CN105120129A - Infrared small target image sequence simulation method of infrared area array camera shake - Google Patents

Infrared small target image sequence simulation method of infrared area array camera shake Download PDF

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CN105120129A
CN105120129A CN201510475480.1A CN201510475480A CN105120129A CN 105120129 A CN105120129 A CN 105120129A CN 201510475480 A CN201510475480 A CN 201510475480A CN 105120129 A CN105120129 A CN 105120129A
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infrared
target image
small target
emulation
dim
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CN105120129B (en
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周慧鑫
赵东
秦翰林
王炳健
荣生辉
钱琨
金浩文
温志刚
李肖
庞英名
成宽洪
杜鹃
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Xidian University
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    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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Abstract

The invention discloses an infrared small target image sequence simulation method of infrared area array camera shake. The method is mainly used for generating a lot of infrared small target image scenes which are used to test the infrared area array camera shake. The method comprises the following steps of acquiring an image background and simulating a target image background; creating a target model; setting a target track; synthesizing a target image; setting a shake parameter; generating a shake offset amount; calculating an imaging line number after the shake; calculating an imaging signal after the shaking; generating a shake target image; and outputting an infrared small target image sequence of the infrared area array camera shake. The method has the following advantages that a calculated amount is small; an infrared small target image validity of the infrared area array camera shake is high; texture detail characteristics are abundant, and an infrared small target size, a signal to noise ratio of an infrared small target, an infrared small target motion speed, an infrared small target track and an infrared area array camera shake parameter are controllable.

Description

The Infrared DIM-small Target Image sequence emulation mode of infrared surface array camera shake
Technical field
The invention belongs to technical field of image processing, further relate to the Infrared DIM-small Target Image sequence emulation mode of a kind of infrared surface array camera shake in infrared image processing technical field.The Performance Evaluation of Infrared DIM-small Target Image that the present invention can be the shake of infrared surface array camera provides a large amount of test infrared surface array camera shake Infrared DIM-small Target Image sequence, is used for verifying the validity of small IR targets detection algorithm.
Background technology
Infrared surface array camera has been widely used in modern weapons equipment, the Infrared DIM-small Target Image sequence that infrared surface array camera is truly taken cannot shift to an earlier date known infrared Weak target flating degree, and the infrared surface array camera shake Infrared DIM-small Target Image sequence obtained under a large amount of different infrared background has larger difficulty.But the shake of checking infrared surface array camera is to the infrared surface array camera shake Infrared DIM-small Target Image sequence needing a large amount of known infrared Weak target flating degree during small IR targets detection performance impact.Solve this problem and must use infrared surface array camera shake Infrared DIM-small Target Image sequencing simulation technology.
At present, generating corresponding shake Infrared DIM-small Target Image sequence by microcomputer modelling simulation software is a kind of effective technical method.The infrared surface array camera shake Infrared DIM-small Target Image sequence deletion grain details information that the method generates, jitter parameter is uncontrollable, shakes Infrared DIM-small Target Image sequence there is comparatively big error with real infrared surface array camera.The infrared surface array camera shake Infrared DIM-small Target Image sequence that jitter parameter cannot be provided controlled to small IR targets detection Performance Evaluation for the shake of infrared surface array camera.
Usually carry out outfield experiments and will consume a large amount of manpower and materials, stability and repeatability poor, larger by weather effect, semi-physical emulation platform is built by computer, the infrared surface array camera shake Infrared DIM-small Target Image sequence of infrared small object under different infrared background and under different jitter parameter can be emulated, can realize in laboratory conditions, convenient and swift, save man power and material.
Patent " flating the method and system " (number of patent application 201380001045.4 that Zhanxun Communication (Shanghai) Co. Ltd. applies for, application publication number CN104303226A) disclose a kind of flating method, described method comprises each pixel of the multiple pixels analyzing described image, and each pixel described has the color depth of integer value N position; Determine the index value of each pixel of described image, the numerical value relevant to the particular color component of described each pixel of image and the threshold value relevant with the particular color component of described each pixel of image.Wherein, the pixel across the described image of predetermined number of pixels has identical threshold value.Described method also comprises, determine based on described, revise each pixel of described image to make it have the color depth of integer value M position, described integer value M is less than described integer value N, the deficiency that the method exists is: when emulating the Infrared DIM-small Target Image sequence generating the shake of infrared surface array camera, the amount of calculation of all pixels of the Infrared DIM-small Target Image of traversal infrared surface array camera shake is large, and the Infrared DIM-small Target Image degree of jitter of the uncontrollable infrared surface array camera shake of the method.
Patent the infrared dynamic scene real-time emulation method of multi-class targets " under a kind of sky and ocean background " (number of patent application 201110447686.5, the application publication number CN103186906A) of Shenyang Inst of Automation, Chinese Academy of Sciences's application discloses the infrared dynamic scene real-time emulation method of multi-class targets under a kind of sky and ocean background.This invention comprises infrared mapping, scenario building, infrared calculating, infrared propagation in atmosphere calculates, IR Scene generates in real time, finally play up generation IR Scene real-time simulation image.The method simulating scenes is abundant in content, can comprise the aircraft of sea, sky, naval vessel and Multiple Type in Same Scene.In complex scene situation, still can meet requirement of real time, not only build dynamic scene in real time according to current data, and real-time Simulation sound field IR Scene image.The deficiency that the method exists is: when emulating the Infrared DIM-small Target Image generating the shake of infrared surface array camera, scene is needed to carry out classifying and specifying texture type, set up scene threedimensional model, generating mapping file, be loaded into atmospheric parameter model, imaging model and atmospheric parameter condition, complete the simulation data of IR Scene image, and the Infrared DIM-small Target Image sequence deletion texture characteristics of the infrared surface array camera shake generated, the larger distortion of existence compared with the Infrared DIM-small Target Image shaken with real infrared surface array camera, and the uncontrollable infrared small object size of the method, infrared small object signal to noise ratio, infrared small object movement velocity, infrared small object flight path.
Summary of the invention
The object of the invention is to the deficiency overcoming the existence of above-mentioned prior art, propose the Infrared DIM-small Target Image sequence emulation mode of a kind of infrared surface array camera shake, the present invention significantly can enrich the texture characteristics of the Infrared DIM-small Target Image of infrared surface array camera shake, control infrared small object design parameter, control infrared surface array camera degree of jitter, emulation mode is simple and practical.
