CN105510884B - A kind of image processing method and equipment - Google Patents
A kind of image processing method and equipment Download PDFInfo
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- CN105510884B CN105510884B CN201510900177.1A CN201510900177A CN105510884B CN 105510884 B CN105510884 B CN 105510884B CN 201510900177 A CN201510900177 A CN 201510900177A CN 105510884 B CN105510884 B CN 105510884B
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The present invention provides a kind of image processing method and equipment, including：Determine the theoretical position of at least one object to be measured and the object to be measured in region to be measured；Radar scanning is carried out at least one described object to be measured, obtains radar scanning data；According to the theoretical position of the object to be measured and the radar scanning data, the radar scanning image for the object to be measured is generated based on compressed sensing mode, the radar scanning image is for characterizing the physical location that the object to be measured occurs in the region to be measured.By carrying out radar scanning at least one object to be measured position in region to be measured, and according to obtained radar scanning data, the radar scanning image in entire region to be measured is obtained based on compressed sensing mode, data processing rate is lower caused by solving the problems, such as to need the radar scanning data for completely obtaining all positions in entire region to be measured just can obtain radar scanning image in the prior art.
Description
Technical field
The present invention relates to computer technology and radar scanning technic field more particularly to a kind of image processing method and set
It is standby.
Background technique
Airport exotic fragment (Foreign Object Debris, abbreviation FOD) is also known as airfield runway foreign matter, refers to
It is the objects such as stone, metal device, adhesive tape, plastic products, paper, leaf or Object Debris, these airfield runway foreign matters exist
The safe operation to aircraft on ground brings threat to a certain extent.Such as：Plastic products (such as plastics on airfield runway
Bag) it can be easily inhaled into the engine of aircraft, lead to power failure；Some metal fragments on airfield runway are easy
Lead to the tyre break etc. of aircraft.With the continuous development of civil aviaton's cause, the volume of the flow of passengers is continuously increased, and exotic fragment falls
The quantity fallen is also continuously increased, increasing to the threat of the safety on airport, and therefore, the accurate airfield runway foreign matter that detects becomes
It is most important.
The detection method for using millimetre-wave radar main at present, millimetre-wave radar have the excellent of high-resolution and small size
Point, the setting regions being adapted for mount near airfield runway, wherein millimetre-wave radar detection method mainly uses linear frequency modulation to connect
Continuous wave radar system detects airfield runway foreign matter, and the radar transmission power of Modulation Continuous Wave Radar system is low, receives sensitive
Degree is high, and detection range is remote, no blind range zone, can accurately detect the small foreign matter occurred on airfield runway.
When carrying out the detection of airfield runway foreign matter using Modulation Continuous Wave Radar system, synthetic aperture is generallyd use
Radar is imaged, and synthetic aperture radar (synthetic aperture radar, abbreviation SAR) is a kind of high-resolution imaging
Radar can be improved the resolution that foreign body detection system for airfield runway goes to foreign matter position to airport after SAR imaging technique
Rate.
However, needing completely to obtain thunder when being imaged using measurement result of the SAR imaging technique to millimetre-wave radar
The detection data of all positions could realize imaging in up to scanning range, in this way, the range ratio for needing to scan in millimetre-wave radar
In biggish situation, the scanning amount of radar scanning system is not only increased, while reducing foreign body detection system for airfield runway
Data processing rate.
Summary of the invention
In view of this, being needed the embodiment of the invention provides a kind of image processing method and equipment for solving the prior art
The detection data that completely obtain all positions within the scope of radar scanning can just obtain caused by radar scanning image at data
Manage the lower problem of rate.
The present invention provides a kind of image processing methods, including：
Determine the theoretical position of at least one object to be measured and the object to be measured in region to be measured；
Radar scanning is carried out at least one described object to be measured, obtains radar scanning data；
According to the theoretical position of the object to be measured and the radar scanning data, needle is generated based on compressed sensing mode
To the radar scanning image of the object to be measured, wherein the radar scanning image is for characterizing the object to be measured described
The physical location occurred in region to be measured.
