CN106556958A - The auto focusing method of Range-gated Imager - Google Patents
The auto focusing method of Range-gated Imager Download PDFInfo
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Abstract
The characteristics of for Range-gated Imager slice imaging, the present invention, propose a kind of Range-gated Imager multiresolution and climb the mountain automatic focussing, for solving during Range-gated Imager focus issues automatically.The method forms different resolution sample level by spatial sampling process, using multi-resolution hierarchy, reduce data volume, so as to reduce image processing time, and then the definition values for obtaining present frame are weighted using frame-to-frame correlation to present frame and adjacent front cross frame, solve the problems, such as that climbing method causes to focus on failure due to local peaking's interference, so as to realize focusing on automatically using climbing method.Real-time, accuracy and the robustness of image focusing judgement are the method increased, and without particular job environmental requirement.
Description
Technical field
The present invention relates to digital imaging technology field, relate more specifically to a kind of Range-gated Imager from
Dynamic focus method.
Background technology
Range-gated Imager can effectively suppress the back scattering of air or water, in navigation, distant object
The civilian and military fields such as scouting, rescue, exploration are with a wide range of applications.In real work,
Under severe weather conditions or under underwater environment, though backward scattered impact has obtained certain suppression,
But for big depth field imaging still suffers from considerable influence so that traditional automatic amasthenic lens is difficult to
Focusing function.Such as Underwater Imaging, Range-gated Imager is current maximally effective optical imagery detection means,
The back scattering of sea water can be suppressed to a certain extent.But for big depth of field Underwater Imaging, water it is backward
Scattering yet suffers from considerable influence, causes image blurring, traditional Techniques of Automatic Focusing to be difficult to effectively right
Jiao, so as to the real Jiao's image of high-resolution cannot be obtained.To obtain fine definition high quality graphic, imaging system
System needs to focus on automatically in real time.
Compare based on the digital AF of image procossing that traditional focus are more intelligent and flexibility, energy
Effectively utilizes computer controls avoid complicated circuit and mechanism, it is adaptable to Range-gated Imager.Numeral is certainly
The conventional method of the optimal focus point of dynamic focusing searching image definition is climbing method.In systems, originally
There is system " overshoot " in body Contrast Detection method, needs are verifying whether to detect maximum
Most clearly focus point is returned during contrast；The ICCD camera lenses selected simultaneously send order using serial ports
When the number of turns that turns of its motor be difficult to precise control, and need progressively to reduce focus steps near maximum,
Can there is the error of focal position；And require that system is detected to object in real time.Traditional climbs
Mountain method mainly has based on definition Maximum Approach, but the problem for existing is：Based on definition Maximum Approach
Local maximum may be converged to；Although it is extraneous uncertain to overcome that some climbing methods have introduced threshold value
Interference of the factor to focus function fluctuation local peaking, but optimal threshold how is adjusted to without detailed
Illustrate and it is determined that threshold value is constant in the search after interference scene, and this can not meet various rings
Border and the actual demand of various imageable targets.
The content of the invention
In view of this, it is an object of the invention to propose a kind of auto focusing method of Range-gated Imager.
System is accurately focused in real time, obtain fine definition high quality graphic.
To achieve these goals, the invention provides a kind of auto focusing method of Range-gated Imager,
Comprise the following steps：
Just positioning is carried out to target object；
Imaging to the target object forms different resolution sample level by spatial sampling process；
Using the multiresolution principle of video image, first sharpness computation is carried out in lowest resolution layer,
Per layer is carried out continuously successively, finally obtains the definition of highest resolution layer；
Solved as the clear of present frame by the use of frame-to-frame correlation using present frame and adjacent front cross frame and weighting
Clear angle value；
Feedback loop operation is carried out using system auto focus control loop, using climbing method to camera lens electricity
Machine real-time control is realized focusing on automatically.
