CN105611244A - Method for detecting airport foreign object debris based on monitoring video of dome camera - Google Patents
Method for detecting airport foreign object debris based on monitoring video of dome camera Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
Abstract
This invention discloses a method for detecting airport foreign object debris (FOD) based on a monitoring video of a dome camera. The method comprises the following steps: step 1, initializing; evenly dividing a to-be-detected area into several subareas to enable the union set of the subareas to completely cover the to-be-detected area; step 2, extracting a background; decoding collected video signals by a processing unitand then modeling through a time averaging method; step 3, extracting a foreground and performing a polling detection; step 4, judging after performing the polling detection; and step 5, saving an evidence; transferring data of a target location range of the FOD, extracting time data and extracted target information image data to a rear control and dispatching center through a network to enable the dispatching center to make a relevant decision. The method provided by theinvention has a strong ability for resisting ambient noises and reliably works.
Description
Technical field
The invention belongs to digital image processing field and Intelligent Video Surveillance Technology field, be specially a kind of based on ballThe external foreign matter in airport (FOD) detection method of machine monitoring video.
Background technology
Because airfield runway foreign object (FOD) has very large harm to the safety of taking off and land, along withThe development of science and technology, the progress of the technology such as computer network, image processing, in real time, automatically detects foreign matter and becomesMay, realize and detect highly intellectuality, fully rationally utilize the limited runway detection time, alleviate and detect workmanBurden, takes off and the efficiency of landing thereby improve, and what foundation was safe takes off landing environment.
The target detection of airfield runway foreign object and information gathering are most important in this detection system. It is current,External conventional FOD detection system mainly contains 4, is respectively Tarsier system, the Israel of Britain's exploitationThe IFerret system of the FODDetect system of exploitation, the FODFinder system of U.S.'s exploitation and Singapore's exploitationSystem. Several systems are radar imagery mostly above, and equipment is had to very high requirement, comprise that detection range is long, rippleRestraint narrow, resolution ratio is high, extracts the signal of small items from the speckle noise of radar image sequence. These detect systemCostly and the easy care not of uniting. And most domestic airport adopts artificial not timing patrol cleaning foreign matter, easilyForm the uncertain of monitoring dead angle and time, and it is low to process foreign matter efficiency,, there is very large safety in careless omission easilyHidden danger. Even if adopted optical device, performance is also easily subject to the impact of weather environment. Based on the machine of ball machine monitoringCarry out foreign matter (FOD) outside the venue and detect taking Video Supervision Technique as basis, comprehensive utilization computer vision, image placeThe technology such as reason, pattern-recognition, independently to airfield runway scene analyze, information extraction and feedback. The methodWithout destroying runway, abort and land, have and can install online, debug, keep in repair, detection range is large,The features such as information extraction ability is strong, and real-time is good. Thereby can be applied to the detection of airfield runway foreign matter. At presentAll to video monitoring, processing is studied in the scientific research institutions such as domestic and international many colleges and universities, but does not at present domesticly also haveThe system applies of the external foreign matter in airport (FOD) based on ball machine monitoring video, in an airfield runway, meets machineThe detection demand of field to FOD.
The each system monitoring performance comparison of table 1
(bibliography: the civil aviation authority's safe practice center .FOD of airport department of Civil Aviation Administration of China takes precautions against handbook7R8.2009)
Summary of the invention:
Technical problem: the object of the invention is to provide a kind of detection rationally, the one of accurate positioning is based on ballThe external foreign matter detecting method in airport of machine monitoring video.