The present invention provides a kind of image processing equipments, including：
Determination unit, for determining the theoretical position of at least one object to be measured and the object to be measured in region to be measured
It sets；
Scanning element obtains radar scanning data for carrying out radar scanning at least one described object to be measured；
Processing unit, for according to the object to be measured theoretical position and the radar scanning data, based on compression
Perceptive mode generates the radar scanning image for being directed to the object to be measured, wherein the radar scanning image is described for characterizing
The physical location that object to be measured occurs in the region to be measured.
The present invention has the beneficial effect that：
The embodiment of the present invention determines the theoretical position of at least one object to be measured and the object to be measured in region to be measured
It sets；Radar scanning is carried out at least one described object to be measured, obtains radar scanning data；According to the theory of the object to be measured
Position and the radar scanning data generate the radar scanning image for the object to be measured based on compressed sensing mode,
The radar scanning image is for characterizing the physical location that the object to be measured occurs in the region to be measured.By to be measured
At least one object to be measured position carries out radar scanning in region, and according to obtained radar scanning data, based on compression
Perceptive mode obtains the radar scanning image in entire region to be measured, solves and needs completely to obtain entire area to be measured in the prior art
The radar scanning data of all positions can just obtain the lower problem of data processing rate caused by radar scanning image in domain.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without any creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is a kind of image processing method flow diagram provided in an embodiment of the present invention；
Fig. 2 is a kind of radar scanning schematic diagram provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of determining calculation matrix provided in an embodiment of the present invention；
Fig. 4 is a kind of image processing equipment structural schematic diagram provided in an embodiment of the present invention.
Specific embodiment
In order to achieve the object of the present invention, a kind of image processing method and equipment are provided in the embodiment of the present invention, including
Determine the theoretical position of at least one object to be measured and the object to be measured in region to be measured；At least one is to be measured to described
Target carries out radar scanning, obtains radar scanning data；According to the theoretical position of the object to be measured and the radar scanning
Data generate the radar scanning image for the object to be measured based on compressed sensing mode, and the radar scanning image is used for
Characterize the physical location that the object to be measured occurs in the region to be measured.By at least one mesh to be measured in region to be measured
It marks position and carries out radar scanning, and according to obtained radar scanning data, obtained based on compressed sensing mode entire to be measured
The radar scanning image in region solves and the radar for completely obtaining all positions in entire region to be measured is needed to sweep in the prior art
Retouch data just and can obtain the lower problem of data processing rate caused by radar scanning image.
The each embodiment of the present invention is described in further detail below in conjunction with Figure of description, it is clear that described
Embodiment be only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ability
Domain those of ordinary skill all other embodiment obtained without making creative work, belongs to guarantor of the present invention
The range of shield.
It should be noted that embodiment provided by the invention is to generate radar scanning image based on compressed sensing mode, press
Contracting cognition technology it is a kind of with lower than nyquist sampling rate realize rebuild data signal processing technology, using signal meet it is dilute
The unique reconstitution properties having when dredging property or compressibility condition, by solving Nonlinear Optimization Problem, with overwhelming probability
Original signal is rebuild from a small amount of test data.
It should be noted that embodiment provided by the invention can be used for needing to obtain radar scanning figure by radar scanning
In the application scenarios of picture, it is not specifically limited.Embodiment provided by the invention is that detection airfield runway foreign matter is with application scenarios
Example is illustrated.
It should be noted that embodiment provided by the invention can be used for carrying out radar scanning to airfield runway, and obtain
Radar scanning image, to determine that the position of foreign matter appearance is gone on airport, wherein airfield runway foreign matter is generally Small object, for
For entire airfield runway, airfield runway foreign matter can be regarded as it is sparse be distributed in airfield runway, meet compressive sensing theory
Reconstruction condition (i.e. signal sparsity or compressibility) therefore radar can be obtained by compressed sensing based mode and swept
Trace designs picture.
Fig. 1 is a kind of image processing method flow diagram provided in an embodiment of the present invention, and the method is as described below.
Step 101：Determine the theoretical position of at least one object to be measured and the object to be measured in region to be measured.
