaging effect, be convenient to from described panoramic picture, obtain the real information needed.
See also Fig. 3, Fig. 3 is the structural representation of the image splicing device that second embodiment of the invention provides.In embodiments of the present invention, described image splicing device 200 is except comprising all functions module of above-mentioned first embodiment, also comprise an image pre-processing module 250 further, one end of described image pre-processing module 50 connects N number of switch module on image transmitting road, described N road, and after receiving the image from described switch module, preliminary treatment is carried out to described image, wherein, described preliminary treatment includes but not limited to image enhaucament, Fast Median Filtering and image binaryzation etc., obtains better display effect to make described image.
The image splicing device 200 that the embodiment of the present invention provides, is processed by described image pre-processing module 250 pairs of images, makes described image obtain better display effect.
See also Fig. 4, Fig. 4 is the structural representation on the first image transmitting road of third embodiment of the invention.In an embodiment of the present invention, described image pre-processing module 350 is arranged in image transmitting road, described N road, and namely each image transmitting road has included an image pre-processing module 350.The pretreating effect that need carry out due to the image of each image transmitting road, road acquisition may be more not identical, such as, may need to carry out image enhaucament to the image that first via image transmitting road 10 obtains, and may need to carry out Fast Median Filtering to the image that the second image transmitting road 20, road obtains, thus by all arranging an image pre-processing module on each image transmitting road, road, the speed of Image semantic classification can be accelerated, and obtain better image display effect.
See also Fig. 5, Fig. 5 is the structural representation of the image splicing device that fourth embodiment of the invention provides.In embodiments of the present invention, described image splicing device 400 can comprise the functional module of above-mentioned any embodiment, in addition, also comprise image compression encoding module 460 further, one end of described image compression encoding module 460 is electrically connected described image mosaic module 40, and the other end is electrically connected described display terminal.The panoramic picture that described image compression encoding module 460 transmits for receiving described image mosaic module 40, and after compressed encoding is carried out to described panoramic picture, transfer to described display terminal, to show described panoramic picture on described display terminal.
The image splicing device 400 that the embodiment of the present invention provides, because described panoramic picture have passed through the compression of described image compression encoding module 460, view data is less, thus can provide the efficiency of transmission.
Refer to Fig. 6, Fig. 6 is the structural representation of the panoramic picture supervisory control system that fifth embodiment of the invention provides.Described panoramic picture supervisory control system comprises display terminal and the Panorama Mosaic device described in upper item any embodiment.Wherein, described display terminal can be mobile terminal (as smart mobile phone), panel computer, notebook computer or desktop computer etc.Because described Panorama Mosaic device can carry out imaging fast and accurately to panorama, thus, described panoramic picture supervisory control system can realize in real time, monitoring effect accurately.
Refer to Fig. 7, Fig. 7 is the flow chart of the Panorama Mosaic method that sixth embodiment of the invention provides, and it comprises the steps:
S601, by least two-way image transmitting road to external world object carry out imaging, to obtain at least two images, wherein, image transmitting road described in each comprises image capture module, distance detection module and switch module.
See also Fig. 1 and Fig. 2, in embodiments of the present invention, described at least two-way image transmitting road can comprise the first image transmitting road, the second image transmitting road, the 3rd image transmitting road ... N image transmitting road etc., wherein, the relation of each image transmitting road each other in similar parallel connection, and arbitrary image transmitting road includes at least one image capture module, distance detection module and switch module.For described first image transmitting road, described first image transmitting road comprises the first image capture module, the first distance detection module and the first switch module, wherein, one end described first image capture module of electrical connection of described first switch module and described first distance detection module, the other end is then electrically connected described image mosaic module.
S603, when the distance that described distance detection module detects institute's image capture module and described external object is more than or equal to the described threshold distance default apart from detection module, closed described switch module, transfers to image mosaic module to make the image of described image capture module collection by described switch module.
In embodiments of the present invention, described first distance detection module presets a threshold distance, described first image capture module to external world image objects time, described first distance detection module detects the distance of described first image capture module and described external object, when described distance is more than or equal to described threshold distance, described first distance detection module controls described first switch module and closes, and the image of described first image capture module collection transfers to described image mosaic module by described first switch module.
