CN105303566B - A kind of SAR image azimuth of target method of estimation cut based on objective contour - Google Patents
A kind of SAR image azimuth of target method of estimation cut based on objective contour Download PDFInfo
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- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
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Abstract
The invention discloses a kind of SAR image azimuth of target method of estimation cut based on objective contour, comprise the following steps：S1, SAR targets are extracted from input picture；S2, extraction objective contour, a two-value profile matrix is expressed as by its information；S3, by profile matrix per first nonzero element in column element and its next element zero setting, the cutting to profile is realized with this；S4, searching and the largest number of straight lines of contact point of cutting rear profile, and its angle is set to the azimuth of target currently estimated.The inventive method is not required excessively the shape of target, so as to reduce the dependence to Objective extraction process；The method cut using profile, improves the estimation accuracy in the case of long and short leading edge lengths difference is smaller, by being modified to the azimuth estimated, compensate for conventional method and is distinguishing the vertically and horizontally deficiency in orientation, improve estimated accuracy；In addition, the inventive method computation complexity is low, estimation is quick.
Description
Technical field
The invention belongs in technical field of image processing, be related to image steganalysis method, and in particular to one kind is based on mesh
Mark the estimation side of synthetic aperture radar (Synthetic Aperture Radar, SAR) image goal position angle that profile is cut
Method.
Background technology
Synthetic aperture radar has the advantages that round-the-clock, all-weather and strong penetration capacity, has become a kind of important army
Thing investigation.In recent years, automatic target detection (Automatic Target are carried out using high-resolution SAR image
Recognition, ATR) research continue to bring out.
SAR target images are very sensitive to the orientation of radar imagery, image difference of the same target obtained by different azimuth
It is very not big.The SAR template images of a large amount of different azimuths are stored in traditional SAR ATR systems, by by target to be identified with
Template is matched to realize the identification of target.Therefore, the azimuth of target is pre-estimated out, search graph can be efficiently reduced
The quantity of picture, improve the recognition efficiency and accuracy rate of ATR systems.
The estimation procedure of SAR azimuth of targets generally includes two links of Objective extraction and angle estimation.Objective extraction is
SAR targets are extracted as precisely as possible from image；Angle estimation is analyzed extracting target, estimation
Go out the azimuth of target.At present, main SAR azimuth of target methods of estimation have：Method of principal axis, boundary rectangle method and primary edge
Method.
Method of principal axis is come estimation orientation angle by the main shaft of target scattering center.Because the mathematical modeling being related to is simple,
Calculate it is complicated small, and for a certain degree of target occlusion, hidden and be hinged there is robustness.A but base of this kind of method
This hypothesis is that SAR targets are symmetrical on main shaft.And in practical situations both, due to the shadow by image scene or object construction
Ring, symmetry is assumed not necessarily to set up, and causes orientation angular estimation inaccurate.Boundary rectangle method utilizes minimum enclosed rectangle fitting mesh
Mark, always determines azimuth of target, this method has higher requirement to the shape of target, that is, needs to carry according to walking for boundary rectangle
The target of taking-up has relatively regular shape, and there may be larger angle estimation deviation for irregular shape；In addition, this method
It is related to series of rectangular rotation, amount of calculation is larger.Primary edge rule is by detecting the primary edge of target come the side of estimation
Parallactic angle.Two methods are high earlier above for the estimated accuracy of this method, and the matrix rotation that the acquisition of primary edge need not be complicated, speed
Comparatively fast, its major defect is when the short primary edge of target is vertical with radar beam, the estimation in vertically and horizontally orientation
Upper generation is obscured, and this problem fails to be well solved always, have impact on widely using for algorithm；Moreover, this method exists
When long and short primary edge length difference is smaller, larger estimated bias is easily produced.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of quick and estimated accuracy is higher based on mesh
Mark the SAR image azimuth of target method of estimation that profile is cut.