In a step 101, it determines the region to be measured for needing to obtain radar scanning image, chooses at least one in region to be measured
A object to be measured, and determine according to the object to be measured of selection the theoretical position of object to be measured.
It should be noted that the region to be measured determined can be the airfield runway region of setting, it is also possible to radar scanning
Region, be not specifically limited, choose at least one object to be measured in region to be measured, refer to randomly selecting in region to be measured
One or more position is as object to be measured, without measuring to entire region to be measured.
When determining object to be measured, it is thus necessary to determine that the number of the number of object to be measured, object to be measured can be advised according to setting
It then determines, can also be determined according to historical data, the number of object to be measured can also be determined according to other methods, does not do have here
Body limits.
For example, setting rule is 10 object to be measured of selection, it is determined that the number of object to be measured is 10；According to history
When data determine the number of object to be measured, it is assumed that determine that the number for target actually occur is 3 from historical data, then can be with
The number for determining object to be measured is 6~15, that is to say, that determines that the number of object to be measured can be actually and target number occurs
2 to 5 times, be not specifically limited.
It, can be according to the number of determining object to be measured to be measured after determining the number of object to be measured and object to be measured
Theoretical position of the position as object to be measured of the number is randomly selected in region, such as：The number of object to be measured is 10,
Theoretical position of 10 positions as object to be measured is then randomly selected in region to be measured.
Step 102：Radar scanning is carried out at least one described object to be measured, obtains radar scanning data.
In a step 102, radar scanning is carried out at least one determining object to be measured using radar, and is swept by radar
Retouch available radar scanning data.
It should be noted that radar used in the embodiment of the present invention can be millimetre-wave radar, it is also possible to other classes
The radar of type, is not specifically limited.
Fig. 2 is a kind of radar scanning schematic diagram provided in an embodiment of the present invention.
From figure 2 it can be seen that the crosspoint of x-axis and y-axis is origin O.Label 1 shown in Fig. 2 is airfield runway；Figure
Label 2 shown in 2 is using O as a semicircle in the center of circle, and the semicircle is region to be measured, and label 3 shown in Fig. 2 indicates milli
Metre wave radar is located at origin O；Label 4 shown in Fig. 2 is the beam scanning region of millimetre-wave radar, and β indicates millimeter wave
The angle of radar scanning；Label 5 shown in Fig. 2 is object to be measured P, and the position of object to be measured P can be by polar coordinates (rP, θP)
It indicates, wherein r is the radius of the semicircle, rPFor the distance between object to be measured P and origin O, θPIt is in place for object to be measured P institute
Set the line OP between origin and angle value angle formed between x-axis direction, wherein ρ (rP, θP) indicate object to be measured P
Reflectivity function.
From figure 2 it can be seen that when carrying out radar scanning to object to be measured P using millimetre-wave radar, it is assumed that millimeter wave thunder
The scanning signal for being k up to transmitting wave number when scanning signal passes through object to be measured P, generates echo-signal, and millimetre-wave radar receives institute
Echo-signal is stated, radar scanning data can be obtained according to echo-signal.
Wherein, obtaining radar scanning data for object to be measured P can be expressed as：
Wherein, k is the wave number of millimetre-wave radar transmitting, f (β-θP) it is the function that millimetre-wave radar determines antenna direction, β
For the angle of millimetre-wave radar scanning, θPLine and airfield runway between the position object to be measured P and millimetre-wave radar
Angle value angle formed, ρ between directionpIndicate the reflectivity of object to be measured P, e is natural Exponents, rpIndicate object to be measured P
The distance between millimetre-wave radar.
Radar scanning is carried out to N number of object to be measured using millimetre-wave radar, it is available to be obtained for N number of object to be measured
The radar scanning data arrived：
Wherein, p is object to be measured, and k is the wave number of millimetre-wave radar transmitting, f (β-θp) it is that millimetre-wave radar determines antenna
The function in direction, β are the angle of millimetre-wave radar scanning, θpFor the company between the position object to be measured p and millimetre-wave radar
Angle value angle formed, ρ between line and airfield runway directionpIndicate the reflectivity of object to be measured p, e is natural Exponents, rp
Indicate the distance between object to be measured p and millimetre-wave radar.