S605, when the distance that described distance detection module detects institute's image capture module and described external object is less than the described threshold distance default apart from detection module, disconnect described switch module, image mosaic module cannot be transferred to by described switch module to make the image of described image capture module collection.
In embodiments of the present invention, when described distance is less than described threshold distance, described first distance detection module controls described first switch module and disconnects, and the image that described first image capture module gathers cannot pass through described first switch module, namely cannot transfer to described image mosaic module.
S607, splices the image by described switch module, to obtain panoramic picture.
In embodiments of the present invention, described image mosaic module can be the image mosaic circuit based on field programmable gate array (FPGA) or application-specific integrated circuit (ASIC) (ASIC), and it belongs to a kind of semi-custom IC in application-specific integrated circuit (ASIC).Described image mosaic module carries out image mosaic to multiple images that described image pre-processing module transmits, and after the steps such as elimination edge ghost image, generates described panoramic picture.
In sum, the image split-joint method that the embodiment of the present invention provides, by described distance detection module and the cooperation of described switch module, judge in image transmitting road, described N road one or more transmission image be invalid image after, forbid allowing this one or more image transmitting to described image mosaic module, decrease the quantity of the image that described image mosaic module will be spliced, thus accelerate the speed of described image mosaic and process, and decrease power consumption.In addition, because invalid image is removed, can ensure that the final panoramic picture obtained has preferably imaging effect, be convenient to from described panoramic picture, obtain the real information needed.
Seventh embodiment of the invention also provides a kind of Panorama Mosaic method.Described Panorama Mosaic method except comprise the 6th embodiment institute in steps except, also comprise further:
Carry out preliminary treatment to the image by described switch module, wherein, described preliminary treatment comprises at least one image processing operations in image enhaucament, Fast Median Filtering and image binaryzation.
See also Fig. 3, in embodiments of the present invention, described image splicing device also comprises image pre-processing module further, described image pre-processing module is after receiving the image from described switch module, preliminary treatment is carried out to described image, wherein, described preliminary treatment includes but not limited to image enhaucament, Fast Median Filtering and image binaryzation etc., obtains better display effect to make described image.
See also Fig. 4, in an embodiment of the present invention, described image pre-processing module also can be arranged in image transmitting road, described N road, and namely each image transmitting road has included an image pre-processing module.The pretreating effect that need carry out due to the image of each image transmitting road, road acquisition may be more not identical, such as, may need to carry out image enhaucament to the image that first via image transmitting road obtains, and may need to carry out Fast Median Filtering to the image that the second image transmitting road, road obtains, thus by all arranging an image pre-processing module on each image transmitting road, road, the speed of Image semantic classification can be accelerated, and obtain better image display effect.
The image split-joint method that the embodiment of the present invention provides, is processed image by described image pre-processing module, makes described image obtain better display effect.
Eighth embodiment of the invention also provides a kind of Panorama Mosaic method, described Panorama Mosaic method except comprise the 6th embodiment or the 7th embodiment institute in steps except, also comprise further:
Described panoramic picture is compressed, and the panoramic picture after compression is transferred to a display terminal.
See also Fig. 5, in embodiments of the present invention, described image splicing device also comprises image compression encoding module further, and one end of described image compression encoding module is electrically connected described image mosaic module, and the other end is electrically connected described display terminal.The panoramic picture that described image compression encoding module is come for receiving described image mosaic module transfer, and after compressed encoding is carried out to described panoramic picture, transfer to described display terminal, to show described panoramic picture on described display terminal.
The Panorama Mosaic method that the embodiment of the present invention provides, because described panoramic picture have passed through the compression of described image compression encoding module, view data is less, thus can provide the efficiency of transmission.
Module in embodiment of the present invention device can carry out merging, divide and deleting according to actual needs.
Step in embodiment of the present invention method can carry out merging, divide and deleting according to actual needs.
Above disclosedly be only some preferred embodiments of the present invention, certainly the interest field of the present invention can not be limited with this, one of ordinary skill in the art will appreciate that all or part of flow process realizing above-described embodiment, and according to the equivalent variations that the claims in the present invention are done, still belong to the scope that invention is contained.
