CN106127699B - A kind of road monitoring random motion blurred picture Fast Restoration analogue system - Google Patents

A kind of road monitoring random motion blurred picture Fast Restoration analogue system Download PDF

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CN106127699B
CN106127699B CN201610429164.5A CN201610429164A CN106127699B CN 106127699 B CN106127699 B CN 106127699B CN 201610429164 A CN201610429164 A CN 201610429164A CN 106127699 B CN106127699 B CN 106127699B
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CN106127699A (en
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赵烟桥
肖思宇
魏剑辉
敬晓晔
张子罡
翁卫东
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Shandong Automatic Driving Research Institute Co ltd
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Harbin University of Science and Technology
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    • H—ELECTRICITY
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Abstract

本发明道路监控随机运动模糊图像快速复原仿真系统属于图像处理技术领域；该仿真系统包括：目标仿真模块：由用于仿真路面图像的时不变场景和用于仿真先验目标的时变场景组成，所述时不变场景包括均匀背景和区别于背景并被背景包围的目标；监控摄像头仿真模块：为摄像头、CCD、CMOS或相机；悬臂梁仿真模块：由对称设置的两个立柱、水平支撑端和弹簧连接端组成，所述水平支撑端上方固定连接监控摄像头仿真模块，两侧通过弹簧连接端连接立柱中上方，在弹簧连接端的作用下，水平支撑端做三个方向的平动和一个方向的转动；本发明能够直接对应基于先验知识的道路监控模糊图像快速复原方法，快速复原道路监控随机运动模糊图像。

The simulation system for rapid restoration of road monitoring random motion blur images belongs to the technical field of image processing; the simulation system includes: a target simulation module: composed of a time-invariant scene for simulating road images and a time-varying scene for simulating a priori targets , the time-invariant scene includes a uniform background and a target that is different from the background and is surrounded by the background; the monitoring camera simulation module: a camera, CCD, CMOS or camera; the cantilever beam simulation module: two columns symmetrically arranged, horizontally supported end and a spring connection end, the top of the horizontal support end is fixedly connected to the monitoring camera simulation module, and the two sides are connected to the upper middle of the column through the spring connection end. Under the action of the spring connection end, the horizontal support end performs translation in three directions and a The rotation of the direction; the present invention can directly correspond to the method for fast restoration of blurred images of road monitoring based on prior knowledge, and quickly restore random motion blurred images of road monitoring.

Description

一种道路监控随机运动模糊图像快速复原仿真系统A fast restoration simulation system for road monitoring random motion blur images

技术领域technical field

本发明道路监控随机运动模糊图像快速复原仿真系统属于图像处理技术领域。The invention discloses a road monitoring random motion blurred image rapid recovery simulation system, which belongs to the technical field of image processing.

背景技术Background technique

道路监控系统是路网信息化、智能化的有力保障。可以实现第一时间对交通违章、交通事故、交通堵塞以及其他突发事件做出判断，进而调整控制参数，制定调度策略。而实现上述功能的两个必要条件是：清晰成像和实时成像。The road monitoring system is a powerful guarantee for the informatization and intelligence of the road network. It can realize the judgment of traffic violations, traffic accidents, traffic jams and other emergencies at the first time, and then adjust the control parameters and formulate scheduling strategies. The two necessary conditions to realize the above functions are: clear imaging and real-time imaging.

现阶段，道路监控系统多采用将监控摄像头安装于悬臂梁的结构，如图1所示。这种结构的优势在于结构简单，安装和维护成本低，但缺点在于，受振动和气流的影响，摄像头会发生随机摇摆，造成图像模糊，使得道路监控系统不满足清晰成像条件，不利于路网的信息化和智能化。At this stage, the road monitoring system mostly adopts the structure of installing the monitoring camera on the cantilever beam, as shown in Figure 1. The advantage of this structure is that it is simple in structure, and the cost of installation and maintenance is low, but the disadvantage is that, affected by vibration and airflow, the camera will sway randomly, resulting in blurred images, which makes the road monitoring system not meet the clear imaging conditions, which is not conducive to the road network informatization and intelligence.