Step 103：According to the theoretical position of the object to be measured and the radar scanning data, it is based on compressed sensing side
Formula generates the radar scanning image for being directed to the object to be measured.
Wherein, the radar scanning image is for characterizing the actual bit that the object to be measured occurs in the region to be measured
It sets.
In step 103, according to the radar scanning data at the position of object to be measured and the object to be measured, based on pressure
Contracting perceptive mode, the radar scanning image in available region to be measured.
Specifically, it is based on compressed sensing mode, the radar scanning data can be obtained by following steps：
The first step：The calculation matrix for measuring the object to be measured is determined according to the theoretical position of the object to be measured.
It should be noted that the calculation matrix can be used to characterize the number of object to be measured and the theory of object to be measured
Position specifically can determine the calculation matrix in the following manner：
Firstly, the region to be measured is divided into N × M sub-regions according to setting method.
Wherein, N is natural number, and M is natural number.
It should be noted that the region to be measured is divided into N × M sub-regions, the setting side according to setting method
Method, which can be, divides region to be measured to two granularities according to orientation and distance, is also possible to treat according to other methods
It surveys region to be divided, be not specifically limited.Wherein, the orientation is used to characterize the scanning signal of millimetre-wave radar transmitting
Direction or angle, the distance is to for characterizing the distance between object to be measured and millimetre-wave radar.
It by region division to be measured is being N × M sub-regions according to setting method, it can be according to setting method by region to be measured
N × M sub-regions are averagely divided into, can also be N × M sub-regions by region random division to be measured according to setting method, no
It is specifically limited.
Secondly, choosing at least one subregion in N × M sub-regions according to setting rule, wherein each
The subregion of selection characterizes the theoretical position of an object to be measured.
By according to orientation and distance to two granularities by region division to be measured for N × M sub-regions for be illustrated,
After determining the number of object to be measured, the number sub-regions are randomly selected, and using the subregion of selection as object to be measured
Theoretical position, for example, the number of object to be measured be 10, then randomly select 10 sub-regions, a sub-regions represent one
The theoretical position of object to be measured.
It should be noted that the embodiment of the present invention is not specifically limited the mode for how randomly selecting subregion.
Finally, characteristic value is arranged to each sub-regions of selection, and determining described for measuring according to the characteristic value
The calculation matrix of object to be measured.
Wherein, the calculation matrix is N × M type matrix.
After choosing subregion, characteristic value can be arranged to the subregion of selection, here to the side of setting characteristic value
Formula is not specifically limited, in order to make it easy to understand, it can be set as 1 for the subregion chosen, other unselected sub-districts
Domain is set as 0, that is to say, that the subregion for needing to represent to 1 carries out radar scanning, does not need the subregion represented to 0 and carries out
Radar scanning.
In this way, for each of N × M sub-regions subregion setting characteristic value, available N × M type matrix,
N × M type matrix is the calculation matrix.
Fig. 3 is a kind of schematic diagram of determining calculation matrix provided in an embodiment of the present invention.
From figure 3, it can be seen that N indicate orientation, M indicate distance to, orientation by region division to be measured be N number of son
Region, distance to by region division to be measured be M sub-regions, available N × M sub-regions, wherein shown in Fig. 3
Black rectangle indicates subregion to be measured, and white rectangle shown in Fig. 3 indicates non-subregion to be measured, subregion to be measured and non-to be measured
Subregion is determining at random.
Second step：According to the calculation matrix, the reconstruction matrix for determining the radar scanning image is calculated.
After obtaining calculation matrix, reconstruction matrix can be calculated according to calculation matrix, wherein the reconstruction matrix is used
In determining the radar scanning image.Specifically, it can be calculated in the following manner for determining the radar scanning figure
The reconstruction matrix of picture：
Θ=B Φ,
Wherein, the Θ is the reconstruction matrix, and the Φ is calculation matrix, and the B is the constant square determined by radar
Battle array.