Summary of the invention: for solving the problems of the technologies described above, the invention provides a kind of based on ball machine monitoring videoThe external foreign matter detecting method in airport, the method comprises the steps:
Step 1: initialize: region to be detected is evenly divided into some subregions, the union of each sub regionsTo cover region to be detected completely, utilize airport to specify the video monitoring camera of region division, pass through video cameraThe arranging of presetting bit determined orientation, multiplication factor, the focusing parameter that the corresponding video camera of every sub regions is observed,The video pictures of each subregion of cleaning out of Real-time Collection, and by video signal transmission to processing unit;
Step 2: extract background: processing unit carries out modeling after the vision signal collecting is decoded, and utilizes the timeThe method of average, the mean value that calculates the each pixel of certain hour inner video image pixel value as a setting, meterCalculation formula isWherein (x, y) is the coordinate of any pixel of image, fi (x, y)Be the pixel value of i frame video sequence image at (x, y) some place, M needs average frame number, and fB (x, y) is figurePicture sequence is at the mean value of (x, y) pixel
Step 3: extraction prospect and poll detect: adopt computer vision and image processing techniques, to through decodingAfter frame of video carry out smoothing processing taking certain frame number as unit, subsequently all subregion is started to carry out foreground targetPoll detects, doubtful FOD in recognin region; If doubtful FOD target is not found in this region, rightContext update is carried out in this region, the next subregion of poll simultaneously, so circulation.
Step 4: judgement after poll detects: according to foreground target information, if find first, doubtful to thisFOD carries out mark and reaffirms in upper once poll; If to the doubtful FOD target having identified,Need after poll detect, confirm and judge, if this target detects exceeding to warn after requiring time upper limit after pollStill exist, provide FOD security warning, and take pictures and preserve this FOD detection target image;
Step 5: evidence is preserved: FOD target location range data, extraction moment data and extraction are obtainedTarget information view data by network delivery to rear control and control centre, made corresponding by control centreDecision-making.
Preferably, in step 3, calculate the basic parameter of surveyed area and preserve in decoded vision signal,Call subsequently the presetting bit of ball machine and carry out whole subregion poll scanning.
Preferably, before carrying out target detection, subregion first video is carried out to automatic background extraction, the self adaptation back of the bodyScape upgrades and the anti-shake processing of ball machine, and the method for recycling FOD target detection extracts doubtful FOD target; ItsIn, the algorithm that adaptive background upgrades can be expressed as Bn(x，y)＝αIn(x，y)+(1-α)Bn-1(x，y)，In formula, Bn(x，y)、In(x, y) is respectively the gray value that background image and current frame image are located at (x, y),α is context update coefficient; X, y is respectively the coordinate of any pixel of image, and flating is eliminated and can be utilizedJoin method, extract a certain characteristic area of image, between consecutive frame, carry out characteristic matching, according to the result of couplingCarry out kinematic parameter calculating, finally carry out jitter compensation according to kinematic parameter.
Preferably, the method comprises the steps:
Step 11: present frame and background frames are done after difference, carry out Threshold segmentation and binary conversion treatment etc.;
Step 12: differentiated frame is done to shadow removal, level and smooth, sharpening;
Step 13: through morphology processing, obtain foreground target pixel region;
Step 14: if find target, adopt connection labeling algorithm to carry out mark and location to these regions;If there is no target, carry out context update, prepare next round monitoring;
Step 15: if meet alert if, exceed to detect to warn and want seeking time FOD still to exist, basisAfter comparing, clarification of objective and common FOD identify.
Preferably, the decision process in step 4 comprises the steps:
Step 41: extract relative position from the doubtful FOD target detecting, comprise direction, size letterBreath;
Step 42: as there is doubtful FOD, poll need to judge whether this FOD disappears next time;
Step 43: if exist FOD target to carry out the information comparison of common FOD, start automatic alarm dressPut, provide information warning.
Preferably, the data described in step 5 are first through being encapsulated into network frame, then by wired orWireless network transmissions is controlled and control centre to airport.
Beneficial effect: advantage and good effect that the present invention has are: the present invention compared with prior art,After the normal work of system, without manual intervention, a ball machine can be carried out interior in a big way FOD and detect, andOpposing outside noise ability is strong, reliable operation; Network transmitting image useful information after treatment, saves bandwidth,Also alleviated the processing pressure of rear end control centre computer simultaneously; By existing wireless and cable network is passableSynchronously the result in front is fed back to rear end control centre, without laying in addition transmission line, convenient feasible.
Brief description of the drawings
Fig. 1 is composition FB(flow block) of the present invention;
Fig. 2 is main algorithm flow chart of the present invention.