针对道路监控摄像头摇摆造成图像模糊的问题，并兼顾道路监控系统清晰成像和实时成像两项技术需求，黑龙江省大学生创新创业训练计划项目《基于先验知识的道路监控模糊图像快速复原》(项目编号201510214056)拟研究一种随机运动模糊图像快速复原方法，该方法的原理在于首先建立随机运动动态光学传递函数(DOTF)模型，然后利用先验知识从运动模糊图像中快速提取DOTF，最后将DOTF与线性复原算法相结合，实现随机运动模糊图像快速复原。这种方法可以在不改变现有摄像头安装方式的前提下，快速复原因摄像头摇摆而形成的随机运动模糊图像，对实现路网信息化和智能化起到促进作用。Aiming at the blurred image caused by the swaying of the road monitoring camera, and taking into account the two technical requirements of clear imaging and real-time imaging of the road monitoring system, the Heilongjiang Province College Students Innovation and Entrepreneurship Training Program Project "Rapid Restoration of Road Monitoring Blurred Images Based on Prior Knowledge" (Project No. 201510214056) intends to study a method for fast restoration of random motion blurred images. The principle of this method is to first establish a random motion dynamic optical transfer function (DOTF) model, then use prior knowledge to quickly extract DOTF from the motion blurred image, and finally combine DOTF with The combination of linear restoration algorithm realizes fast restoration of random motion blurred images. This method can quickly restore the random motion blurred image caused by the camera swing without changing the existing camera installation method, and promotes the realization of road network informatization and intelligence.

在项目进行当中，需要搭建道路监控随机运动模糊图像快速复原仿真系统来对项目提出的方法进行验证，然而，还没有发现有适用于本项目方法的现成系统可以借鉴。During the project, it is necessary to build a simulation system for rapid restoration of random motion blurred images in road monitoring to verify the method proposed by the project. However, no ready-made system suitable for this project method has been found for reference.

发明内容Contents of the invention

为了解决上述问题，本发明设计了一种道路监控随机运动模糊图像快速复原仿真系统，该系统能够直接对应项目提出的方法，快速复原道路监控随机运动模糊图像。In order to solve the above problems, the present invention designs a fast restoration simulation system for road monitoring random motion blurred images, which can directly correspond to the method proposed by the project, and quickly restore road monitoring random motion blurred images.

本发明的目的是这样实现的：The purpose of the present invention is achieved like this:

一种道路监控随机运动模糊图像快速复原仿真系统，包括：A road monitoring random motion blurred image rapid restoration simulation system, including:

目标仿真模块：由用于仿真路面图像的时不变场景和用于仿真先验目标的时变场景组成，所述时不变场景包括均匀背景和区别于背景并被背景包围的目标；Target simulation module: composed of a time-invariant scene for simulating road images and a time-varying scene for simulating a priori target, the time-invariant scene includes a uniform background and a target that is different from the background and surrounded by the background;

监控摄像头仿真模块：为摄像头、CCD、CMOS或相机；Surveillance camera simulation module: camera, CCD, CMOS or camera;

悬臂梁仿真模块：由对称设置的两个立柱、水平支撑端和弹簧连接端组成，所述水平支撑端上方固定连接监控摄像头仿真模块，两侧通过弹簧连接端连接立柱中上方，在弹簧连接端的作用下，水平支撑端做三个方向的平动和一个方向的转动。Cantilever beam simulation module: It consists of two symmetrically arranged columns, a horizontal support end and a spring connection end. The monitoring camera simulation module is fixedly connected above the horizontal support end. Under the action, the horizontal support end performs translation in three directions and rotation in one direction.

上述道路监控随机运动模糊图像快速复原仿真系统，所述的目标仿真模块为显示器，所述显示器显示的图像一部分具有时变特性，一部分具有时不变特性，具有时不变特性的部分包括均匀背景和区别于背景并被背景包围的目标。In the above road monitoring random motion blurred image rapid restoration simulation system, the target simulation module is a display, and part of the images displayed on the display have time-varying characteristics, and a part has time-invariant characteristics, and the part with time-invariant characteristics includes a uniform background and objects that are distinct from and surrounded by the background.