It should be noted that constant matrices B can be predefined according to experimental data, it specifically, can be by with lower section
Method predefines the constant matrices B：
The region to be measured is scanned using millimetre-wave radar, it is available for the to be measured of entire region to be measured
The radar scanning data of target：
Wherein, p indicates the measurement target occurred in region to be measured, and P indicates the number of object to be measured, wherein P is nature
Number, f (β-θp) it is the function that millimetre-wave radar determines antenna direction, β indicates the angle of radar scanning, to entire region to be measured
When being scanned, the angle of radar scanning is scanned according to certain rotation speed to termination point β=π from initial angle β=0,
θPAngle angle formed between line between the position object to be measured P and millimetre-wave radar and airfield runway direction
Value, ρpIndicate the reflectivity of object to be measured P, e is natural Exponents, rpIndicate the distance between object to be measured p and millimetre-wave radar.
Optionally, by carrying out radar scanning, the radar scanning in available entire region to be measured to the region to be measured
Image, it is assumed that by radar scanning image according to orientation and distance to being divided into L × J pixel, J is natural number, L be also from
So number, it is available by calculating：
Wherein, βnAnd kmBe illustrated respectively in orientation and distance to radar scanning position, and the numerical value of n be 1,2,
The numerical value of 3 ... ... N, m be 1,2,3 ... ... M, l and j be illustrated respectively in orientation and distance to pixel position, f (βn-
θjl) it is the function that millimetre-wave radar determines antenna direction, θjlIndicate the position and millimetre-wave radar by l and the j pixel determined
Between line and airfield runway direction between angle value angle formed, rjlIndicate the position by l and the j pixel determined
In the distance between millimetre-wave radar.
To formulaIt further calculates, it is available：
S=B ρ,
Wherein, S indicates to carry out entire region to be measured the radar scanning data obtained after radar scanning, and ρ expression appears in
The reflectivity of measurement target in region to be measured, S and ρ can be obtained by the radar scanning data obtained after radar scanning.
Determine obtain S and ρ after, can formula according to the above records the constant matrices B is calculated.
After determining constant matrices B, according to determining calculation matrix, it can be calculated for determining the radar scanning
The reconstruction matrix Θ of image.
Third step：According to the reconstruction matrix and the radar scanning data, is generated and be directed to based on compressed sensing mode
The radar scanning image of the object to be measured.
According to the reconstruction matrix and the radar scanning data, the object to be measured can be determined in the following manner
Radar scanning image：
ST=Θ ρ+e,
Wherein, the STFor the radar scanning data, the e is random noise, and the ρ is the reflection of object to be measured
Rate, for characterizing the position of the measurement target occurred in the radar scanning image.
According to the physical location of the measurement target occurred in determining radar scanning image, generates and be directed to the object to be measured
Radar scanning image.
STIt can be obtained by radar scanning, e is random noise, it can be regarded as white noise or other kinds of noise,
E can be obtained by set algorithm determination, Θ can be determined by the method for the calculating reconstruction matrix of above-mentioned record, therefore, can be with
Pass through ST=Θ ρ+e is calculated to obtain ρ.
It should be noted that after being scanned using radar to object to be measured, if practical in the position of object to be measured
There is measurement target, then, the radar signal that radar will return at the position for receiving the object to be measured, the radar letter of return
Number intensity or size it is related with the reflectivity at object to be measured position, on the contrary, if not going out in the position of object to be measured
Target is now measured, then, radar will not receive the radar signal returned at the position of the object to be measured, that is to say, that
The reflectivity of object to be measured reflects the position of the measurement target actually occurred to a certain extent.
Therefore, after obtaining target reflectivity according to the reconstruction matrix and the radar scanning data are determining, Ke Yigen
According to the position for the measurement target of obtained target reflectivity reflection actually occurred in entire region to be measured, obtain entire to be measured
The radar scanning image in region, wherein the radar scanning image is for characterizing the object to be measured in the region to be measured
The physical location of appearance.