The purpose of the present invention is achieved through the following technical solutions：A kind of SAR image cut based on objective contour
Azimuth of target method of estimation, comprises the following steps：
S1, extraction target, the SAR Objective extractions in input picture are come out, be expressed as one two with image partition method
It is worth objective matrix, the line number and columns of the matrix are respectively equal to the width and length of image, each point correspondence image of matrix
A pixel, its value is that the 1 expression pixel is target point, represents that the pixel is non-targeted point for 0；
S2, extraction profile, to each point in objective matrix, count the number of target point in its peripheral region, if mesh
Punctuate number is less than default adjacent region threshold, then it is profile point to judge the point, is otherwise non-profile point；By objective contour information table
Be shown as a two-value profile matrix, the line number and columns of the matrix are respectively equal to the width and length of image, matrix each
One pixel of point correspondence image, its value are that the 1 expression pixel is profile point, represent that the pixel is non-profile point for 0；
S3, each column element for cutting profile, successively scanning profile matrix, by first nonzero element in every column element
And its next element zero setting；
S4, estimation orientation angle, including following sub-step：
S41, the straight line { L in one group of width of target image plane work for two pixelsθ,d, wherein θ be straight line with it is vertical
The angle in direction, 0 ° of ＜ θ≤180 °, θ sampling interval is Rθ, 0 ＜ Rθ≤1；D be image top left corner apex to straight line away from
From,Wherein p, q are respectively the line number and columns of profile matrix, and d sampling interval is Rd, 0 ＜ Rd≤1；
Every S42, statistics straight line Lθ,dContact point number k with cutting rear profileθ,d, seek the maximum of contact point number
kmax；
If S43, kmaxCorresponding straight line only has one, then it is L to remember the straight linemax；Otherwise, k is selectedmaxCorresponding is each
The straight line minimum with horizontal direction angle in straight line, and remember that the straight line is Lmax；
S44, determine LmaxThe azimuth of target θ that as currently estimates of angleest。
Further, described azimuth method of estimation also includes step S5, a corrected azimuth, specifically includes following
Sub-step：
S51, straight line and the maximum of the contact point number of cutting rear profile that angle is 180 ° are asked, be designated as kv, and calculate kv
With maximum kmaxRelative variation, be designated as Δk：
If S52, relative variation ΔkChange threshold relative less than the contact point of setting,And straight line
LmaxWith the angle Δ of horizontal directionθLess than the angle threshold of setting,Then put θest=180 °.
Further, in described step S2, in statistics objective matrix in each peripheral region during the number of target point,
The area size of statistics is 5 × 5 pixels.
Further, described step S3 concrete methods of realizing is：If profile matrix A=[A1 A2 ... Aq], size is
P × q, wherein AiFor the column vector of p dimensions, i=1,2 ..., q；Scan A successively from top to bottomiEach element aj,i, j=1,
2 ..., p, if am,iFor first nonzero element scanned, then a is putm,i=0, if m ＜ p now, then put am,iIt is next
Individual element a(m+1),i=0.
The beneficial effects of the invention are as follows：The inventive method is not required excessively the shape of target, so as to reduce to mesh
Mark the dependence of extraction process；The method cut using profile, is improved in the case of long and short primary edge length difference is smaller
Estimate accuracy, by being modified to the azimuth estimated, compensate for conventional method and distinguishing vertically and horizontally in orientation
Deficiency, improve estimated accuracy；In addition, the inventive method computation complexity is low, estimation is quick.
Brief description of the drawings
Fig. 1 is the flow chart of the azimuth method of estimation embodiment one of the present invention；
Fig. 2 is the flow chart of the azimuth method of estimation embodiment two of the present invention；
Fig. 3 is the method using the present invention to HB19462.001 result figures；
Fig. 4 is estimated result schematic diagram of each method to image HB19462.001 azimuth of target；
Fig. 5 is estimated result schematic diagram of each method to image HB03808.004 azimuth of target.
Embodiment
Technical scheme is further illustrated below in conjunction with the accompanying drawings.
MSTA of the test image of the embodiment of the present invention both from the advanced research project office (DARPA) of U.S. national defense
(Moving and Stationary Target Acquisition and Recognition) standard data set.With MSTAR
Illustrated exemplified by middle image HB19462.001 (shown in such as Fig. 3 (a)).Corresponding model E71 BRDM the appearance of the image
Mark, the angle of pitch of imaging is 17 °.