上述道路监控随机运动模糊图像快速复原仿真系统，以光轴所在方向为起点，向垂直光轴的x方向，目标的宽度为a，背景的宽度为b，目标仿真模块到监控摄像头仿真模块的距离为l，监控摄像头仿真模块的监视时不变场景的视场角为α，并且满足：The above-mentioned road monitoring random motion blurred image rapid recovery simulation system starts from the direction of the optical axis, goes to the x direction of the vertical optical axis, the width of the target is a, the width of the background is b, and the distance between the target simulation module and the surveillance camera simulation module is l, the field of view angle of the monitoring time-invariant scene of the surveillance camera simulation module is α, and satisfies:

a＜l·tanα＜ba<l·tanα<b

所述监控摄像头在x方向的旋转角度满足以下条件：The rotation angle of the monitoring camera in the x direction satisfies the following conditions:

顺着x方向的旋转角度不超过arctan(b/l)-α；The rotation angle along the x direction does not exceed arctan(b/l)-α;

逆着x方向的旋转角度不超过α-arctan(a/l)。The angle of rotation against the x direction does not exceed α-arctan(a/l).

进一步地，所述x方向分布在垂直光轴的平面内。Further, the x-direction is distributed in a plane perpendicular to the optical axis.

再进一步地，以光轴所在方向为起点，Furthermore, taking the direction of the optical axis as the starting point,

向垂直光轴的x方向，目标的宽度为a1，背景的宽度为b1，目标仿真模块到监控摄像头仿真模块的距离为l，监控摄像头仿真模块的监视时不变场景的视场角为α1，并且满足：In the x direction of the vertical optical axis, the width of the target is a 1 , the width of the background is b 1 , the distance from the target simulation module to the surveillance camera simulation module is l, and the field of view angle of the monitoring time-invariant scene of the surveillance camera simulation module is α 1 , and satisfy:

a1＜l·tanα1＜b1 a 1 <l·tanα 1 <b 1

向垂直光轴的-x方向，目标的宽度为a2，背景的宽度为b2，目标仿真模块到监控摄像头仿真模块的距离为l，监控摄像头仿真模块的监视时不变场景的视场角为α2，并且满足：In the -x direction of the vertical optical axis, the width of the target is a 2 , the width of the background is b 2 , the distance from the target simulation module to the monitoring camera simulation module is l, and the field of view angle of the monitoring time-invariant scene of the monitoring camera simulation module is α 2 , and satisfies:

a2＜l·tanα2＜b2 a 2 <l·tanα 2 <b 2

所述监控摄像头在x方向的旋转角度满足以下条件：The rotation angle of the monitoring camera in the x direction satisfies the following conditions:

顺着x方向的旋转角度不超过min[arctan(b1/l)-α1,α2-arctan(a2/l)]；The rotation angle along the x direction does not exceed min[arctan(b 1 /l)-α 1 ,α 2 -arctan(a 2 /l)];

顺着-x方向的旋转角度不超过min[α1-arctan(a1/l),arctan(b2/l)-α2]。The rotation angle along the -x direction does not exceed min[α 1 -arctan(a 1 /l), arctan(b 2 /l)-α 2 ].

有益效果：Beneficial effect:

第一、由于设置有目标仿真模块、监控摄像头仿真模块、以及悬臂梁仿真模块，因此直接对应道路监控系统多采用将监控摄像头安装于悬臂梁的结构，适用于模拟道路监控系统，对道路监控随机运动模糊图像进行快速复原；First, since there are target simulation modules, monitoring camera simulation modules, and cantilever beam simulation modules, the structure directly corresponding to the road monitoring system mostly adopts the structure that the monitoring camera is installed on the cantilever beam, which is suitable for simulating the road monitoring system. Motion blurred images for fast recovery;

第二、由于目标仿真模块由用于仿真路面图像的时不变场景和用于仿真先验目标的时变场景组成，同时时不变场景包括均匀背景和区别于背景并被背景包围的目标，因此可以将时不变场景作为先验知识，进而直接与图像快速复原方法(利用先验知识从运动模糊图像中快速提取DOTF，最后将DOTF与线性复原算法相结合，实现随机运动模糊图像快速复原)相对应，提供一种道路监控随机运动模糊图像快速复原仿真系统。Second, since the target simulation module is composed of a time-invariant scene for simulating road images and a time-varying scene for simulating prior targets, while the time-invariant scene includes a uniform background and a target that is different from the background and surrounded by the background, Therefore, the time-invariant scene can be used as prior knowledge, and then directly combined with the image fast restoration method (use prior knowledge to quickly extract DOTF from motion blurred images, and finally combine DOTF with linear restoration algorithm to achieve fast restoration of random motion blurred images ) Correspondingly, a fast recovery simulation system for road monitoring random motion blurred images is provided.

附图说明Description of drawings

图1是安装在悬臂梁结构上的道路监控摄像头。Figure 1 is a road surveillance camera installed on a cantilever beam structure.

