CN106643731A - System and method for tracking and measuring point target - Google Patents
System and method for tracking and measuring point target Download PDFInfo
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- CN106643731A CN106643731A CN201611242397.0A CN201611242397A CN106643731A CN 106643731 A CN106643731 A CN 106643731A CN 201611242397 A CN201611242397 A CN 201611242397A CN 106643731 A CN106643731 A CN 106643731A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The invention discloses a system and method for tracking and measuring a point target. The system comprises two image forming units and an image processing device, wherein each image forming unit comprises a cylindrical lens and a line-scan digital camera connected with the image processing device, a pixel arrangement direction of the line-scan digital camera is vertical to the mother axis of the cylindrical lens, the point target forms a light stripe after being imaged by virtue of the cylindrical lens, and the line-scan digital camera is used for photographing the light stripe; the mother axes of the two cylindrical lenses are located on the same plane and are vertical to each other, and image forming optical axes are parallel with each other and appoint to the point target; and the image processing device is used for detecting the pixel coordinate value and photographing time of a pixel of a corresponding light stripe photographed by each line-scan digital camera in a preset frequency and synthesizing a movement locus curve of the target point on an observation view field projection plane according to the pixel coordinate value and the photographing time. The system can be used for positioning, tracking and measuring the target point in a relatively high sampling frequency and a relatively high resolution and is relatively good in applicability.
Description
Technical field
The present invention relates to technical field of image processing, more particularly to a kind of system that measurement is tracked to point target and side
Method.
Background technology
Point target typically has following characteristics：Picture size is little, only includes one or several pixels, and target is not carried substantially
Shape and pattern-information.Generally, when image objects are distant, or the imageable target of actual concern is the feature on object
During point, can be processed object as point target.
For point target, the features such as its shape contour and superficial makings cannot be typically obtained, concern is primarily with point target
Existence, the position coordinates of point target and movement locus on observation visual field perspective plane etc., that is, on observation visual field perspective plane
On, observation point target whether there is, point target relative to observation platform position and point target observation visual field perspective plane on
Actual motion track etc..Based on this, if being not concerned with the profile and surface characteristics of object, the movement locus of object is only focused on
When, it is possible to process is observed using object as point target, for example：In military affairs on the aircraft of observation distant place, infrared spectral coverage
Tank etc., because such target displacement speed is exceedingly fast, and apart from the distant of observation platform, will not generally pay close attention to it certainly
Its motion conditions only can be tracked measurement, in such cases, it is possible to by aircraft and tank by the profile or surface characteristics of body
Measurement is tracked as point target；In industrial circle and scientific experiment, can be by pasting index point in measurand
Method, by measurand point target is converted to, real by the motion to point target (index point) and the tracking measurement of attitudes vibration
Now to the tracking measurement of measurand.
Motion rail in prior art, generally using circle lens and area array cameras to point target on observation visual field perspective plane
Mark carries out record by imaging, and by analysis of the image the tracking measurement of point target, but the resolution ratio and frame of existing area array cameras are carried out
Frequency is generally relatively low.At present generally in 10Hz～50Hz, face battle array ranks pixel number is less than 2048pixel to common area array cameras frame frequency.
The area array cameras frame frequency of higher pixel number is lower, and price is also very expensive.For the point target of speed, surveyed with it
During amount tracking, speed index and accuracy index cannot meet actual measurement demand.
So, the existing system that measurement is tracked to point target, for the point target of speed is in observation visual field
The tracking and measurement of the movement locus on perspective plane, speed index and precision index cannot meet actual measurement demand, be suitable for
Property is poor.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of system and method that measurement is tracked to point target, to solve
The existing system that measurement is tracked to point target, for speed point target observation visual field perspective plane on motion
The tracking and measurement of track, speed index and precision index cannot meet actual measurement demand, the poor problem of applicability.