Embodiment one：As shown in figure 1, a kind of SAR image azimuth of target method of estimation cut based on objective contour, bag
Include following steps：
S1, extraction target, the size of the present embodiment input picture are 128 × 128, with image partition method by input picture
In SAR Objective extractions, be expressed as a size be 128 × 128 binary object matrix O；The line number and columns of objective matrix
The respectively equal to width and length of image, a pixel of each point correspondence image of objective matrix, its value are that 1 expression should
Pixel is the point (target point) in target, represents that the pixel is non-targeted point for 0；
S2, extraction profile, to each point in objective matrix O, are counted in its peripheral region (around selected by the present embodiment
Region is 5 × 5 pixels) the number n of target point, if target point number n is less than default adjacent region threshold Tn=22 (22≤Tn≤
24), then judge that this is otherwise non-profile point for the point (profile point) on profile；Objective contour information is expressed as one big
It is small be 128 × 128 two-value profile matrix A, the line number and columns of the matrix be respectively equal to the width and length of image, and A's is every
One pixel of one correspondence image, its value are that the 1 expression pixel is profile point, represent that the pixel is non-wheel for 0
Wide point；Shown in objective contour such as Fig. 3 (b) of the present embodiment extraction；
S3, each column element for cutting profile, successively scanning profile matrix, by first nonzero element in every column element
And its next element zero setting, the cutting to profile is realized with this；Specific implementation method is：If profile matrix A=[A1 A2
... Aq], size is 128 × 128, wherein AiFor the column vector of 128 dimensions, i=1,2 ..., 128；Scan A successively from top to bottomi
Each element aj,i, j=1,2 ..., 128, if am,iFor first nonzero element scanned, then a is putm,i=0, if now
M ＜ 128, then put a againm,iNext element a(m+1),i=0；Such as the 57th column data A57Contain nonzero element, first non-zero
Element is located at the 75th row, then puts a75,57=0 and subsequent a76,57=0；Contour images such as Fig. 3 (c) institutes after the present embodiment cutting
Show；
S4, estimation orientation angle, including following sub-step：
S41, the straight line { L in one group of width of target image plane work for two pixelsθ,d, wherein θ be straight line with it is vertical
The angle in direction, 0 ° of ＜ θ≤180 °, θ sampling interval is Rθ=0.5 (0 ＜ Rθ≤1)；D is the top left corner apex of image to directly
The distance of line,D sampling interval is Rd=1 (0 ＜ Rd≤1)；
Every S42, statistics straight line Lθ,dContact point number k with cutting rear profileθ,d, seek the maximum of contact point number
kmax=20；
Contact point number maximum k in S43, the present embodimentmax=20 straight line has a plurality of, therefore is by contact point number
20 and the straight line minimum with the angle (horizontal angle) of horizontal direction be designated as Lmax, now LmaxCorresponding horizontal angle ΔθFor 5.500；
S44, determine LmaxThe azimuth of target θ that as currently estimates of angleest, because of LmaxAngle theta=95.500, then
The azimuth of target θ currently estimated is setestFor 95.500 degree.
Embodiment two：Embodiment one has been completed the estimation of image goal position angle, more smart in order to further obtain
True azimuth of target, as shown in Fig. 2 it is of the invention after step S1~S4 is completed, in addition to a step S5, amendment orientation
Angle, specifically include following sub-step：
S51, straight line and the maximum of the contact point number of cutting rear profile that angle is 180 ° are asked, be designated as kv, try to achieve kv=
18；Calculate kvWith maximum kmaxRelative variation (relative variation), be designated as Δk：
S52, contact point is set with respect to change thresholdAngle threshold Because meeting simultaneouslyAndThen by the azimuth of target θ of estimationestIt is modified to 180 degree；Extremely
This, the azimuth of target θ estimatedest=180 °.The azimuth that the present embodiment estimates such as Fig. 3 (d) is shown, wherein azimuth
Direction represented with the straight line of target exterior measuring.