图2是悬臂梁仿真模块与监控摄像头仿真模块的连接结构示意图。Fig. 2 is a schematic diagram of the connection structure between the cantilever beam simulation module and the monitoring camera simulation module.

图3是具体实施例三中各个角度之间的关系图。Fig. 3 is a diagram of the relationship between various angles in the third embodiment.

具体实施方式Detailed ways

下面结合附图对本发明具体实施方式作进一步详细描述。The specific embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

具体实施例一Specific embodiment one

本实施例的道路监控随机运动模糊图像快速复原仿真系统，包括：The road monitoring random motion blurred image rapid restoration simulation system of this embodiment includes:

目标仿真模块：由用于仿真路面图像的时不变场景和用于仿真先验目标的时变场景组成，所述时不变场景包括均匀背景和区别于背景并被背景包围的目标；Target simulation module: composed of a time-invariant scene for simulating road images and a time-varying scene for simulating a priori target, the time-invariant scene includes a uniform background and a target that is different from the background and surrounded by the background;

监控摄像头仿真模块：为摄像头、CCD、CMOS或相机；Surveillance camera simulation module: camera, CCD, CMOS or camera;

悬臂梁仿真模块：由对称设置的两个立柱、水平支撑端和弹簧连接端组成，所述水平支撑端上方固定连接监控摄像头仿真模块，两侧通过弹簧连接端连接立柱中上方，在弹簧连接端的作用下，水平支撑端做三个方向的平动和一个方向的转动。Cantilever beam simulation module: It consists of two symmetrically arranged columns, a horizontal support end and a spring connection end. The monitoring camera simulation module is fixedly connected above the horizontal support end. Under the action, the horizontal support end performs translation in three directions and rotation in one direction.

悬臂梁仿真模块与监控摄像头仿真模块的连接结构示意图如图2所示。The schematic diagram of the connection structure between the cantilever beam simulation module and the surveillance camera simulation module is shown in Figure 2.

具体实施例二Specific embodiment two

本实施例的道路监控随机运动模糊图像快速复原仿真系统，在具体实施例一的基础上，进一步限定目标仿真模块为显示器，所述显示器显示的图像一部分具有时变特性，一部分具有时不变特性，具有时不变特性的部分包括均匀背景和区别于背景并被背景包围的目标。The road monitoring random motion blurred image rapid recovery simulation system of this embodiment, on the basis of the specific embodiment 1, further defines the target simulation module as a display, and part of the images displayed on the display have time-varying characteristics, and some have time-invariant characteristics , the parts with time-invariant properties include the uniform background and the objects that are different from the background and surrounded by the background.

具体实施例三Specific embodiment three

本实施例的道路监控随机运动模糊图像快速复原仿真系统，在具体实施例一或具体实施例二的基础上，进一步限定以光轴所在方向为起点，向垂直光轴的x方向，目标的宽度为a，背景的宽度为b，目标仿真模块到监控摄像头仿真模块的距离为l，监控摄像头仿真模块的监视时不变场景的视场角为α，并且满足：The road monitoring random motion blurred image fast restoration simulation system of this embodiment, on the basis of the specific embodiment 1 or the specific embodiment 2, further defines the width of the target starting from the direction where the optical axis is located, to the x direction perpendicular to the optical axis is a, the width of the background is b, the distance from the target simulation module to the surveillance camera simulation module is l, the field of view angle of the monitoring time-invariant scene of the surveillance camera simulation module is α, and satisfies:

a＜l·tanα＜ba<l·tanα<b

所述监控摄像头在x方向的旋转角度满足以下条件：The rotation angle of the monitoring camera in the x direction satisfies the following conditions:

顺着x方向的旋转角度不超过arctan(b/l)-α；The rotation angle along the x direction does not exceed arctan(b/l)-α;

逆着x方向的旋转角度不超过α-arctan(a/l)。The angle of rotation against the x direction does not exceed α-arctan(a/l).

各个角度之间的关系，如图3所示。The relationship between the various angles is shown in Figure 3.

在本实施例中，所述x方向分布在垂直光轴的平面内。In this embodiment, the x-direction is distributed in a plane perpendicular to the optical axis.