In order to solve above-mentioned technical problem, the embodiment of the invention discloses following technical scheme：
In a first aspect, embodiments providing a kind of system that measurement is tracked to point target, the system includes：
Two image-generating units and image processing apparatus；Each described image-generating unit includes a post lens and a line-scan digital camera, each
The line-scan digital camera of the image-generating unit is connected with described image processing meanss by signal transmssion line；Each described image-generating unit
In, perpendicular to the mother's axle of its post lens, point target formed after the post lens imaging for the pixel orientation of its line-scan digital camera
Striations, the striations is vertical with the pixel orientation of the line-scan digital camera, and the line-scan digital camera is used to be regarded in observation in point target
Captured in real-time striations during moving on the perspective plane of field；The mother's axle of the post lens of described two image-generating units is mutually perpendicular to
And it is in the same plane；The imaging optical axis of the post lens of described two image-generating units is parallel to each other, and is directed to the point target；
Described image processing meanss are used for during the point target is moved on the perspective plane of the observation visual field, with predeterminated frequency
For detect frequency, detect the pixel that corresponding striations is photographed in each line-scan digital camera pixel coordinate value and each photograph
The shooting time of the pixel of corresponding striations, and existed according to the pixel coordinate value and the shooting time synthesis point target
The path curves moved on the perspective plane of the observation visual field.
With reference in a first aspect, in the first possible implementation of first aspect, described two image-generating units are identical.
With reference to the first possible implementation of first aspect, in second possible implementation of first aspect
In, the minimum of a value of the predeterminated frequency is 0, and the maximum of the predeterminated frequency is the line frequency of the line-scan digital camera.
With reference to the first possible implementation and second possible reality of first aspect of first aspect, first aspect
Any one possible implementation in existing mode, in the third possible implementation of first aspect, described image
Processing meanss are used for during the point target is moved on the perspective plane of the observation visual field, with predeterminated frequency as detection frequency
Rate, detect the pixel that corresponding striations is photographed in each line-scan digital camera pixel coordinate value and each photograph corresponding striation
Before the shooting time of the pixel of line, it is additionally operable to：Measurement coordinate system O-uvw is set up, origin of coordinates O of the measurement coordinate system sets
Be placed between the imaging photocentre of two post lens, the plane u-v plane that the u axles of the measurement coordinate system and v axles determine with two
The plane that the mother's axle of post lens determines overlaps, and the u axles and v axles of the measurement coordinate system is equal with the angle of the mother's axle of each post lens
For 45 °, the w axles of the measurement coordinate system point to the point target.
With reference to the third possible implementation of first aspect, in the 4th kind of possible implementation of first aspect
In, described image processing meanss are used to synthesize the point target in the sight according to the pixel coordinate value and the shooting time
The path curves moved on the perspective plane of visual field are examined, is specifically included：Described image processing meanss are used to perform operations described below：Root
According to the pixel coordinate value and the shooting time, determine that the point target is corresponding in each shooting time according to the following equation
Displacement of the position relative to its original position；Wherein, u represents the survey
The coordinate variable of the u axles of amount coordinate system, v represents the coordinate variable of the v axles of the measurement coordinate system, and du represents that the point target exists
The corresponding position of arbitrary shooting time relative to its original position displacement along the measurement coordinate system the axial components of u,
Dv represent the point target the corresponding position of the shooting time relative to its original position displacement along the measurement coordinate system
The axial components of v, S represents the distance of point target to the origin of coordinates of the measurement coordinate system, and f represents each post lens
Focal length, aCRepresent the resolution ratio of the pixel of the sensor of each line-scan digital camera, nL1, nR1Represent the point target in original position
The pixel coordinate value of the pixel of corresponding striations, n are photographed in two line-scan digital camerasL2, nR2Represent the point target in the shooting
The pixel coordinate value of the pixel of corresponding striations is photographed during time corresponding position in two line-scan digital cameras；According to the shooting
Time and the point target synthesize the point target in the corresponding position of each shooting time relative to the displacement of its original position
The path curves moved on the perspective plane of the observation visual field.