Scheme provided in an embodiment of the present invention determines at least one object to be measured in region to be measured and the mesh to be measured
Target theoretical position；Radar scanning is carried out at least one described object to be measured, obtains radar scanning data；According to described to be measured
The theoretical position of target and the radar scanning data, generate the radar for the object to be measured based on compressed sensing mode
Scan image, the radar scanning image is for characterizing the physical location that the object to be measured occurs in the region to be measured.
By carrying out radar scanning at least one object to be measured position in region to be measured, and according to obtained radar scanning number
According to obtaining the radar scanning image in entire region to be measured based on compressed sensing mode, solve and need completely to obtain in the prior art
The radar scanning data for being rounded all positions in a region to be measured can just obtain data processing speed caused by radar scanning image
The lower problem of rate.
Fig. 4 is a kind of structural schematic diagram of image processing equipment provided in an embodiment of the present invention.Described image processing equipment
Including：Determination unit 41, scanning element 42 and processing unit 43, wherein：
Determination unit 41, for determining the theory of at least one object to be measured and the object to be measured in region to be measured
Position；
Scanning element 42 obtains radar scanning data for carrying out radar scanning at least one described object to be measured；
Processing unit 43, for according to the object to be measured theoretical position and the radar scanning data, based on pressure
Contracting perceptive mode generates the radar scanning image for being directed to the object to be measured, wherein the radar scanning image is for characterizing institute
State the physical location that object to be measured occurs in the region to be measured.
Theoretical position and the radar scanning data of the processing unit 43 according to the object to be measured, based on compression
Perceptive mode generates the radar scanning image for being directed to the object to be measured, including：
The calculation matrix for measuring the object to be measured is determined according to the theoretical position of the object to be measured；
According to the calculation matrix, the reconstruction matrix for determining the radar scanning image is calculated；
According to the reconstruction matrix and the radar scanning data, generated based on compressed sensing mode for described to be measured
The radar scanning image of target.
Specifically, the processing unit 43 is determined according to the theoretical position of the object to be measured for measuring the mesh to be measured
Target calculation matrix, including：
The region to be measured is divided into N × M sub-regions according to setting method, wherein N is natural number, and M is nature
Number；
According to setting rule, at least one subregion in N × M sub-regions is chosen, wherein what each was chosen
Subregion characterizes the theoretical position of an object to be measured；
Characteristic value is arranged to each sub-regions of selection, and is determined according to the characteristic value for measuring the mesh to be measured
Target calculation matrix, wherein the calculation matrix is N × M type matrix.
The reconstruction matrix for determining the radar scanning image is calculated in the processing unit 43 in the following manner,
Including：
Θ=B Φ, wherein the Θ is the reconstruction matrix, and the Φ is calculation matrix, and the B is to be determined by radar
Constant matrices.
The processing unit 43 generates the radar scanning image for the object to be measured based on compressed sensing mode, packet
It includes：
The physical location of the measurement target occurred in radar scanning image is determined in the following manner：ST=Θ ρ+e,
In, the STFor the radar scanning data, the e is random noise, and the ρ is for characterizing in the radar scanning image
The position of existing measurement target；
According to the physical location of the measurement target occurred in determining radar scanning image, generates and be directed to the object to be measured
Radar scanning image.
It should be noted that image processing equipment provided in this embodiment can be realized by hardware mode, can also lead to
Software mode realization is crossed, here without limitation.
It will be understood by those skilled in the art that the embodiment of the present invention can provide as method, apparatus (equipment) or computer
Program product.Therefore, in terms of the present invention can be used complete hardware embodiment, complete software embodiment or combine software and hardware
Embodiment form.Moreover, it wherein includes the meter of computer usable program code that the present invention, which can be used in one or more,
The computer journey implemented in calculation machine usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of sequence product.