具体实施例四Specific embodiment four

本实施例的道路监控随机运动模糊图像快速复原仿真系统，在具体实施例三的基础上，进一步限定以下内容：The road monitoring random motion blurred image fast recovery simulation system of this embodiment, on the basis of the specific embodiment three, further defines the following content:

以光轴所在方向为起点，Starting from the direction of the optical axis,

向垂直光轴的x方向，目标的宽度为a1，背景的宽度为b1，目标仿真模块到监控摄像头仿真模块的距离为l，监控摄像头仿真模块的监视时不变场景的视场角为α1，并且满足：In the x direction of the vertical optical axis, the width of the target is a 1 , the width of the background is b 1 , the distance from the target simulation module to the surveillance camera simulation module is l, and the field of view angle of the monitoring time-invariant scene of the surveillance camera simulation module is α 1 , and satisfy:

a1＜l·tanα1＜b1 a 1 <l·tanα 1 <b 1

向垂直光轴的-x方向，目标的宽度为a2，背景的宽度为b2，目标仿真模块到监控摄像头仿真模块的距离为l，监控摄像头仿真模块的监视时不变场景的视场角为α2，并且满足：In the -x direction of the vertical optical axis, the width of the target is a 2 , the width of the background is b 2 , the distance from the target simulation module to the monitoring camera simulation module is l, and the field of view angle of the monitoring time-invariant scene of the monitoring camera simulation module is α 2 , and satisfies:

a2＜l·tanα2＜b2 a 2 <l·tanα 2 <b 2

所述监控摄像头在x方向的旋转角度满足以下条件：The rotation angle of the monitoring camera in the x direction satisfies the following conditions:

顺着x方向的旋转角度不超过min[arctan(b1/l)-α1,α2-arctan(a2/l)]；The rotation angle along the x direction does not exceed min[arctan(b 1 /l)-α 1 ,α 2 -arctan(a 2 /l)];

顺着-x方向的旋转角度不超过min[α1-arctan(a1/l),arctan(b2/l)-α2]。The rotation angle along the -x direction does not exceed min[α 1 -arctan(a 1 /l), arctan(b 2 /l)-α 2 ].

本实施例，考虑到了x方向分布在垂直光轴的平面内，那么在包括光轴的平面内，就会存在x方向和-x方向两个方向的同时限定，进而给出了综合两个方向限定后的结果。In this embodiment, considering that the x direction is distributed in the plane perpendicular to the optical axis, then in the plane including the optical axis, there will be two directions of the x direction and the -x direction simultaneously defined, and then the combination of the two directions is given. Qualified results.

Claims (1)

1. a kind of road monitoring random motion blurred picture Fast Restoration analogue system, including：
Target simulator module：By the when constant scene and time-varying scene group for emulating priori target for emulating pavement image At constant scene includes homogeneous background and the target that is different from background and is surrounded by background when described；
Monitoring camera emulation module：For camera, CCD, CMOS or camera；
Cantilever beam emulation module：It is made of symmetrically arranged two columns, horizontally-supported end and spring connecting pin, the horizontal branch Monitoring camera emulation module is fixedly connected with above support end, both sides connect top in column by spring connecting pin, connect in spring Under the action of connecing end, the rotation of the translation and a direction in three directions is done at horizontally-supported end；
The target simulator module is display, and the image part that the display is shown has time-varying characteristics, a part With when invariant feature, the part of invariant feature includes homogeneous background and the mesh that is different from background and is surrounded by background when having Mark；
It is characterized in that, using optical axis direction as starting point, to the directions x of vertical optical axis, the width of target is a, the width of background Degree is b, and the distance of target simulator module to monitoring camera emulation module is l, when the monitoring of monitoring camera emulation module not Become the field angle of scene as α, and meets：
A ＜ ltan α ＜ b
Rotation angle of the monitoring camera in the directions x meets the following conditions：
Rotation angle along the directions x is no more than arctan (b/l)-α；
It is no more than α-arctan (a/l) against the rotation angle in the directions x；
The x directional spredings are in the plane of vertical optical axis；
Using optical axis direction as starting point,
To the directions x of vertical optical axis, the width of target is a1, the width of background is b1, target simulator module is imitative to monitoring camera The distance of true module is l, when monitoring of monitoring camera emulation module the field angle of constant scene be α1, and meet：
a1＜ ltan α1＜ b1；
To the directions-x of vertical optical axis, the width of target is a2, the width of background is b2, target simulator module to monitoring camera The distance of emulation module is l, when monitoring of monitoring camera emulation module the field angle of constant scene be α2, and meet：
a2＜ ltan α2＜ b2。
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