Second aspect, embodiments provides the first possible reality of a kind of employing first aspect or first aspect
The method that system in existing mode is tracked measurement to point target, the method includes：Point target is on observation visual field perspective plane
During motion, using the system two line-scan digital camera captured in real-time point targets Jing described in system corresponding post lens into
As the striations of rear formation；Adopt the image processing apparatus of the system with predeterminated frequency to detect frequency, detect each linear array
Photograph in camera the pixel of corresponding striations pixel coordinate value and each photograph corresponding striations pixel shooting
Time, and transported on the perspective plane of the observation visual field according to the pixel coordinate value and the shooting time synthesis point target
Dynamic path curves.
With reference to second aspect, in the first possible implementation of second aspect, at the image using the system
Reason device detects the pixel coordinate of the pixel that corresponding striations is photographed in each line-scan digital camera with predeterminated frequency to detect frequency
Before the shooting time of value and each pixel for photographing corresponding striations, the method also includes：Using the figure of the system
As processing meanss set up measurement coordinate system O-uvw, origin of coordinates O of the measurement coordinate system is arranged at the imaging of two post lens
Between photocentre, the plane u-v plane that the u axles of the measurement coordinate system and v axles determine is flat with what the mother's axle of two post lens determined
Face overlaps, and the u axles and v axles of the measurement coordinate system are 45 ° with the angle of the mother's axle of each post lens, the measurement coordinate system
W axles point to the point target.
With reference to the first possible implementation of second aspect, in second possible realization of second aspect
In mode, the point target is synthesized according to the pixel coordinate value and the shooting time and is projected in the observation visual field
The process of the path curves moved on face, specifically includes：According to the pixel coordinate value and the shooting time, press
According to following formula determine the point target the corresponding position of each shooting time relative to its original position displacement；Wherein, u represents the coordinate variable of the u axles of the measurement coordinate system, v tables
Show the coordinate variable of the v axles of the measurement coordinate system, du represents that the point target is relative in the corresponding position of arbitrary shooting time
In its original position displacement along the measurement coordinate system the axial components of u, dv represents the point target in the shooting
Between corresponding position relative to its original position displacement along the measurement coordinate system the axial components of v, S represents point target
To the distance of the origin of coordinates of the measurement coordinate system, f represents the focal length of each post lens of the system, aCRepresent the system
The resolution ratio of the pixel of the sensor of each line-scan digital camera of system, nL1, nR1Represent the point target two lines in original position
The pixel coordinate value of the pixel of corresponding striations, n are photographed in array cameraL2, nR2Represent the point target in the shooting time pair
The pixel coordinate value of the pixel of corresponding striations is photographed during the position answered in two line-scan digital cameras；According to the shooting time with
The point target synthesizes the point target described in the corresponding position of each shooting time relative to the displacement of its original position
The path curves moved on observation visual field perspective plane.
With reference to second possible implementation of second aspect, in the third possible implementation of second aspect
In, the minimum of a value of the predeterminated frequency is 0, and the maximum of the predeterminated frequency is the line frequency of the line-scan digital camera of the system.
The technical scheme that embodiments of the invention are provided can include following beneficial effect：The invention provides one kind is to point
Target is tracked the system and method for measurement, in the system, is provided with two image-generating units, and each image-generating unit includes one
Post lens and a line-scan digital camera.The bearing of trend of the mother's axle of the post lens of the two image-generating units is mutually perpendicular to, point target Jing
Form a striations, the line-scan digital camera in the two image-generating units point after the post lens imaging for crossing the two image-generating units respectively
Captured in real-time Yong Yu not be carried out to the striations in respective image-generating unit, image processing apparatus are with the two line-scan digital cameras by letter
Number transmission line is connected, and for recording two line-scan digital cameras in photograph corresponding striations pixel pixel coordinate value and
Shooting time.Motion of the point target on observation visual field perspective plane, can be decomposed into the componental movement of two mutually perpendicular directions, this
Sample, can adopt two image-generating units of the system to measure to two componental movements of point target respectively, so as to realize to point
The tracking measurement of the movement locus of target, also, for the point target of high-speed motion, line-scan digital camera also can be photographed accurately accordingly
Striations, so as to realize that the accurate tracking of its movement locus is measured, applicability is more preferable.