For achieving the above object, concrete steps of the present invention are as follows:
(1) infrared image background is gathered:
(1a) use the true infrared image background sequence of thermal infrared imager collection, obtain original infrared image background sequence;
(1b) be 1 by the frame number i assignment of original infrared image background sequence;
(2) Infrared DIM-small Target Image background is emulated:
(2a) read in the original infrared image background of the i-th frame in original infrared image background sequence, 0 < i≤R, R represent original infrared image background sequence totalframes;
(2b) initial row of the i-th frame original infrared image background cutting and initial row are set;
(2c) the original infrared image background of cutting i-th frame, obtain the emulation Infrared DIM-small Target Image background that size is M × N, M represents the line number of emulation Infrared DIM-small Target Image background, N represents the columns of emulation Infrared DIM-small Target Image background, require 0≤M≤A, 0≤N≤B, A represents the line number of each two field picture in original infrared image background sequence, and B represents the columns of each two field picture in original infrared image background sequence;
(3) mirror-extended is carried out to emulation Infrared DIM-small Target Image background edge;
(4) infrared small object model is created:
(4a) arrange infrared small object signal to noise ratio D, D rounds numerical value in 0 < D≤20 scope;
(4b) according to the following formula, infrared small object grey scale pixel value is calculated:
s＝D×σ+μ
Wherein, s represents infrared small object grey scale pixel value, D represents set infrared small object signal to noise ratio, σ represents the standard deviation of all pixels in local neighborhood centered by the infrared small object type heart, and μ represents the average of all pixels within the scope of local neighborhood centered by the infrared small object type heart;
(4c) size of infrared small object is set to m × m pixel, wherein, m rounds numerical value in 0 < m≤10 scope;
(5) infrared small object flight path is set:
(5a) infrared small object movement velocity is set to Δ x pixel/frame, wherein, Δ x is value within the scope of 0< Δ x<10;
(5b) the i-th frame is emulated the pixel of Infrared DIM-small Target Image background top left corner apex as initial point, horizontal right direction is as x-axis, and vertical downward direction, as y-axis, sets up the i-th frame emulation Infrared DIM-small Target Image background flight path axis system;
(5c) judge whether emulation Infrared DIM-small Target Image background frame number is 1, if so, performs step (5d); Otherwise, perform step (5e);
(5d) abscissa value of infrared small object in the 1st frame emulation Infrared DIM-small Target Image background flight path axis system is set to x 1, 0 < x 1≤ N, N represent the columns of emulation Infrared DIM-small Target Image background, according to the following formula, set up the straight line model of the 1st frame emulation Infrared DIM-small Target Image background flight path:
y 1＝ax 1+b
Wherein, y 1represent the ordinate value of infrared small object in the 1st frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < y 1≤ M, M represent the line number of emulation Infrared DIM-small Target Image background, x 1represent the abscissa value of infrared small object in the 1st frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < x 1≤ N, N represents the columns of emulation Infrared DIM-small Target Image background, a represents the slope of the straight line model of emulation Infrared DIM-small Target Image background flight path, and b represents the intercept of the straight line model of emulation Infrared DIM-small Target Image background flight path, and the span of a and b is: 0 < ax 1+ b≤M, M represents the line number of emulation Infrared DIM-small Target Image background;
(5e) straight line model of the emulation Infrared DIM-small Target Image background flight path except the 1st frame according to the following formula, is set up:
x i = x i - 1 + &Delta; x y i = ax i + b
Wherein, x irepresent the abscissa value of infrared small object in the i-th frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < x i≤ N, N represent the columns of emulation Infrared DIM-small Target Image background, x i-1represent the abscissa value of infrared small object in (i-1) frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < x i-1≤ N, N represent the columns of emulation Infrared DIM-small Target Image background, and Δ x represents infrared small object movement velocity, and Δ x is value within the scope of 0< Δ x<10, y irepresent the ordinate value of infrared small object in the i-th frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < y i≤ M, M represent the line number of emulation Infrared DIM-small Target Image background, and a represents the slope of the straight line model of infrared small object flight path, and b represents the intercept of the straight line model of infrared small object flight path, and the span of a and b is: 0 < ax i+ b≤M;
(6) synthesis of artificial Infrared DIM-small Target Image:
(6a) according to the following formula, emulation Infrared DIM-small Target Image sequence totalframes is set:
0＜L≤min((N-x 1)/Δx,R)
Wherein, L represents emulation Infrared DIM-small Target Image sequence totalframes, and min () represents minimum value operation, and N represents the columns of emulation Infrared DIM-small Target Image background, x 1represent the abscissa value of infrared small object in emulation Infrared DIM-small Target Image sequence the 1st frame, Δ x represents infrared small object movement velocity, Δ x is value within the scope of 0< Δ x<10, and R represents original infrared image background sequence totalframes;
(6b) by infrared small object grey scale pixel value s assignment in step (4b) to pixel in m × m block of pixels, m × m block of pixels is with (x i, y i) be the block of pixels of the infrared small object type heart, m rounds numerical value in 0 < m≤10 scope, obtains emulating Infrared DIM-small Target Image, x irepresent the abscissa value of infrared small object in the i-th frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < x i≤ N, N represent the columns of emulation Infrared DIM-small Target Image background, y irepresent the ordinate value of infrared small object in the i-th frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < y i< M, M represent the line number of emulation Infrared DIM-small Target Image background;
(7) the Infrared DIM-small Target Image matrix of infrared surface array camera shake is created:
(7a) create the Infrared DIM-small Target Image matrix P that size is the infrared surface array camera shake of M × N, M represents the line number of emulation Infrared DIM-small Target Image background, and N represents the columns of emulation Infrared DIM-small Target Image background;
(7b) be 1,1≤j by the i-th frame emulation Infrared DIM-small Target Image line number j assignment≤M, M represent the line number of emulation Infrared DIM-small Target Image background;
(8) infrared surface array camera jitter parameter is set:
(8a) average arranged in infrared surface array camera jitter parameter is μ, 0≤μ≤2;
(8b) standard deviation arranged in infrared surface array camera jitter parameter is σ, 0.5≤3 σ≤2;
(9) shake side-play amount is generated:
Generating and obeying average is μ, and standard deviation is the shake side-play amount h of the i-th frame emulation Infrared DIM-small Target Image of the normal distyribution function of σ i;
(10) the rear imaging line number of the i-th frame emulation Infrared DIM-small Target Image jth row shake according to the following formula, is calculated:
Q j＝j+h i
Wherein, Q jrepresent the rear imaging line number of the i-th frame emulation Infrared DIM-small Target Image jth row shake, j represents the i-th frame emulation Infrared DIM-small Target Image line number, h irepresent the shake side-play amount of the i-th frame emulation Infrared DIM-small Target Image;
(11) the rear imaging signal of shake is calculated:
(11a) the i-th frame emulation Infrared DIM-small Target Image jth row shake side-play amount h is judged iwhether be greater than 0, if so, perform step (11b); Otherwise, perform step (11c);
(11b) the rear imaging signal of the i-th frame emulation Infrared DIM-small Target Image jth row shake according to the following formula, is calculated:
P j＝V k×(1-z)+V k+1×z
Wherein, P jrepresent the rear imaging signal of the i-th frame emulation Infrared DIM-small Target Image jth row shake, V krepresent the i-th frame emulation Infrared DIM-small Target Image row k imaging signal, k represents the rear imaging line number Q of the i-th frame emulation Infrared DIM-small Target Image jth row shake jinteger part, z represents imaging line number Q after the i-th frame emulation Infrared DIM-small Target Image jth row shake jfractional part, V k+1represent the i-th frame emulation Infrared DIM-small Target Image (k+1) row imaging signal;
(11c) the rear imaging signal of the i-th frame emulation Infrared DIM-small Target Image jth row shake according to the following formula, is calculated:
P j＝V k×(1-z)+V k-1×z
Wherein, P jrepresent the rear imaging signal of the i-th frame emulation Infrared DIM-small Target Image jth row shake, V krepresent the i-th frame emulation Infrared DIM-small Target Image row k imaging signal, k represents the rear imaging line number Q of the i-th frame emulation Infrared DIM-small Target Image jth row shake jinteger part, z represents imaging line number Q after the i-th frame emulation Infrared DIM-small Target Image jth row shake jfractional part, V k-1represent the i-th frame emulation Infrared DIM-small Target Image (k-1) row imaging signal,
(12) by imaging signal P after the i-th frame emulation Infrared DIM-small Target Image jth row shake jthe Infrared DIM-small Target Image matrix P jth row that assignment is shaken to infrared surface array camera;
(13) cumulative 1 operation is carried out to the i-th frame emulation Infrared DIM-small Target Image line number j;
(14) judge whether the i-th frame emulation Infrared DIM-small Target Image line number j equals M+1, if so, performs step (15); Otherwise, perform step (10); Wherein, M represents the line number of emulation Infrared DIM-small Target Image background;
(15) the emulation Infrared DIM-small Target Image matrix P of infrared surface array camera shake is stored;
(16) cumulative 1 operation is carried out to emulation Infrared DIM-small Target Image background frame number i;
(17) judge whether cumulative 1 post-simulation Infrared DIM-small Target Image background frame number i equals emulation Infrared DIM-small Target Image sequence totalframes (L+1), if so, perform step (18); Otherwise, perform step (2);
(18) the Infrared DIM-small Target Image sequence of infrared surface array camera shake is exported.
The present invention compared with prior art has the following advantages:
First, because each two field picture in the present invention generates a shake side-play amount, and shaking side-play amount obedience average is μ, standard deviation is the normal distyribution function of σ, to overcome in prior art when emulating the Infrared DIM-small Target Image sequence generating the shake of infrared surface array camera, the amount of calculation of all pixels of the Infrared DIM-small Target Image of traversal infrared surface array camera shake is large, and the defect of the Infrared DIM-small Target Image degree of jitter of uncontrollable emulation infrared surface array camera shake, makes the present invention have the controllable advantage of infrared surface array camera jitter parameter.
Second, because the present invention uses high-performance thermal infrared imager collection true infrared image background sequence as original infrared image background sequence and modeling and simulating method, overcome in prior art when emulate generate infrared surface array camera shake target image time, scene is needed to carry out classifying and specifying texture type, set up scene threedimensional model, generating mapping file, be loaded into atmospheric parameter model, imaging model and atmospheric parameter condition, complete the simulation data of IR Scene image, and the Infrared DIM-small Target Image sequence deletion texture characteristics of the infrared surface array camera shake generated, the larger distortion of existence compared with the Infrared DIM-small Target Image shaken with real infrared surface array camera, and the uncontrollable infrared small object size of the method, infrared small object signal to noise ratio, infrared small object movement velocity, the defect of infrared small object flight path, the present invention is made to have the infrared shake target image validity of emulation generation high, texture characteristics enriches, infrared small object size, infrared small object signal to noise ratio, infrared small object movement velocity, the controllable advantage of infrared small object flight path.
Accompanying drawing explanation
Fig. 1 is flow chart of the present invention;
Fig. 2 is the original infrared image background figure of the 50th frame of the present invention;
Fig. 3 is the flight path schematic diagram that the present invention emulates infrared small object;
Fig. 4 is 9 × 9 large small neighbourhood schematic diagrames in the present invention the 50th frame Infrared DIM-small Target Image centered by the infrared small object type heart;
Fig. 5 is the present invention the 50th frame emulation Infrared DIM-small Target Image schematic diagram;
Fig. 6 is that jth row of the present invention is to (j+1) line direction shake schematic diagram;
Fig. 7 is that jth row of the present invention is to (j-1) direction shake schematic diagram;
Fig. 8 is 9 × 9 large small neighbourhood schematic diagrames in the Infrared DIM-small Target Image of the present invention the 50th frame infrared surface array camera shake centered by the infrared small object type heart;
Fig. 9 is the Infrared DIM-small Target Image schematic diagram of the present invention the 50th frame infrared surface array camera shake.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
With reference to accompanying drawing 1, concrete steps of the present invention are as follows.
Step 1, gathers infrared image background.