From above-mentioned technical proposal as can be seen that the auto focusing method of the present invention has the advantages that：
(1) technically solve in Range-gated Imager that poor image quality, definition be not high to ask
Topic, the method principle are easily understood, realize process quick and precisely, be suitable for almost so range gating
The automatic focusing of imaging system；
(2) image-forming range is determined with gate pulse relative time delay using Range-gated Imager laser pulse,
With laser instrument pulsewidth, gating gate-width determines that the characteristic of slice thickness carries out positioning at the beginning of space, make focusing automatically
As a result it is more rapidly accurate；
(3) using the multiresolution principle of image, different resolution is formed by spatial sampling process
Sample level, multi-resolution hierarchy can greatly reduce the process time to image by reducing process pixel count,
Ensure that algorithm speed；
(4) solved as present frame by the use of frame-to-frame correlation using present frame and adjacent front cross frame and weighting
Definition values, efficiently solve climbing method due to local peaking interference false judgment be likely to be converging on office
Portion's max problem.The speed and accuracy of algorithm are the method increased, is sentenced so as to improve image focusing
Fixed real-time and robustness；
(5) to the accurate judgement of threshold value at interference using the maximum absolute value of frame poor definition in front and back
Negative difference can accurately choose local peaking's interference as the judgement of threshold value；
(6) reached most clearly using auto focus control feedback circuit when detecting utmost sharpness
Focus point；
(7) it is more to be pin-pointed to the focal position corresponding to value of maximum articulation, using 1/2 step-length
Climbing method reduces the error of focal position, strengthening system accuracy.
Description of the drawings
In order to further illustrate the technology contents of the present invention, below in conjunction with the drawings and specific embodiments pair
The present invention is described further, wherein：
Fig. 1 is the imaging schematic diagram of the Range-gated Imager system of the present invention；
Fig. 2 is the structural representation of the image Multiresolution Sampling layer of the inventive method；
Fig. 3 is the song of the normalization evaluation function value with defocusing amount of the 1/2 variable step climbing method of the present invention
Line graph of a relation；
Fig. 4 is the circuit controls flow chart of steps of auto focusing method of the present invention；
Fig. 5 is the curve linear relationship of the normalization evaluation function value with defocusing amount of auto focusing method of the present invention
Figure；
Fig. 6 is the song of the original image definition normalized value with defocusing amount of auto focusing method of the present invention
Line graph of a relation；
Fig. 7 is the frame related weighing definition normalized value and defocusing amount of auto focusing method of the present invention
Curve relation figure；
Fig. 8 is the program flow diagram of the Range-gated Imager auto focusing method of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention become more apparent, below in conjunction with concrete reality
Example and referring to the drawings, the present invention is described in further details.
The invention discloses a kind of auto focusing method of Range-gated Imager, it is adaptable to solve it is all away from
The problem for inaccurately needing system to focus on automatically in real time is adjusted because manual during gated imaging, is had
Beneficial to solving the problems, such as that laser imaging is of poor quality, definition is not high, it is possible to obtain fine definition high-quality
Image.The method of the present invention is stablized and without particular job environmental requirement, and its operation principle is as follows：Such as
Shown in Fig. 1, image-forming range is determined with gate pulse relative time delay using Range-gated Imager laser pulse,
With laser instrument pulsewidth, gating gate-width determines that the characteristic of slice thickness carries out positioning at the beginning of space, so as to target
Object carries out zoom positioning.The inventive method needs to focus on automatically gated imaging system, constantly
The definition of the video streaming image for currently being collected, is climbed the mountain automatic focussing pair by multiresolution
The motor of camera lens connection is focused and operates and carry out 1/2 variable voltage-step feedback, as shown in Figure 2,3.
Multi-resolution hierarchy can greatly reduce the process time to picture, ensure that algorithm speed；It is simultaneously sharp
Reduce Peak Jitter with frame-to-frame correlation, it is ensured that algorithm accuracy, improve what image focusing judged
Accuracy, real-time and robustness.
Before system work, in addition it is also necessary to image definition constructor.Image definition is special with edge
The relation levied is that, when system imaging is clear, the Gray step at marginal point just changes greatly, using side
Edge point Gray step intensity of variation can be evaluated definition, therefore, it can using Image Edge-Detection operator
To build sharpness function.For the sharpness function built based on edge detection operator, that is, gather
Autofocus evaluation function during Jiao does experimental analysiss.Imageable target is 40cm × 40cm machine vision
Scaling board, material for customization milky composite, respectively with Roberts, Sobel, Prewitt,
Multiple edge detection operators such as Lap4, Lap8 carry out definition values meter of the camera lens in different defocusing amounts
Calculate.It is by taking Lap4 edge detection operators as an example, near in (x, y) direction second order partial differential based on image f (x, y)
Like
Template representation is
Image definition function is
Each point gradient in the image of M × N sizes is sued for peace, image definition can be characterized.To focusing on position
Put the definition values that 9 two field pictures for gathering in front and back are calculated each operator.Normalization definition values are each
Image clarity values are divided by value of maximum articulation therein.As shown in figure 3, wherein abscissa is out of focus
Amount, 0 represents the position of focus, and positive direction is that focal length becomes length direction, and vertical coordinate is that normalization is clear
Clear angle value；Meanwhile, each edge detection operator experiment of experimental verification focuses on the accuracy for judging and is 100%；
Each operator experiment focuses on the real-time for judging, such as table 1.Average time is different edge detection operators
A frame mean time to detect is completed, unit is ms.