The embodiment of the present invention is it should be appreciated that the general description of the above and detailed description hereinafter are only exemplary reconciliation
The property released, the disclosure can not be limited.
Description of the drawings
Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows the enforcement for meeting the present invention
Example, and be used to explain the principle of the present invention together with specification.
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, without having to pay creative labor, can be with according to these other accompanying drawings of accompanying drawings acquisition.
Fig. 1 is a kind of structural representation of system that measurement is tracked to point target provided in an embodiment of the present invention；
Fig. 2 be it is provided in an embodiment of the present invention it is a kind of using the above-mentioned system that measurement is tracked to point target to point target
It is tracked the schematic flow sheet of the method for measurement.
Specific embodiment
In order that those skilled in the art more fully understand the technical scheme in the present invention, below in conjunction with of the invention real
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described enforcement
Example is only a part of embodiment of the invention, rather than the embodiment of whole.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, should all belong to protection of the present invention
Scope.
The invention provides a kind of system and method that measurement is tracked to point target, be provided with the system two into
As unit, each image-generating unit includes a post lens and a line-scan digital camera, can be by point target on observation visual field perspective plane
On Kinematic Decomposition be componental movement in two mutually orthogonal directions, afterwards two image-generating units using the system are right respectively
Two componental movements are tracked shooting, so as to realize the tracking measurement of the movement locus to point target, are additionally, since line-scan digital camera
Higher, higher for the movement velocity point target of filming frequency, also its movement locus can be carried out accurately using the system
Tracking measurement.
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is discussed in detail.
As shown in figure 1, Fig. 1 is illustrated that a kind of system that measurement is tracked to point target provided in an embodiment of the present invention
Structural representation, the system includes：
Two image-generating units and image processing apparatus (not shown)；
Each described image-generating unit includes a post lens 1 and a line-scan digital camera 2, the linear array of each image-generating unit
Camera 2 is connected with described image processing meanss by signal transmssion line；
In each described image-generating unit, the pixel orientation of its line-scan digital camera 2 perpendicular to its post lens 1 mother's axle, point
Target 3 forms striations 4 after the post lens 1 are imaged, and the striations 4 is vertical with the pixel orientation of the line-scan digital camera 2,
The line-scan digital camera 2 is used for captured in real-time striations 4 during point target 3 is moved on observation visual field perspective plane；
The mother's axle of the post lens 1 of described two image-generating units is mutually perpendicular to, and the mother's axle of two post lens is located at same putting down
On face；
The imaging optical axis of the post lens 1 of described two image-generating units is parallel to each other, and is directed to the point target 3；
Described image processing meanss are used for during the point target 3 is moved on the perspective plane of the observation visual field,
With predeterminated frequency to detect frequency, the pixel coordinate value of the pixel that corresponding striations 4 is photographed in each line-scan digital camera 2 is detected
(herein, by any one pixel in each line-scan digital camera along the line-scan digital camera pixel orientation, in the line-scan digital camera
Occupied location of pixels is defined as pixel coordinate value of the pixel in the line-scan digital camera) and each photograph corresponding striation
The shooting time of the pixel of line 4, and the point target 3 is synthesized in the sight according to the pixel coordinate value and the shooting time
Examine the path curves moved on the perspective plane of visual field.The system due to using two orthogonal post lens 1 by point target 3
Position and Kinematic Decomposition are two orthogonal directions, and are imaged on corresponding line-scan digital camera 2, can with higher sample frequency and more
High resolution ratio is positioned and tracking measurement to point target 3, and applicability is more preferable.