1st step, uses the true infrared image background sequence of thermal infrared imager collection, obtains original infrared image background sequence.
In embodiments of the invention, true infrared image background sequence is infrared sky background image sequence.Shown in Fig. 2 is the 50th frame infrared sky background image in infrared sky background image sequence, and sky background shown in Fig. 2 has and enriches textural characteristics.
The frame number i assignment of original infrared image background sequence is 1 by the 2nd step.
Step 2, emulation Infrared DIM-small Target Image background.
1st step, read in the original infrared image background of the i-th frame in original infrared image background sequence, 0 < i≤R, R represent original infrared image background sequence totalframes.
In embodiments of the invention example, original infrared image background sequence totalframes R is 1000.
2nd step, the initial row of the i-th frame original infrared image background cutting and initial row are set, the initial row of the i-th frame original infrared image background cutting is greater than the line number that 0 is less than original infrared image background, and the initial row of the i-th frame original infrared image background cutting are greater than the columns that 0 is less than original infrared image background.
In embodiments of the invention, arrange the initial behavior 150 of the i-th frame original infrared image background cutting, arranging the initial of the i-th frame original infrared image background cutting is classified as 150.
3rd step, the original infrared image background of cutting i-th frame, obtain the emulation Infrared DIM-small Target Image background that size is M × N, M represents the line number of emulation Infrared DIM-small Target Image background, N represents the columns of emulation Infrared DIM-small Target Image background, requires 0≤M≤A, 0≤N≤B, A represents the line number of each two field picture in original infrared image background sequence, and B represents the columns of each two field picture in original infrared image background sequence.
In embodiments of the invention example, cutting i-th frame sign is the original infrared image background of 480 × 625, obtains the emulation Infrared DIM-small Target Image background that size is 256 × 256.
Step 3, carries out mirror-extended to emulation Infrared DIM-small Target Image background edge.
1st step, mirror-extended image array is initialized as (M+2t) × (N+2t), be expanded image array, wherein, t represents the width of emulation Infrared DIM-small Target Image background expansion, and M represents the line number of emulation Infrared DIM-small Target Image background, N represents the columns of emulation Infrared DIM-small Target Image background, 0<t<min (M/4, N/4), min () represent minimum value operation.
In embodiments of the invention, mirror-extended image array is initialized as 276 × 276, obtaining size is 276 × 276 expanded images matrixes.
2nd step, emulation Infrared DIM-small Target Image background assignment is walked to t+M to the t+1 of expanded images matrix capable, t+1 arranges in the scope of t+N row, by the capable data of expanded images matrix 2t+1 to t+1, assignment is capable to expanded images matrix 1 to t respectively, by the capable data of expanded images matrix M to t+M, assignment is capable to expanded images matrix 2t+M to t+M+1 respectively, expanded images matrix 2t+1 to t+1 column data difference assignment is arranged to expanded images matrix 1 to t, by expanded images matrix N to t+N column data respectively assignment arrange to expanded images matrix 2t+N to t+N+1, be expanded emulation Infrared DIM-small Target Image background, wherein, M represents the line number of emulation Infrared DIM-small Target Image background, N represents the columns of emulation Infrared DIM-small Target Image background, t represents the width of emulation Infrared DIM-small Target Image background expansion, 0<t<min (M/4, N/4), min () represents minimum value operation.
In embodiments of the invention, emulation Infrared DIM-small Target Image background assignment is walked to 266 row to the 11st of expanded images matrix, 11st row are in the scope of 266 row, by expanded images matrix the 21 to 11 row data difference assignment to expanded images matrix the 1 to 10 row, by expanded images matrix the 256 to 266 row data difference assignment to expanded images matrix the 276 to 267 row, expanded images matrix the 21 to 11 column data difference assignment is arranged to expanded images matrix the 1 to 10, expanded images matrix the 256 to 266 column data difference assignment is arranged to expanded images matrix the 276 to 267, obtain the expansion emulation Infrared DIM-small Target Image background that size is 276 × 276.
Step 4, creates infrared small object model.
1st step, arranges infrared small object signal to noise ratio D, and D rounds numerical value in 0 < D≤20 scope.
In embodiments of the invention, arranging infrared small object signal to noise ratio is 6.
2nd step, according to the following formula, calculates infrared small object grey scale pixel value:
s＝D×σ+μ
Wherein, s represents infrared small object grey scale pixel value, D represents set infrared small object signal to noise ratio, σ represents the standard deviation of all pixels in local neighborhood centered by the infrared small object type heart, and μ represents the average of all pixels within the scope of local neighborhood centered by the infrared small object type heart.
In embodiments of the invention, local neighborhood size centered by the infrared small object type heart is for 9 × 9, comprise 81 pixels, σ represents the standard deviation of all pixels in 9 × 9 scopes centered by the infrared small object type heart, and μ represents the average of all pixels in 9 × 9 scopes centered by the infrared small object type heart.
3rd step, is set to m × m pixel by the size of infrared small object, and wherein, m rounds numerical value in 0 < m≤10 scope.
In embodiments of the invention, the size of infrared small object is set to 3 × 3 pixels.
Step 5, arranges infrared small object flight path.
1st step, is set to Δ x pixel/frame by infrared small object movement velocity, wherein, Δ x is value within the scope of 0< Δ x<10.
In embodiments of the invention, in Infrared DIM-small Target Image sequence, the difference of adjacent two interframe infrared small object abscissas, is set to 1 pixel/frame by infrared small object movement velocity.
2nd step, using the pixel of the i-th frame emulation Infrared DIM-small Target Image background top left corner apex as initial point, horizontal right direction is as x-axis, and vertical downward direction, as y-axis, sets up the i-th frame emulation Infrared DIM-small Target Image background flight path axis system.
3rd step, judges whether emulation Infrared DIM-small Target Image background frame number is 1, if so, performs the 4th step in step 5; Otherwise, perform the 5th step in step 5.