Claims (10)
1. a Panorama Mosaic device, comprise image mosaic module, it is characterized in that, also comprise at least two-way image transmitting road, described in each, image transmitting road comprises image capture module, distance detection module and switch module, one end of described switch module is electrically connected described image capture module and described distance detection module, the other end is electrically connected described image mosaic module, described distance detection module presets a threshold distance, described image capture module to external world image objects time, described distance detection module detects the distance of described image capture module and described external object, when described distance is more than or equal to described threshold distance, described distance detection module controls described switch module and closes, the image of described image capture module collection transfers to described image mosaic module by described switch module, when described distance is less than described threshold distance, described distance detection module controls described switch module and disconnects, the image that described image capture module gathers cannot pass through described switch module, and described image mosaic module is spliced the image by described switch module, and generating panorama image.
2. Panorama Mosaic device according to claim 1, it is characterized in that, described threshold distance is according to the operative scenario adaptive setting of described image capture module, and the threshold distance that the described distance detection module on different images transmission road is preset is identical or different.
3. Panorama Mosaic device according to claim 1, it is characterized in that, described Panorama Mosaic device also comprises image pre-processing module, one end of described image pre-processing module is electrically connected switch module described in each, the other end is electrically connected described image mosaic module, described image mosaic module is transferred to after preliminary treatment is carried out to the image of switch module transmission described in each, wherein, described preliminary treatment comprises at least one image processing operations in image enhaucament, Fast Median Filtering and image binaryzation.
4. Panorama Mosaic device according to claim 1, it is characterized in that, described in each, image transmitting road also comprises an image pre-processing module, one end of described image pre-processing module is electrically connected described switch module, the other end is electrically connected described image mosaic module, described image mosaic module is transferred to after preliminary treatment is carried out to the image by described switch module, wherein, described preliminary treatment comprises at least one image processing operations in image enhaucament, Fast Median Filtering and image binaryzation.
5. Panorama Mosaic device according to claim 3, it is characterized in that, described Panorama Mosaic device also comprises image compression encoding module, one end of described image compression encoding module is electrically connected described image mosaic module, the other end is electrically connected a display terminal, after the panoramic picture of described image mosaic module transfer is compressed, transfer to described display terminal.
6. the Panorama Mosaic device according to claim 1-5 any one, is characterized in that, described distance detection module is infrared distance sensor.
7. a Panorama Mosaic method, is characterized in that, comprises the steps:
By at least two-way image transmitting road to external world object carry out imaging, to obtain at least two images, wherein, image transmitting road described in each comprises image capture module, distance detection module and switch module;
When the distance that described distance detection module detects institute's image capture module and described external object is more than or equal to the described threshold distance default apart from detection module, closed described switch module, transfers to image mosaic module to make the image of described image capture module collection by described switch module;
When the distance that described distance detection module detects institute's image capture module and described external object is less than the described threshold distance default apart from detection module, disconnect described switch module, image mosaic module cannot be transferred to by described switch module to make the image of described image capture module collection; And
Image by described switch module is spliced, to obtain panoramic picture.
8. Panorama Mosaic method according to claim 7, is characterized in that, described Panorama Mosaic method also comprises:
Carry out preliminary treatment to the image by described switch module, wherein, described preliminary treatment comprises at least one image processing operations in image enhaucament, Fast Median Filtering and image binaryzation.
9. Panorama Mosaic method according to claim 7, is characterized in that, described Panorama Mosaic method also comprises:
Described panoramic picture is compressed, and the panoramic picture after compression is transferred to a display terminal.
10. a panoramic picture supervisory control system, comprise display terminal, it is characterized in that, described panoramic picture supervisory control system also comprises the Panorama Mosaic device as described in claim 1-6 any one, wherein, described display terminal is electrically connected with described Panorama Mosaic device, with receive and show described Panorama Mosaic device transmission panoramic picture.
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| CN103618881A (en) * | 2013-12-10 | 2014-03-05 | 深圳英飞拓科技股份有限公司 | Multi-lens panoramic stitching control method and multi-lens panoramic stitching control device |
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| CN107835383B (en) * | 2016-08-31 | 2019-09-27 | 南京悍雕科技有限公司 | Ultrashort delay image transfer method for individual-soldier system |
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