Generally, point target can be imaged as straight line after certain post lens imaging on the image plane of the post lens
Striations, and for point target observation visual field perspective plane on two dimensional motion, generally can be decomposed into two it is orthogonal
Componental movement on direction, the two directions can arbitrarily be chosen, and for example, elect one of direction as mother's axle with the post lens
Vertical direction, another direction is elected as the bearing of trend of the mother's axle of the post lens, and point target is on observation visual field perspective plane
During motion, the componental movement along the direction vertical with the mother's axle of the post lens corresponds to the striations on the image plane of the post lens
Translation, places a line-scan digital camera on the image plane of the post lens, and the pixel orientation of the line-scan digital camera is (herein,
The spread length direction of the pixel of the sensor of line-scan digital camera is defined as into the pixel orientation of the line-scan digital camera) it is saturating with the post
When the mother's axle of mirror is vertical, the translation of striations can be detected by the line-scan digital camera.With reference to aforementioned, using another mother's axle with it is front
State the vertical post lens of the mother's axle of post lens, and the pixel orientation of another pixel orientation and aforementioned line-scan digital camera
Vertical line-scan digital camera, then can detect componental movement of the point target along the bearing of trend of the mother's axle of aforementioned post lens, afterwards, comprehensive
Close the information of two line-scan digital cameras, it is possible to synthesize the movement locus that point target is moved on observation visual field perspective plane.Based on upper
Principle is stated, the embodiment of the present invention proposes the above-mentioned system that measurement is tracked to point target.
Wherein, two image-generating units of the system can be with identical, i.e., two post lens 1 are identical, two line-scan digital cameras 2 also phase
Together, equally, two image-generating units of the system can also be different.Generally, in order that detecting with during and calculating convenient,
Two image-generating units of the system can be set to identical state.And for some special application scenarios, for example, point target
3 on visual field perspective plane is observed when moving, when requiring different for the certainty of measurement of two directions of motion, it will usually by the system
Two image-generating units be set to different states.For the post lens 1 in each image-generating unit, section can be selected for circle
Post lens, it is also possible to select section be semicircular post lens.
Predeterminated frequency is pre-stored within the image processing apparatus of system, and user can need random according to the measurement of oneself
Set, the minimum of a value of predeterminated frequency can be set as 0, and the maximum of predeterminated frequency can be set as the row of line-scan digital camera 2
Frequently, user in a particular application, if necessary to higher certainty of measurement and measurement frequency, can be set to the value of predeterminated frequency
Relatively larger value, for example, the value of predeterminated frequency can be set to the line frequency of line-scan digital camera 2, equally, if certainty of measurement
Requirement it is relatively low if, the value of predeterminated frequency can be set to relatively smaller value, for example can be by the value of predeterminated frequency
It is set to some value of one or two order of magnitude lower than the line frequency of line-scan digital camera 2.
In the specific implementation, when being configured to the image processing apparatus of the system, the image processing apparatus are used in institute
Point target 3 is stated during motion on the perspective plane of the observation visual field, with predeterminated frequency to detect frequency, each linear array is detected
Photograph in camera 2 pixel of corresponding striations 4 pixel coordinate value and each photograph corresponding striations 4 pixel bat
Before taking the photograph the time, it is additionally operable to：Measurement coordinate system O-uvw is set up, origin of coordinates O of measurement coordinate system O-uvw is arranged at two
Between the imaging photocentre of individual post lens 1, for example, origin of coordinates O of measurement coordinate system O-uvw is arranged at into two post lens
The line center of 1 imaging photocentre, plane u-v plane and two posts that the u axles of measurement coordinate system O-uvw and v axles determine
The plane that the mother's axle of lens 1 determines overlaps, the u axles and v axles of measurement coordinate system O-uvw and the mother's axle of each post lens 1 it
Between have certain angle, in the specific implementation, the angle can arbitrarily be arranged in the range of 0 °～90 °, but cannot be set
0 ° is set to, 90 ° cannot be also set to, it is all simpler generally for measurement and calculating, by measurement coordinate system O-uvw
Angle between the mother's axle of u axles and v axles and each post lens 1 is disposed as 45 °, and the w axles sensing of the measurement coordinate system is described
Point target 3.