4th step, is set to x by the abscissa value of infrared small object in the 1st frame emulation Infrared DIM-small Target Image background flight path axis system 1, 0 < x 1≤ N, N represent the columns of emulation Infrared DIM-small Target Image background, according to the following formula, set up the straight line model of the 1st frame emulation Infrared DIM-small Target Image background flight path:
y 1＝ax 1+b
Wherein, y 1represent the ordinate value of infrared small object in the 1st frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < y 1≤ M, M represent the line number of emulation Infrared DIM-small Target Image background, x 1represent the abscissa value of infrared small object in the 1st frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < x 1≤ N, N represents the columns of emulation Infrared DIM-small Target Image background, a represents the slope of the straight line model of emulation Infrared DIM-small Target Image background flight path, and b represents the intercept of the straight line model of emulation Infrared DIM-small Target Image background flight path, and the span of a and b is: 0 < ax 1+ b≤M, M represents the line number of emulation Infrared DIM-small Target Image background.
In embodiments of the invention, the abscissa value of infrared small object in the 1st frame emulation Infrared DIM-small Target Image background flight path axis system is set to 30, the slope of the straight line model of emulation Infrared DIM-small Target Image background flight path is 1, the intercept of the straight line model of emulation Infrared DIM-small Target Image background flight path is the straight line model of the 10,1st frame emulation Infrared DIM-small Target Image background flight path is y 1=x 1+ 10, the coordinate of infrared small object in the 1st frame emulation Infrared DIM-small Target Image background flight path axis system is (30,40), performs step 6 in step 5 after the 4th EOS.
5th step, according to the following formula, set up the straight line model of the emulation Infrared DIM-small Target Image background flight path except the 1st frame:
x i = x i - 1 + &Delta; x y i = ax i + b
Wherein, x irepresent the abscissa value of infrared small object in the i-th frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < x i≤ N, N represent the columns of emulation Infrared DIM-small Target Image background, x i-1represent the abscissa value of infrared small object in (i-1) frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < x i-1≤ N, N represent the columns of emulation Infrared DIM-small Target Image background, and Δ x represents infrared small object movement velocity, and Δ x is value within the scope of 0< Δ x<10, y irepresent the ordinate value of infrared small object in the i-th frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < y i≤ M, M represent the line number of emulation Infrared DIM-small Target Image background, and a represents the slope of the straight line model of infrared small object flight path, and b represents the intercept of the straight line model of infrared small object flight path, and the span of a and b is: 0 < ax i+ b≤M.
In embodiments of the invention, the slope of the straight line model of emulation Infrared DIM-small Target Image background flight path is 1, the intercept of the straight line model of emulation Infrared DIM-small Target Image background flight path is 10, the straight line model of the emulation Infrared DIM-small Target Image background flight path except the 1st frame:
x i = x i - 1 + &Delta; x y i = x i + 10
The coordinate of infrared small object in the i-th frame emulation Infrared DIM-small Target Image background flight path axis system is (x i, y i), be illustrated in figure 3 the flight path schematic diagram that the present invention emulates infrared small object.
Step 6, synthesis of artificial Infrared DIM-small Target Image.
1st step, according to the following formula, arranges emulation Infrared DIM-small Target Image sequence totalframes:
0＜L≤min((N-x 1)/Δx,R)
Wherein, L represents emulation Infrared DIM-small Target Image sequence totalframes, and min () represents minimum value operation, and N represents the columns of emulation Infrared DIM-small Target Image background, x 1represent the abscissa value of infrared small object in emulation Infrared DIM-small Target Image sequence the 1st frame, Δ x represents infrared small object movement velocity, Δ x is value within the scope of 0< Δ x<10, and R represents original infrared image background sequence totalframes.
In embodiments of the invention, arranging emulation Infrared DIM-small Target Image sequence totalframes L is 226.
2nd step, by infrared small object grey scale pixel value s assignment in step (4b) to pixel in m × m block of pixels, m × m block of pixels is with (x i, y i) be the block of pixels of the infrared small object type heart, m rounds numerical value in 0 < m≤10 scope, obtains emulating Infrared DIM-small Target Image, x irepresent the abscissa value of infrared small object in the i-th frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < x i≤ N, N represent the columns of emulation Infrared DIM-small Target Image background, y irepresent the ordinate value of infrared small object in the i-th frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < y i< M, M represent the line number of emulation Infrared DIM-small Target Image background.
In embodiments of the invention, give pixel in 3 × 3 block of pixels by infrared small object grey scale pixel value s assignment in step (4b), 3 × 3 block of pixels are with (x i, y i) be the block of pixels of the infrared small object type heart.In 50th frame emulation Infrared DIM-small Target Image, infrared small object center coordinate is (79,89).
Fig. 4 is 9 × 9 large small neighbourhood schematic diagrames in the present invention the 50th frame Infrared DIM-small Target Image centered by (79,89), and in 3 × 3 magnitude range centered by the infrared small object type heart, the gray value of 9 pixels is all for s.As can be seen from Figure 4, infrared small object is mean value model.
Fig. 5 is the present invention the 50th frame emulation Infrared DIM-small Target Image schematic diagram, and as can be seen from Figure 5, the present invention emulates and embedded in infrared small object generation emulation Infrared DIM-small Target Image on the basis of Fig. 3.
Step 7, creates the Infrared DIM-small Target Image matrix of infrared surface array camera shake.
1st step, create the Infrared DIM-small Target Image matrix P that size is the infrared surface array camera shake of M × N, M represents the line number of emulation Infrared DIM-small Target Image background, and N represents the columns of emulation Infrared DIM-small Target Image background.
In embodiments of the invention example, create the Infrared DIM-small Target Image matrix P that size is the infrared surface array camera shake of 256 × 256.
I-th frame emulation Infrared DIM-small Target Image line number j assignment is 1,1≤j by second step≤M, M represent the line number of emulation Infrared DIM-small Target Image background.
Step 8, arranges infrared surface array camera jitter parameter.
1st step, the average arranged in infrared surface array camera jitter parameter is μ, 0≤μ≤2.
In embodiments of the invention, the average μ arranged in infrared surface array camera jitter parameter is 0.
2nd step, the standard deviation arranged in infrared surface array camera jitter parameter is σ, 0.5≤3 σ≤2.
In embodiments of the invention, the standard deviation sigma arranged in infrared surface array camera jitter parameter is 0.3.
Step 9, generates shake side-play amount.