FOD: the external foreign matter in airport
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
The present invention discloses a kind of external foreign matter in airport (FOD) detection method based on ball machine monitoring video. The partyMethod gathers vision signal by the monitoring ball machine that specifies on airport to set up in region, rotates poll successively adopt by ball machineCollected works region vision signal. After video decode, by computer vision and image processing techniques, to each subareaThe poll that territory video carries out context update and covers whole region detects, and judges respectively in conjunction with the doubtful thing time of stayingAll kinds of diameters are at the FOD of 2cm-50cm in subregion, according to image place subregion and mate commonFOD, draws the information such as region, FOD position, possible target type, and the information getting is passedDeliver to rear control centre. Described in the method, video monitoring device can be monitored interior in a big way FOD, and behaviourDo simple and easy, economical and effective, detection method integrates video monitoring, Video processing and Realtime Alerts, can be in nothingIn people's situation on duty, independently doubtful FOD in region is judged and is reported to the police, realize a kind of accurately, efficientThe external foreign matter in airport (FOD) monitoring system.
The present invention is applied to the external foreign matter in airport (FOD) and detects, and comprises the steps:
1) whole surveyed areas are divided into several subregions, utilize airport to specify the video monitoring of region divisionThe video pictures of each subregion of cleaning out of video camera Real-time Collection, and video signal transmission is single to processingUnit;
2) processing unit to regional to the decoding video signal collecting;
3) adopt computer vision and image processing techniques, to through decoded frame of video taking certain frame number as unitCarry out smoothing processing, subsequently all subregions are started to carry out the detection of foreground target poll, in identification regionalDoubtful FOD, if doubtful FOD target is not found in this region, carries out context update to this region.
4), according to foreground target information, the doubtful FOD target having identified is carried out again to poll and confirm alsoJudge, if this target detects after requiring time upper limit and still exists exceeding warning after poll, provide FOD and pacifyFull warning, and take pictures and preserve this FOD detection target image;
5) target information picture number FOD target location range data, extraction moment data and extraction being obtainedAccording to controlling and control centre to rear by network delivery, make corresponding decision by control centre.
It is characterized in that: calculate the basic parameter of surveyed area and preserve in decoded vision signal, subsequentlyCall the presetting bit of ball machine and carry out whole subregion poll scanning.
6) before carrying out target detection, subregion first video is carried out to automatic background extraction, adaptive background renewalAnd the anti-shake processing of ball machine, the method for recycling FOD target detection extracts doubtful FOD target.
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to technical sideThe enforcement of case is described in further detail:
Fig. 1 is chief component module frame chart of the present invention. By being erected at the monitoring camera equipment on airfield runway limitReal-time Collection runway video information, after the decoding of video decode module, inputs core processing module by video flowing and entersRow is processed; Core processing module mainly completes FOD target detection on runway, identification, judgement warning and orderThe extraction of the information such as mark GPS position, completes detection and the security information prompting of the external foreign matter in airport (FOD)Instruction is sent; Before detection starts, need calculate or read runway essential information, comprise detection range, imagePixel coordinates etc., these essential informations leave in memory after calculating for the first time, later can be directly from depositingIn reservoir, read the essential information of runway, without again calculating; If detect the external foreign matter in airport of going on a tour, reportAlert device provides security information warning, simultaneously by doubtful foreign matter information, and as orientation of living in, detection time, corresponding shadowThe information exchanges such as picture are crossed wired or wireless Internet Transmission to rear end control centre, and distribute to special messenger and process in time foreign matter,Ensure aviation safety.
Fig. 2 is main flow chart of the present invention, mainly comprises following step:
System initialization. Finishing equipment and device parameter initialize, and video decode shows, equipment is just worked inNormal duty.
Divide surveyed area, calculate or read the essential information of each monitored area. Conventionally ball machine is to be fixed on oneIndividual position, needing to detect is the road surface of (as 50m × 50m) in the certain limit of intersection, airport, according to ballMachine image-forming principle completes the conversion from pixel coordinate to world coordinates. Base area geometry of sphere relation, gets one at roadAfter the gps coordinate of individual datum mark, calculate the gps coordinate of runway arbitrfary point, complete pixel coordinate, the worldMutual conversion between coordinate, gps coordinate, and the transformational relation of zone boundary information and three kinds of coordinates is preservedIn memory or file. If not detect for the first time, directly reading out data from memory or file,For follow-up computing.