Image processing apparatus are used for according to pixel coordinate value and shooting time synthesis point target 3 on observation visual field perspective plane
The path curves of motion, specifically include：The image processing apparatus are used to perform operations described below：According to the pixel coordinate value
With the shooting time, determine that the point target 3 rises in the corresponding position of each shooting time relative to it according to the following equation
Beginning position displacement；Wherein, u represents measurement coordinate system O-uvw
U axles coordinate variable, v represents the coordinate variable of the v axles of measurement coordinate system O-uvw, and du represents that the point target 3 is in office
The corresponding position of one shooting time relative to its original position displacement along measurement coordinate system O-uvw axial point of u
Amount, dv represents that the point target 3 is sat relative to the displacement of its original position in the corresponding position of the shooting time along the measurement
The axial components of v of mark system O-uvw, S represents the distance of point target 3 to origin of coordinates O of measurement coordinate system O-uvw, f
Represent the focal length of each post lens 1, aCRepresent the resolution ratio of the pixel of the sensor of each line-scan digital camera 2, nL1, nR1Represent described
Point target 3 photographs the pixel coordinate value of the pixel of corresponding striations, n in original position in two line-scan digital camerasL2, nR2Table
Show that the point target 3 photographs the picture of the pixel of corresponding striations at the corresponding position of the shooting time in two line-scan digital cameras
Plain coordinate value；According to the shooting time and the point target 3 in the corresponding position of each shooting time relative to its start bit
The displacement put synthesizes the path curves that the point target 3 is moved on the perspective plane of the observation visual field.
It is provided in an embodiment of the present invention point target to be tracked in the system of measurement, be provided with two image-generating units and with
The image processing apparatus that the two image-generating units are connected by signal transmssion line, wherein, each image-generating unit includes a post
Lens and a line-scan digital camera, point target is imaged as a striations after the post lens, can be right using the line-scan digital camera
The striations is shot, and two image-generating units are respectively arranged in two mutually orthogonal directions, and point target can be existed
Two dimensional motion on observation visual field perspective plane componental movement in both directions is tracked measurement, and is filled using image procossing
The path curves that synthesis point target is moved on observation visual field perspective plane are put, so as to realize that point target is thrown in observation visual field
The tracking measurement of the two dimensional motion on shadow face, the filming frequency of the line-scan digital camera of the system is higher, for movement velocity faster
The striations that point target is formed at the volley by post lens imaging can also be photographed clearly, be realized to high speed point target
The high precision tracking measurement of motion, applicability is more preferable.
As shown in Fig. 2 Fig. 2 is illustrated that one kind provided in an embodiment of the present invention is tracked survey to point target using above-mentioned
The system of amount is tracked the schematic flow sheet of the method for measurement to point target, and the method includes：
During step 101, point target are moved on observation visual field perspective plane, using two linear array phases of the system
The striations formed after machine captured in real-time point target corresponding post lens imaging of system described in.
During point target is moved on observation visual field perspective plane, point target is after two post lens imagings of system
The striations of formation can be moved with the motion of point target, using the corresponding line-scan digital camera of system to corresponding striations
When being shot, point target moves to different positions, and each line-scan digital camera photographs the pixel of corresponding striations can be become
Change, therefore, formed Jing after the corresponding post lens imaging of the system by the two of system line-scan digital camera captured in real-time point targets
Striations, and the position of the pixel that corresponding striations is photographed in each line-scan digital camera is recorded it is recognized that the motion of point target
Track.