The present invention be referring to according to the method for the embodiment of the present invention, the flow chart of device (equipment) and computer program product
And/or block diagram describes.It should be understood that each process in flowchart and/or the block diagram can be realized by computer program instructions
And/or the combination of the process and/or box in box and flowchart and/or the block diagram.It can provide these computer programs to refer to
Enable the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to generate
One machine so that by the instruction that the processor of computer or other programmable data processing devices executes generate for realizing
The device for the function of being specified in one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from model of the invention by those skilled in the art
It encloses.In this way, if these modifications and changes of the present invention is within the scope of the claims of the present invention and its equivalent technology, then
The present invention is also intended to include these modifications and variations.
Claims (6)
1. a kind of image processing method, which is characterized in that including：
Determine the theoretical position of at least one object to be measured and the object to be measured in region to be measured；
Radar scanning is carried out at least one described object to be measured, obtains radar scanning data；
The calculation matrix for measuring the object to be measured is determined according to the theoretical position of the object to be measured；
According to the calculation matrix, the reconstruction matrix for determining radar scanning image is calculated；
The physical location of the measurement target occurred in radar scanning image is determined in the following manner：ST=Θ ρ+e, wherein described
STFor the radar scanning data, the Θ is the reconstruction matrix, and the e is random noise, and the ρ is for characterizing the thunder
Up to the position of the measurement target occurred in scan image；
According to the physical location of the measurement target occurred in determining radar scanning image, the thunder for being directed to the object to be measured is generated
Up to scan image, wherein the radar scanning image is for characterizing the reality that the object to be measured occurs in the region to be measured
Border position.
2. image processing method as described in claim 1, which is characterized in that determined according to the theoretical position of the object to be measured
For measuring the calculation matrix of the object to be measured, including：
The region to be measured is divided into N × M sub-regions according to setting method, wherein N is natural number, and M is natural number；
According to setting rule, at least one subregion in N × M sub-regions is chosen, wherein each sub-district chosen
Domain characterizes the theoretical position of an object to be measured；
Characteristic value is arranged to each sub-regions of selection, and is determined according to the characteristic value for measuring the object to be measured
Calculation matrix, wherein the calculation matrix is N × M type matrix.
3. image processing method as claimed in claim 1 or 2, which is characterized in that be calculated in the following manner for true
The reconstruction matrix of the fixed radar scanning image, including：
Θ=B Φ, wherein the Θ is the reconstruction matrix, and the Φ is calculation matrix, and the B is normal to be determined by radar
Matrix number.
4. a kind of image processing equipment, which is characterized in that including：
Determination unit, for determining the theoretical position of at least one object to be measured and the object to be measured in region to be measured；
Scanning element obtains radar scanning data for carrying out radar scanning at least one described object to be measured；
Processing unit determines the calculation matrix for measuring the object to be measured according to the theoretical position of the object to be measured；Root
According to the calculation matrix, the reconstruction matrix for determining radar scanning image is calculated；Determine that radar is swept in the following manner
The physical location for the measurement target that tracing occurs as in：ST=Θ ρ+e, wherein the STFor the radar scanning data, the e
For random noise, the ρ is used to characterize the position of the measurement target occurred in the radar scanning image；According to determining radar
The physical location of the measurement target occurred in scan image generates the radar scanning image for being directed to the object to be measured, wherein institute
Radar scanning image is stated for characterizing the physical location that the object to be measured occurs in the region to be measured.
5. image processing equipment as claimed in claim 4, which is characterized in that the processing unit is according to the object to be measured
Theoretical position determines the calculation matrix for measuring the object to be measured, including：
The region to be measured is divided into N × M sub-regions according to setting method, wherein N is natural number, and M is natural number；
According to setting rule, at least one subregion in N × M sub-regions is chosen, wherein each sub-district chosen
Domain characterizes the theoretical position of an object to be measured；
Characteristic value is arranged to each sub-regions of selection, and is determined according to the characteristic value for measuring the object to be measured
Calculation matrix, wherein the calculation matrix is N × M type matrix.
6. image processing equipment as described in claim 4 or 5, which is characterized in that the processing unit is counted in the following manner
Calculation obtains the reconstruction matrix for determining the radar scanning image, including：
Θ=B Φ, wherein the Θ is the reconstruction matrix, and the Φ is calculation matrix, and the B is normal to be determined by radar
Matrix number.
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