Generating and obeying average is μ, and standard deviation is the shake side-play amount h of the i-th frame emulation Infrared DIM-small Target Image of the normal distyribution function of σ i.
In embodiments of the invention, generating and obeying average is 0, and standard deviation is the shake side-play amount h of the i-th frame emulation Infrared DIM-small Target Image jth row of the normal distyribution function of 0.3 i.
Step 10, according to the following formula, calculates the rear imaging line number of the i-th frame emulation Infrared DIM-small Target Image jth row shake:
Q j＝j+h i
Wherein, Q jrepresent the rear imaging line number of the i-th frame emulation Infrared DIM-small Target Image jth row shake, j represents the i-th frame emulation Infrared DIM-small Target Image line number, h irepresent the shake side-play amount of the i-th frame emulation Infrared DIM-small Target Image.
Step 11, calculates the rear imaging signal of shake.
1st step, judges the shake side-play amount h of the i-th frame emulation Infrared DIM-small Target Image iwhether be greater than 0, if so, perform step 11 the 2nd step; Otherwise, perform step 11 the 3rd step.
2nd step, according to the following formula, calculates the rear imaging signal of the i-th frame emulation Infrared DIM-small Target Image jth row shake:
P j＝V k×(1-z)+V k+1×z
Wherein, P jrepresent the rear imaging signal of the i-th frame emulation Infrared DIM-small Target Image jth row shake, V krepresent the i-th frame emulation Infrared DIM-small Target Image row k imaging signal, k represents the rear imaging line number Q of the i-th frame emulation Infrared DIM-small Target Image jth row shake jinteger part, z represents imaging line number Q after the i-th frame emulation Infrared DIM-small Target Image jth row shake jfractional part, V k+1represent the i-th frame emulation Infrared DIM-small Target Image (k+1) row imaging signal.
In embodiments of the invention, the shake side-play amount h of the i-th frame emulation Infrared DIM-small Target Image ibe greater than 0, as shown in Figure 6, represent to the i-th frame emulation Infrared DIM-small Target Image all provisional capitals to after jth row row (i.e. j+1, j+2 ..., M) and direction shake.
3rd step, according to the following formula, calculates the rear imaging signal of the i-th frame emulation Infrared DIM-small Target Image jth row shake:
P j＝V k×(1-z)+V k-1×z
Wherein, P jrepresent the rear imaging signal of the i-th frame emulation Infrared DIM-small Target Image jth row shake, V krepresent the i-th frame emulation Infrared DIM-small Target Image row k imaging signal, k represents the rear imaging line number Q of the i-th frame emulation Infrared DIM-small Target Image jth row shake jinteger part, z represents imaging line number Q after the i-th frame emulation Infrared DIM-small Target Image jth row shake jfractional part, V k-1represent the i-th frame emulation Infrared DIM-small Target Image (k-1) row imaging signal.
In embodiments of the invention, the i-th frame emulation Infrared DIM-small Target Image jth row shake side-play amount h jbe greater than 0, as shown in Figure 7, represent to the i-th frame emulation Infrared DIM-small Target Image all provisional capitals to before jth row row (i.e. j-1, j-2 ..., 1) and direction shake.
Step 12, by imaging signal P after the i-th frame emulation Infrared DIM-small Target Image jth row shake jthe Infrared DIM-small Target Image matrix P jth row that assignment is shaken to infrared surface array camera.
Step 13, carries out cumulative 1 operation to the i-th frame emulation Infrared DIM-small Target Image line number j.
Step 14, judges whether the i-th frame emulation Infrared DIM-small Target Image line number j equals M+1, if so, performs step 15; Otherwise, perform step 10; Wherein, M represents the line number of emulation Infrared DIM-small Target Image background.
Step 15, stores the emulation Infrared DIM-small Target Image matrix P of infrared surface array camera shake.
In embodiments of the invention, Fig. 8 is 9 × 9 large small neighbourhood schematic diagrames in the Infrared DIM-small Target Image of the present invention the 50th frame infrared surface array camera shake centered by the infrared small object type heart, Fig. 9 is the Infrared DIM-small Target Image schematic diagram of the present invention the 50th frame infrared surface array camera shake, as can be seen from Figure 9, the present invention emulates and embedded in the Infrared DIM-small Target Image that the emulation of shake infrared small object generates the shake of infrared surface array camera on the basis of Fig. 3.
Step 16, carries out cumulative 1 operation to emulation Infrared DIM-small Target Image background frame number i.
Step 17, judges whether cumulative 1 post-simulation Infrared DIM-small Target Image background frame number i equals emulation Infrared DIM-small Target Image sequence totalframes (L+1), if so, performs step 18; Otherwise, perform step 2.
Step 18, exports the Infrared DIM-small Target Image sequence of infrared surface array camera shake.
In embodiments of the invention, the Infrared DIM-small Target Image sequence totalframes of infrared surface array camera shake is 226, and every frame emulation Infrared DIM-small Target Image size is 256 × 256.
Below in conjunction with emulation experiment, effect of the present invention is further described.
1. simulated conditions:
The operational system of emulation experiment of the present invention is Intel (R) Core (TM) i3-41303.20GHz, 32-bit Windows operating system, and simulation software adopts MATLABR2012a software.
2, experiment content:
For the validity of the Infrared DIM-small Target Image emulation mode of checking infrared surface array camera shake, choose the original infrared image background that original infrared image background sequence totalframes is 226 frames, carry out emulation experiment.
As shown in Figure 3, original infrared image background size is 480 × 625 pixels, arrange at the 150th row and the 150th of original infrared image background the emulation Infrared DIM-small Target Image background intercepting 256 × 256 pixels to original infrared image background lower right, infrared small object size is set to 3 × 3 pixels; Infrared small object horizontal movement speed is set to 1 pixel/frame, and infrared small object signal to noise ratio is set to 6; Infrared small object sports level starting point is set to 30, the flight path of infrared small object is straight line model, average μ in infrared surface array camera jitter parameter is set to 0, standard deviation sigma in infrared surface array camera jitter parameter is set to 0.3, is illustrated in figure 9 the Infrared DIM-small Target Image of infrared surface array camera shake.