Below by the effect of the present invention compared with boundary rectangle method and primary edge method.Test machine is Intel (R)
I5-5300U processors, dominant frequency 2.3GHz.Test is divided to free hand drawing test and the step of integration test two to carry out.In all tests, the
One step extracts target using the threshold segmentation method of routine.
(1) free hand drawing is tested
Free hand drawing test is with image HB19462.001 (as shown in Fig. 4 (a)) and image HB03808.004 (such as Fig. 5 (a) institutes
Show) exemplified by illustrate.Image HB03808.004 corresponds to model c71 BTR70 ground targets, and the angle of pitch of imaging is
17°。
Table 1 is that the inventive method and boundary rectangle method, the azimuth estimated result of primary edge method compare.It can be seen that
In terms of the accuracy of estimation, the inventive method is substantially better than boundary rectangle method and primary edge method.Especially, it is right
HB19462.001 images, boundary rectangle method and primary edge method generate in the estimation in vertically and horizontally orientation to be obscured, so as to
Very big evaluated error is caused, and the present invention overcomes this problem, obtain accurate estimation.
The each method of table 1 compares single image azimuth of target estimated result
Fig. 4 is the estimated result schematic diagram (orientation that estimates of each method to the azimuth of target of HB19462.001 images
Angular direction is represented with the straight line of target exterior measuring), wherein Fig. 4 (a) is original HB19462.001 images, and Fig. 4 (b) is external square
For shape method to the estimated result of HB19462.001 images, Fig. 4 (c) is estimation knot of the primary edge method to HB19462.001 images
Fruit, Fig. 4 (d) are estimated result of the inventive method to HB19462.001 images.
Fig. 5 is the estimated result schematic diagram (orientation that estimates of each method to the azimuth of target of HB03808.004 images
Angular direction is represented with the straight line of target exterior measuring), wherein Fig. 5 (a) is original HB03808.004 images, and Fig. 5 (b) is external square
For shape method to the estimated result of HB03808.004 images, Fig. 5 (c) is estimation knot of the primary edge method to HB03808.004 images
Fruit, Fig. 5 (d) are estimated result of the inventive method to HB03808.004 images.
(2) integration test
Integration test have selected the species of BRDM, BTR70 and BMP (SN9563) three that the angle of pitch in MSTAR databases is 17 °
Type target is tested.Wherein BRDM types have 298 width target images, and BTR70 types and BMP (SN9563) type respectively have
233 width.To these test image the inventive method and boundary rectangle method, primary edge method and 2011《Computer application》
Upper issue《SAR azimuth of target methods of estimation based on primary edge Radon conversion》The method that (document 1) proposes carries out angle
Degree estimation, its result are as shown in table 2.Number of targets of the absolute error of orientation angular estimation in the range of 5 ° and 10 ° is listed in table
Mesh accounts for the ratio of general objective number, the average of absolute error and standard deviation, run time etc..From the point of view of the accuracy of estimation, this
Inventive method evaluated error is smaller, and is much smaller than boundary rectangle method and primary edge method method.All images are averaged, this
It is respectively 92.7% and 98.9% that inventive method estimation absolute error, which is less than 5 ° and the ratio less than 10 °, is all substantially better than other
Method.From the point of view of run time, the estimating speed of the inventive method is most fast in all methods, and is significantly faster than that boundary rectangle
Method.It should be noted that the data of " improvement primary edge " method carry out document 1 in table.In theory, the time-consuming of this method should be with
Quite but data are much larger than this experimental result in table for former " primary edge " method time-consuming, and this is mainly due in the first step
In Objective extraction, document 1 employs increasingly complex method；In addition, document 1 is different from the machine that this experiment test uses,
It result in the difference of data.
The each method of table 2 compares the estimated result of sample image azimuth of target
One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such especially statement and embodiment.This area
Those of ordinary skill can make according to these technical inspirations disclosed by the invention various does not depart from the other each of essence of the invention
The specific deformation of kind and combination, these deform and combined still within the scope of the present invention.