To intersection, airport target detection, identification and tracking. First, ball machine need start the each sub regions of poll,Complete background and automatically extract and upgrade, process the shake of ball machine simultaneously, the image of ball machine input is carried out to filtering processing,Then in sensitive sub-region, extract doubtful FOD target according to the method for FOD target detection; According to coordinateTransformational relation, obtains doubtful FOD position; According to captured spectral discrimination objective attribute target attribute.
The method of FOD target detection comprises the steps:
1) present frame and background frames are done after difference, carry out Threshold segmentation and binary conversion treatment etc.;
2) differentiated frame is done to shadow removal, level and smooth, sharpening;
3) through morphology processing, obtain foreground target pixel region; (morphological process comprises Image erosion, figurePicture expands and opening operation/closed operation. Bibliography comprises RafaelCGonzalez, RichardEWoods.Digital Image Processing [M]. Beijing: Electronic Industry Press, 2007.420-430DonkaM, HlavacV, BoyleR.Imageprocessing, analysis, andmachinevision[M]. Beijing: People's Telecon Publishing House, 2003)
4), if find target, adopt connection labeling algorithm to carry out mark and location to these regions; If there is no orderMark, carries out context update, prepares next round monitoring.
5), if meet alert if, after comparing according to clarification of objective and common FOD, identify.
Take a decision as to whether doubtful FOD according to information obtained in step 3, the row labels of going forward side by side processing, if wheelAfter inquiry, meet alert and if provide target relevant information.
Step 4) in decision process comprise the steps:
1) from the doubtful FOD target detecting, extract relative position, comprise the information such as direction, size;
2), as there is doubtful FOD, scanning need to judge whether this FOD disappears next time;
3) if exist FOD target to carry out the information comparison of common FOD, start autoalarm, giveGo out information warning.
Step 5) in by FOD target location range data, extract the target information that moment data and extraction obtainView data is controlled and control centre to rear by network delivery, makes corresponding decision by control centre.
Provide the example of a concrete practice below:
By the position of monitoring camera ball erecting high about 70cm on limit, road junction, airport, Real-time Collection road junction video letterBreath, after the decoding of video decode module, inputs core processing module by video flowing and processes; Core processing mouldPiece mainly completes runway foreign matter target detection, the information extractions such as identification and definite target location, target type,Complete after poll detects definite FOD is sent to warning message.
First carry out system initialization, the initialization of finishing equipment and major parameter, makes it in normal work shapeState. Then calculate or read guarded region essential information. The intersection of detecting is the district that specifies of 50m × 50mTerritory, apart from video camera 10-30m, makes a sub regions within detected scope. According to ball machine image-forming principleComplete Coordinate Conversion, and zone boundary information is kept in memory, can be for follow-up file process.
Road junction, airport FOD object detection and recognition. Within the scope of the surveyed area of delimiting, FOD target is carried outDetect. First be the automatic extraction of subregion background, to ball machine, shake is processed, to the image filtering of input.Then in sensitive sub-region, extract doubtful FOD target according to the method for FOD target detection; According to coordinateTransformational relation, obtains doubtful FOD position; According to captured spectral discrimination objective attribute target attribute. According to extractionInformation further determine whether FOD, provide warning message. Finally by FOD target location range data,The target information view data that extraction moment data and extraction obtain is controlled and scheduling to rear by network deliveryWhether center, make corresponding decision by control centre and manually remove.