Comparison diagram 3 and Fig. 9, visible the present invention effectively achieves the generation emulation of the Infrared DIM-small Target Image of infrared surface array camera shake, and the Performance Evaluation for the Infrared DIM-small Target Image of follow-up study infrared surface array camera shake provides the Infrared DIM-small Target Image sequence can testing red outer area array cameras shake in a large number.
In sum, the Infrared DIM-small Target Image sequence of the infrared surface array camera shake that the method that the present invention proposes generates has closer to advantages such as true IR Scene, infrared small object parameter and infrared surface array camera jitter parameter can control, therefore has engineer applied widely and is worth.

Claims (4)

1. an Infrared DIM-small Target Image sequence emulation mode for infrared surface array camera shake, comprises the steps:
(1) infrared image background is gathered:
(1a) use the true infrared image background sequence of thermal infrared imager collection, obtain original infrared image background sequence;
(1b) be 1 by the frame number i assignment of original infrared image background sequence;
(2) Infrared DIM-small Target Image background is emulated:
(2a) read in the original infrared image background of the i-th frame in original infrared image background sequence, 0 < i≤R, R represent original infrared image background sequence totalframes;
(2b) initial row of the i-th frame original infrared image background cutting and initial row are set;
(2c) the original infrared image background of cutting i-th frame, obtain the emulation Infrared DIM-small Target Image background that size is M × N, M represents the line number of emulation Infrared DIM-small Target Image background, N represents the columns of emulation Infrared DIM-small Target Image background, require 0≤M≤A, 0≤N≤B, A represents the line number of each two field picture in original infrared image background sequence, and B represents the columns of each two field picture in original infrared image background sequence;
(3) mirror-extended is carried out to emulation Infrared DIM-small Target Image background edge;
(4) infrared small object model is created:
(4a) arrange infrared small object signal to noise ratio D, D rounds numerical value in 0 < D≤20 scope;
(4b) according to the following formula, infrared small object grey scale pixel value is calculated:
s＝D×σ+μ
Wherein, s represents infrared small object grey scale pixel value, D represents set infrared small object signal to noise ratio, σ represents the standard deviation of all pixels in local neighborhood centered by the infrared small object type heart, and μ represents the average of all pixels within the scope of local neighborhood centered by the infrared small object type heart;
(4c) size of infrared small object is set to m × m pixel, wherein, m rounds numerical value in 0 < m≤10 scope;
(5) infrared small object flight path is set:
(5a) infrared small object movement velocity is set to Δ x pixel/frame, wherein, Δ x is value within the scope of 0< Δ x<10;
(5b) the i-th frame is emulated the pixel of Infrared DIM-small Target Image background top left corner apex as initial point, horizontal right direction is as x-axis, and vertical downward direction, as y-axis, sets up the i-th frame emulation Infrared DIM-small Target Image background flight path axis system;
(5c) judge whether emulation Infrared DIM-small Target Image background frame number is 1, if so, performs step (5d); Otherwise, perform step (5e);
(5d) abscissa value of infrared small object in the 1st frame emulation Infrared DIM-small Target Image background flight path axis system is set to x 1, 0 < x 1≤ N, N represent the columns of emulation Infrared DIM-small Target Image background, according to the following formula, set up the straight line model of the 1st frame emulation Infrared DIM-small Target Image background flight path:
y 1＝ax 1+b
Wherein, y 1represent the ordinate value of infrared small object in the 1st frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < y 1≤ M, M represent the line number of emulation Infrared DIM-small Target Image background, x 1represent the abscissa value of infrared small object in the 1st frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < x 1≤ N, N represents the columns of emulation Infrared DIM-small Target Image background, a represents the slope of the straight line model of emulation Infrared DIM-small Target Image background flight path, and b represents the intercept of the straight line model of emulation Infrared DIM-small Target Image background flight path, and the span of a and b is: 0 < ax 1+ b≤M, M represents the line number of emulation Infrared DIM-small Target Image background;
(5e) straight line model of the emulation Infrared DIM-small Target Image background flight path except the 1st frame according to the following formula, is set up:
x i = x i - 1 + &Delta; x y i = ax i + b
Wherein, x irepresent the abscissa value of infrared small object in the i-th frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < x i≤ N, N represent the columns of emulation Infrared DIM-small Target Image background, x i-1represent the abscissa value of infrared small object in (i-1) frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < x i-1≤ N, N represent the columns of emulation Infrared DIM-small Target Image background, and Δ x represents infrared small object movement velocity, and Δ x is value within the scope of 0< Δ x<10, y irepresent the ordinate value of infrared small object in the i-th frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < y i≤ M, M represent the line number of emulation Infrared DIM-small Target Image background, and a represents the slope of the straight line model of infrared small object flight path, and b represents the intercept of the straight line model of infrared small object flight path, and the span of a and b is: 0 < ax i+ b≤M;
(6) synthesis of artificial Infrared DIM-small Target Image:
(6a) according to the following formula, emulation Infrared DIM-small Target Image sequence totalframes is set:
0＜L≤min((N-x 1)/Δx,R)
Wherein, L represents emulation Infrared DIM-small Target Image sequence totalframes, and min () represents minimum value operation, and N represents the columns of emulation Infrared DIM-small Target Image background, x 1represent the abscissa value of infrared small object in emulation Infrared DIM-small Target Image sequence the 1st frame, Δ x represents infrared small object movement velocity, Δ x is value within the scope of 0< Δ x<10, and R represents original infrared image background sequence totalframes;
(6b) by infrared small object grey scale pixel value s assignment in step (4b) to pixel in m × m block of pixels, m × m block of pixels is with (x i, y i) be the block of pixels of the infrared small object type heart, m rounds numerical value in 0 < m≤10 scope, obtains emulating Infrared DIM-small Target Image, x irepresent the abscissa value of infrared small object in the i-th frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < x i≤ N, N represent the columns of emulation Infrared DIM-small Target Image background, y irepresent the ordinate value of infrared small object in the i-th frame emulation Infrared DIM-small Target Image background flight path axis system, 0 < y i< M, M represent the line number of emulation Infrared DIM-small Target Image background;