Table 1
Consider the basic demand of following three kinds of factors (1) autofocus evaluation function, i.e. unimodal function
Its curve is sought to same group of picture, the lucky correspondence most clearly image of its maximum；In peak value both sides point
Other monotone increasing and monotonic decreasing；Slope absolute value in peak value both sides should be than larger；Seen by Fig. 3
Go out Lap4, Lap8, Lap25 difference neighbor operator, Log25 operators show good curve characteristic.
(2) judgment accuracy tested；In experiment, each operator can correctly judge the focusing that defocusing amount is 0
Picture；(3) real-time of system work；Roberts, Lap4, Lap8 as shown in Table 1, Lap8
Different neighbor operator real-times are preferable.Lap4 is that four neighbor operator of Laplce can correctly judge focused view
Piece and autofocus evaluation function curve performance optimum, time-consuming to occupy second, combination property is optimum.Draw pula
This operator generation edge is thinner, and has stronger response to fine rule.Lap4 neighbor operators are for 90 °
Rotation isotropism, the edge to being close to horizontally and vertically direction have enhancing well, so as to avoid ladder
The trouble filtered twice by degree operator.
Due to MCP noises, laser optical becomes according to each factor interference such as uneven, actual definition values
Change is not presented peak value both sides difference monotone increasing and monotonic decreasing, and the serious interference of local peaking affects
Position judgement of the machine to focusing results.Using frame-to-frame correlation with present frame and adjacent front cross frame with 0.5,0.3
Solve with 0.2 weight coefficient, Same Scene is carried out repeating to focus on experiment, it is as shown in Figure 6,7, former
With the contrast of frame related weighing articulation curve, beginning image definition curve understands that frame related weighing can make to gather
Burnt function ensures the monotonicity in both sides, and reduces Peak Jitter, ensures
True property.
More specifically, the invention discloses a kind of auto focusing method of Range-gated Imager, including with
Lower step：
The first positioning of target object is carried out using underground distance gated imaging system；
Different resolution sample level is formed by spatial sampling process to target imaging；
Using the multiresolution of image, sharpness computation, per layer of company are carried out in lowest resolution layer first
It is continuous to carry out, finally obtain the definition of highest resolution layer；
Solved as the clear of present frame by the use of frame-to-frame correlation using present frame and adjacent front cross frame and weighting
Clear angle value, effectively solving climbing method are likely to be converging on local maxima due to local peaking's interference false judgment
Value problem；
Feedback loop operation is carried out using system auto focus control loop, using climbing method to camera lens electricity
Machine real-time control is realized focusing on automatically.
Wherein, underground distance gated just positioning is using Range-gated Imager laser pulse and gate pulse
Relative time delay determines image-forming range, gates gate-width and determines that the characteristic of slice thickness is carried out with laser instrument pulsewidth
Position at the beginning of space.
Wherein, Multiresolution Sampling is the multiresolution principle using video image, to original image pixel
Different interval sampling processing is carried out, the image of different resolution is obtained, sample rate distinguishes 1/64,1/16,
1/4。
Wherein, image multiresolution principle is utilized to image using the definition that edge detection operator is calculated
Sample level is calculated.
Wherein, frame-to-frame correlation is solved as the clear of present frame using present frame and adjacent front cross frame and weighting
Clear angle value, it is 0.5 that weights are assigned to present frame definition, and it is 0.25 that front cross frame assigns weights, i.e.,Wherein ak=0.5, ak-1=0.25, ak-2=0.25.K is present frame,
xkFor k frame definitions.
Wherein, to the accurate judgement of threshold value at interference using the maximum absolute value of frame poor definition in front and back
Negative difference is used as interference threshold m0, i.e. interference threshold m0={ min { xk-xk-1}∩xk-xk-1＜
0 }, k ∈ video flowings frame.
Wherein, system auto focus control loop is feedback loop operation to camera lens motor real-time control,
As shown in figure 4, circuit controls flow chart of steps of the Fig. 4 for auto focusing method.
As the preferred embodiment of the present invention, it is further to improve algorithm speed and precision, reduces electricity
The error that machine is rotated, can use the climbing method method of 1/2 variable step, search for exemplary steps such as Fig. 5
It is shown：
(1) focus motor is changed with default zoom augment direction with drive circuit by serial ports first,
Time is t, if current definition is more than previous width, serial port command is always maintained at equidirectional fortune
It is dynamic, until current definition is less than previous width.In the methods of the invention, zoom amount augment direction is electricity
Machine right direction is rotated, and zoom amount reduces direction and rotates for motor left direction.