Claims (4)
1. a kind of SAR image azimuth of target method of estimation cut based on objective contour, it is characterised in that including following step
Suddenly：
S1, extraction target, the SAR Objective extractions in input picture are come out, be expressed as a two-value mesh with image partition method
Matrix is marked, the line number and columns of the matrix are respectively equal to the width and length of image, and each of matrix puts the one of correspondence image
Individual pixel, its value are that the 1 expression pixel is target point, represent that the pixel is non-targeted point for 0；
S2, extraction profile, to each point in objective matrix, count the number of target point in its peripheral region, if target point
Number is less than default adjacent region threshold, then it is profile point to judge the point, is otherwise non-profile point；Objective contour information is expressed as
One two-value profile matrix, the line number and columns of the matrix are respectively equal to the width and length of image, each point pair of matrix
Answer a pixel of image, its value is that the 1 expression pixel is profile point, represents that the pixel is non-profile point for 0；
S3, each column element for cutting profile, successively scanning profile matrix, by first nonzero element in every column element and its
Next element zero setting；
S4, estimation orientation angle, including following sub-step：
S41, the straight line { L in one group of width of target image plane work for two pixelsθ,d, wherein θ is straight line and vertical direction
Angle, 0 ° of ＜ θ≤180 °, θ sampling interval is Rθ, 0 ＜ Rθ≤1；D be image top left corner apex to straight line distance,Wherein p, q are respectively the line number and columns of profile matrix, and d sampling interval is Rd, 0 ＜ Rd≤1；
Every S42, statistics straight line Lθ,dContact point number k with cutting rear profileθ,d, seek the maximum k of contact point numbermax；
If S43, kmaxCorresponding straight line only has one, then it is L to remember the straight linemax；Otherwise, k is selectedmaxCorresponding each straight line
In the straight line minimum with horizontal direction angle, and remember that the straight line is Lmax；
S44, determine LmaxThe azimuth of target θ that as currently estimates of angleest。
2. the SAR image azimuth of target method of estimation according to claim 1 cut based on objective contour, its feature are existed
In described azimuth method of estimation also includes step S5, a corrected azimuth, specifically includes following sub-step：
S51, straight line and the maximum of the contact point number of cutting rear profile that angle is 180 ° are asked, be designated as kv, and calculate kvWith most
Big value kmaxRelative variation, be designated as Δk：
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</mfrac>
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</mrow>
If S52, relative variation ΔkChange threshold relative less than the contact point of setting And straight line LmaxWith
The angle Δ of horizontal directionθLess than the angle threshold of setting Then put θest=180 °.
3. the SAR image azimuth of target method of estimation according to claim 1 cut based on objective contour, its feature are existed
In, in described step S2, in statistics objective matrix in each peripheral region during the number of target point, the area size of statistics
For 5 × 5 pixels.
4. the SAR image target bearing angular estimation side cut based on objective contour according to claims 1 to 3 any one
Method, it is characterised in that described step S3 concrete methods of realizing is：If profile matrix A=[A1 A2 ... Aq], size be p ×
Q, wherein AiFor the column vector of p dimensions, i=1,2 ..., q；Scan A successively from top to bottomiEach element aj,i, j=1,2 ...,
P, if am,iFor first nonzero element scanned, then a is putm,i=0, if m ＜ p now, then put am,iNext element
a(m+1),i=0.
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| CN106874881B (en) * | 2017-02-23 | 2019-09-24 | 电子科技大学 | A kind of anti-joint sparse expression method for tracking target in the part of multi-template space time correlation |
| CN108629786B (en) * | 2017-03-23 | 2020-07-21 | 展讯通信（上海）有限公司 | Image edge detection method and device |
| CN107610131B (en) * | 2017-08-25 | 2020-05-12 | 百度在线网络技术（北京）有限公司 | Image clipping method and image clipping device |
| CN112070151B (en) * | 2020-09-07 | 2023-12-29 | 北京环境特性研究所 | Target classification and identification method for MSTAR data image |
| CN113344937A (en) * | 2021-04-25 | 2021-09-03 | 中国科学院空天信息创新研究院 | Method for automatically identifying and removing black edge of remote sensing image |
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