(7) the Infrared DIM-small Target Image matrix of infrared surface array camera shake is created:
(7a) create the Infrared DIM-small Target Image matrix P that size is the infrared surface array camera shake of M × N, M represents the line number of emulation Infrared DIM-small Target Image background, and N represents the columns of emulation Infrared DIM-small Target Image background;
(7b) be 1,1≤j by the i-th frame emulation Infrared DIM-small Target Image line number j assignment≤M, M represent the line number of emulation Infrared DIM-small Target Image background;
(8) infrared surface array camera jitter parameter is set:
(8a) average arranged in infrared surface array camera jitter parameter is μ, 0≤μ≤2;
(8b) standard deviation arranged in infrared surface array camera jitter parameter is σ, 0.5≤3 σ≤2;
(9) shake side-play amount is generated:
Generating and obeying average is μ, and standard deviation is the shake side-play amount h of the i-th frame emulation Infrared DIM-small Target Image of the normal distyribution function of σ i;
(10) the rear imaging line number of the i-th frame emulation Infrared DIM-small Target Image jth row shake according to the following formula, is calculated:
Q j＝j+h i
Wherein, Q jrepresent the rear imaging line number of the i-th frame emulation Infrared DIM-small Target Image jth row shake, j represents the i-th frame emulation Infrared DIM-small Target Image line number, h irepresent the shake side-play amount of the i-th frame emulation Infrared DIM-small Target Image;
(11) the rear imaging signal of shake is calculated:
(11a) the shake side-play amount h of the i-th frame emulation Infrared DIM-small Target Image is judged iwhether be greater than 0, if so, perform step (11b); Otherwise, perform step (11c);
(11b) the rear imaging signal of the i-th frame emulation Infrared DIM-small Target Image jth row shake according to the following formula, is calculated:
P j＝V k×(1-z)+V k+1×z
Wherein, P jrepresent the rear imaging signal of the i-th frame emulation Infrared DIM-small Target Image jth row shake, V krepresent the i-th frame emulation Infrared DIM-small Target Image row k imaging signal, k represents the rear imaging line number Q of the i-th frame emulation Infrared DIM-small Target Image jth row shake jinteger part, z represents imaging line number Q after the i-th frame emulation Infrared DIM-small Target Image jth row shake jfractional part, V k+1represent the i-th frame emulation Infrared DIM-small Target Image (k+1) row imaging signal;
(11c) the rear imaging signal of the i-th frame emulation Infrared DIM-small Target Image jth row shake according to the following formula, is calculated:
P j＝V k×(1-z)+V k-1×z
Wherein, P jrepresent the rear imaging signal of the i-th frame emulation Infrared DIM-small Target Image jth row shake, V krepresent the i-th frame emulation Infrared DIM-small Target Image row k imaging signal, k represents the rear imaging line number Q of the i-th frame emulation Infrared DIM-small Target Image jth row shake jinteger part, z represents imaging line number Q after the i-th frame emulation Infrared DIM-small Target Image jth row shake jfractional part, V k-1represent the i-th frame emulation Infrared DIM-small Target Image (k-1) row imaging signal;
(12) by imaging signal P after the i-th frame emulation Infrared DIM-small Target Image jth row shake jthe Infrared DIM-small Target Image matrix P jth row that assignment is shaken to infrared surface array camera;
(13) cumulative 1 operation is carried out to the i-th frame emulation Infrared DIM-small Target Image line number j;
(14) judge whether the i-th frame emulation Infrared DIM-small Target Image line number j equals M+1, if so, performs step (15); Otherwise, perform step (10); Wherein, M represents the line number of emulation Infrared DIM-small Target Image background;
(15) the emulation Infrared DIM-small Target Image matrix P of infrared surface array camera shake is stored;
(16) cumulative 1 operation is carried out to emulation Infrared DIM-small Target Image background frame number i;
(17) judge whether cumulative 1 post-simulation Infrared DIM-small Target Image background frame number i equals emulation Infrared DIM-small Target Image sequence totalframes (L+1), if so, perform step (18); Otherwise, perform step (2);
(18) the Infrared DIM-small Target Image sequence of infrared surface array camera shake is exported.
2. the Infrared DIM-small Target Image sequence emulation mode of infrared surface array camera shake according to claim 1, it is characterized in that, the initial row of the i-th frame original infrared image background cutting described in step (2b) and the span of initial row are, the initial row of the i-th frame original infrared image background cutting is greater than the line number that 0 is less than original infrared image background, and the initial row of the i-th frame original infrared image background cutting are greater than the columns that 0 is less than original infrared image background.
3. the Infrared DIM-small Target Image sequence emulation mode of infrared surface array camera shake according to claim 1, it is characterized in that, the concrete steps of the emulation Infrared DIM-small Target Image background edge mirror-extended described in step (3) are as follows:
1st step, mirror-extended image array is initialized as (M+2t) × (N+2t), be expanded image array, wherein, t represents the width of emulation Infrared DIM-small Target Image background expansion, and M represents the line number of emulation Infrared DIM-small Target Image background, N represents the columns of emulation Infrared DIM-small Target Image background, 0<t<min (M/4, N/4), min () represent minimum value operation;
2nd step, emulation Infrared DIM-small Target Image background assignment is walked to t+M to the t+1 of expanded images matrix capable, t+1 arranges in the scope of t+N row, by the capable data of expanded images matrix 2t+1 to t+1, assignment is capable to expanded images matrix 1 to t respectively, by the capable data of expanded images matrix M to t+M, assignment is capable to expanded images matrix 2t+M to t+M+1 respectively, expanded images matrix 2t+1 to t+1 column data difference assignment is arranged to expanded images matrix 1 to t, by expanded images matrix N to t+N column data respectively assignment arrange to expanded images matrix 2t+N to t+N+1, be expanded emulation Infrared DIM-small Target Image background, wherein, M represents the line number of emulation Infrared DIM-small Target Image background, N represents the columns of emulation Infrared DIM-small Target Image background, t represents the width of emulation Infrared DIM-small Target Image background expansion, 0<t<min (M/4, N/4), min () represents minimum value operation.
4. the Infrared DIM-small Target Image sequence emulation mode of infrared surface array camera shake according to claim 1, it is characterized in that, infrared small object movement velocity described in step (5a) refers to, the difference of the adjacent two interframe infrared small object abscissas of emulation Infrared DIM-small Target Image.
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