(2) reduce order movement time (such as 1/2t), focus on reverse operation.
(3) photo current definition is more than previous width again, reduces serial port command movement time again
Such as (1/4t), reverse operation is focused on, is constantly repeated.Number of repetition can be by needing to determine.
If pressing default direction, the second width picture clarity is less than the first width definition picture, then to phase
Opposite direction control command direction.Remaining circulation step is similar to the above.
Fig. 8 be the present invention Range-gated Imager auto focusing method program flow diagram, overall procedure
Be obtain video image Multiresolution Sampling weighting definition, 1/2 climbing method zoom lens carry out zoom,
Obtain utmost sharpness image, focusing to complete.In this program, host computer procedure adopts Microsoft
The MFC frameworks of 2010 platforms of Visual Studio are write, using serial communication；Slave computer adopts Keil
Platform c program is write.
Being characterized in that for the auto focusing method of the present invention, is climbed the mountain by multiresolution and focus on automatically
Method control loop is fed back the current acquisition video image of gated imaging of adjusting the distance and is focused, while also may be used
Controlled according to PC host computer interfaces manually.It is clear by the edge detection operator of video image
Degree judgement carrys out focusing and is adjusted.The method is layered into line definition using the multiresolution sampling of image
Detection, can reduce processing data, it is ensured that auto-focusing algorithm speed.Interframe correlation effectively solving
Climbing method is due to being likely to be converging on asking for local maximum caused by local peaking's interference false judgment
Topic.
Through many experiments, the auto focusing method of the present invention is applied to all kinds of Range-gated Imager systems
The security protection supervision equipment such as equipment, completes focusing in real time.
Particular embodiments described above, is carried out to the purpose of the present invention, technical scheme and beneficial effect
Further describe, it should be understood that the foregoing is only the specific embodiment of the present invention,
It is not limited to the present invention, all any modifications within the spirit and principles in the present invention, made,
Equivalent, improvement etc., should be included within the scope of the present invention.
Claims (7)
1. a kind of auto focusing method of Range-gated Imager, comprises the following steps：
Just positioning is carried out to target object；
Imaging to the target object forms different resolution sample level by spatial sampling process；
Using the multiresolution principle of video image, first sharpness computation is carried out in lowest resolution layer,
Per layer is carried out continuously successively, finally obtains the definition of highest resolution layer；
Solved as the clear of present frame by the use of frame-to-frame correlation using present frame and adjacent front cross frame and weighting
Clear angle value；
Feedback loop operation is carried out using system auto focus control loop, using climbing method to camera lens electricity
Machine real-time control is realized focusing on automatically.
2. the auto focusing method of Range-gated Imager as claimed in claim 1, wherein described right
The step of target object carries out just positioning is using Range-gated Imager laser pulse and gate pulse phase
Image-forming range is determined to time delay, gate-width is gated and is determined that the characteristic of slice thickness carries out sky with laser instrument pulsewidth
Between at the beginning of position.
3. the auto focusing method of Range-gated Imager as claimed in claim 1, wherein described right
The step of imaging of target object forms different resolution sample level by spatial sampling process includes：Profit
With the multiresolution principle of video image, the image pixel of target object imaging is carried out between difference
Every sampling processing, the image of different resolution is obtained, sample rate is respectively 1/64,1/16 and 1/4.
4. the auto focusing method of Range-gated Imager as claimed in claim 1, wherein described right
In the step of different resolution layer carries out sharpness computation, calculate described clear using edge detection operator
Degree.
5. the auto focusing method of Range-gated Imager as claimed in claim 1, wherein described
The definition as present frame is solved using present frame and adjacent front cross frame and weighting by the use of frame-to-frame correlation
In the step of value, it is 0.5 that weights are assigned to present frame definition, and it is 0.25 that front cross frame assigns weights, i.e.,Wherein ak=0.5, ak- 1=0.25, ak- 2=0.25, k are present frame,
xkFor k frame definitions.
6. the auto focusing method of Range-gated Imager as claimed in claim 5, wherein the profit
In the step of definition values of present frame are solved with frame-to-frame correlation, the accurate judgement to threshold value at interference
Using in front and back's frame poor definition maximum absolute value negative difference as interference threshold m0.
7. the auto focusing method of Range-gated Imager as claimed in claim 1, wherein described climb
Mountain method is 1/2 step-length climbing method, big step-length guarantee speed, and little step-length ensures precision, to the focusing
As a result it is circulated and approaches focusing.
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