Claims (6)
1. the external foreign matter detecting method in airport based on ball machine monitoring video, is characterized in that the methodComprise the steps:
Step 1: initialize: region to be detected is evenly divided into some subregions, the union of each sub regionsTo cover region to be detected completely, utilize airport to specify the video monitoring camera of region division, pass through video cameraThe arranging of presetting bit determined orientation, multiplication factor, the focusing parameter that the corresponding video camera of every sub regions is observed,The video pictures of each subregion of cleaning out of Real-time Collection, and by video signal transmission to processing unit;
Step 2: extract background: processing unit carries out modeling after the vision signal collecting is decoded, and utilizesTime averaging method, the mean value that calculates the each pixel of certain hour inner video image pixel as a settingValue, computing formula isWherein (x, y) is the coordinate of any pixel of image,Fi (x, y) is the pixel value of i frame video sequence image at (x, y) some place, and M needs average frame number, fB(x，y)For image sequence is at the mean value of (x, y) pixel;
Step 3: extraction prospect and poll detect: adopt computer vision and image processing techniques, to through decodingAfter frame of video carry out smoothing processing taking certain frame number as unit, subsequently all subregion is started to carry out foreground targetPoll detects, doubtful airfield runway foreign object FOD in recognin region; If it is doubtful that this region is not foundAirfield runway foreign object FOD target, carries out context update to this region, the next subregion of poll simultaneously,So circulation;
Step 4: judgement after poll detects: according to foreground target information, if find first, doubtful to thisAirfield runway foreign object FOD carries out mark and reaffirms in upper once poll; If to identifyingDoubtful airfield runway foreign object FOD target, need poll detect after confirm and judge, if after poll thisTarget detects after requiring time upper limit and still exists exceeding warning, provides airfield runway foreign object FOD safetyWarning, and take pictures and preserve this airfield runway foreign object FOD detection target image;
Step 5: evidence is preserved: by airfield runway foreign object FOD target location range data, extraction momentThe target information view data that data and extraction obtain is controlled and control centre to rear by network delivery, by adjustingCorresponding decision is made at degree center.
2. the external foreign matter detecting method in airport based on ball machine monitoring video according to claim 1, itsBe characterised in that, in step 3, calculate the basic parameter of surveyed area and preserve in decoded vision signal,Call subsequently the presetting bit of ball machine and carry out whole subregion poll scanning.
3. the external foreign matter detecting method in airport based on ball machine monitoring video according to claim 1, itsBe characterised in that, before subregion carries out target detection, first video carried out to automatic background extraction, adaptive backgroundUpgrade and the anti-shake processing of ball machine, the method for recycling airfield runway foreign object FOD target detection extracts doubtfulAirfield runway foreign object FOD target; Wherein, the algorithmic notation that adaptive background upgrades isBn(x，y)＝αIn(x，y)+(1-α)Bn-1(x, y), in formula, Bn(x，y)、In(x, y) is respectively backgroundThe gray value that image and current frame image are located at (x, y), α is context update coefficient; X, y is respectively image and appointsThe coordinate of meaning pixel, flating is eliminated and is utilized matching method, extracts a certain characteristic area of image, adjacentBetween frame, carry out characteristic matching, carry out kinematic parameter calculating according to the result of coupling, finally enter according to kinematic parameterRow jitter compensation.
4. the external foreign matter detecting method in airport based on ball machine monitoring video according to claim 3, itsBe characterised in that, the method comprises the steps:
Step 11: present frame and background frames are done after difference, carry out Threshold segmentation and binary conversion treatment etc.;
Step 12: differentiated frame is done to shadow removal, level and smooth, sharpening;
Step 13: through morphology processing, obtain foreground target pixel region;
Step 14: if find target, adopt connection labeling algorithm to carry out mark and location to these regions;If there is no target, carry out context update, prepare next round monitoring;
Step 15: if meet alert if, exceed to detect to warn and want seeking time airfield runway foreign object FODStill exist, after comparing according to clarification of objective and common airfield runway foreign object FOD, identify.
5. the external foreign matter detecting method in airport based on ball machine monitoring video according to claim 1, itsBe characterised in that, the decision process in step 4 comprises the steps:
Step 41: extract relative position, bag from the doubtful airfield runway foreign object FOD target detectingDraw together direction, size information;
Step 42: as there is doubtful airfield runway foreign object FOD, poll need to judge this airport next timeWhether runway exotic FOD disappears;
Step 43: if exist airfield runway foreign object FOD target to carry out common airfield runway foreign object FODInformation comparison, start autoalarm, provide information warning.
6. the external foreign matter detecting method in airport based on ball machine monitoring video according to claim 1, itsBe characterised in that, the data described in step 5 are first through being encapsulated into network frame, then by wired or nothingSpider lines transfers to airport and controls and control centre.
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