Step 102, adopt the image processing apparatus of the system with predeterminated frequency to detect frequency, detect each linear array phase
Photograph in machine the pixel of corresponding striations pixel coordinate value and each pixel for photographing corresponding striations shooting when
Between, and moved on the perspective plane of the observation visual field according to the pixel coordinate value and the shooting time synthesis point target
Path curves.
Generally, when being tracked measurement to point target, a measurement coordinate system can be set up, as the motion of measurement point target
Normative reference.Therefore, adopt the image processing apparatus of the system with predeterminated frequency to detect frequency, detect each linear array phase
Photograph in machine the pixel of corresponding striations pixel coordinate value and each pixel for photographing corresponding striations shooting when
Between before, the method also includes：Measurement coordinate system O-uvw is set up using the image processing apparatus of the system, the measurement is sat
Origin of coordinates O of mark system O-uvw is arranged between the imaging photocentre of two post lens, for example, by measurement coordinate system O-uvw
Origin of coordinates O be arranged at two post lens imaging photocentre line center, the u axles and v axles of measurement coordinate system O-uvw
It is determined that the plane that determines with the mother's axle of two post lens of plane u-v plane overlap, the u axles of measurement coordinate system O-uvw and v
Axle is 45 ° with the angle of the mother's axle of each post lens, and the w axles of measurement coordinate system O-uvw point to the point target.
Further, the motion rail for being moved on observation visual field perspective plane according to pixel coordinate value and shooting time synthesis point target
The process of trace curve, specifically includes：According to the pixel coordinate value and the shooting time, described mesh is determined according to the following equation
It is marked on displacement of the corresponding position of each shooting time relative to its original position；
Wherein, u represents the coordinate variable of the u axles of measurement coordinate system O-uvw, and v represents the v axles of measurement coordinate system O-uvw
Coordinate variable, du represent the point target the corresponding position of arbitrary shooting time relative to its original position displacement along described
The axial components of u of measurement coordinate system O-uvw, dv represents the point target in the corresponding position of the shooting time relative to it
Along the axial components of v of measurement coordinate system O-uvw, S represents point target to the measurement coordinate for the displacement of original position
It is the distance of the origin of coordinates of O-uvw, f represents the focal length of each post lens of the system, aCRepresent the system each
The resolution ratio of the pixel of the sensor of line-scan digital camera, nL1, nR1Represent the point target in original position in two line-scan digital cameras
Photograph the pixel coordinate value of the pixel of corresponding striations, nL2, nR2Represent the point target in the corresponding position of the shooting time
When two line-scan digital cameras in photograph corresponding striations pixel pixel coordinate value；According to the shooting time and described mesh
It is marked on the corresponding position of each shooting time and synthesizes the point target in the observation visual field relative to the displacement of its original position
The path curves moved on perspective plane, i.e., in measurement coordinate system, depict shooting time bent with the displacement time of displacement
Line, so as to realize that the purpose of measurement is tracked to point target.
Further, the minimum of a value of predeterminated frequency is 0, and the maximum of the predeterminated frequency is the line-scan digital camera of the system
Line frequency.
The method that measurement is tracked to point target provided in an embodiment of the present invention, wherein using two image-generating units to point
Motion of the target on observation visual field perspective plane is tracked measurement, and a line-scan digital camera and one are included in each image-generating unit
Post lens, for the point target of high-speed motion, line-scan digital camera can also accurately photograph the point target through corresponding post lens
The striations that imaging is formed, so as to realize the accurate measurement of the motion of the point target to the high-speed motion, applicability is more preferable.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.Especially for device or
For system embodiment, because it is substantially similar to embodiment of the method, so describing fairly simple, related part is referring to method
The part explanation of embodiment.Apparatus and system embodiment described above is only schematic, wherein as separation
The unit of part description can be or may not be it is physically separate, can be as the part that unit shows or
Can not be physical location, you can be located at a place, or can also be distributed on multiple NEs.Can be according to reality
The purpose for needing to select some or all of module therein to realize this embodiment scheme on border.Those of ordinary skill in the art
In the case where creative work is not paid, you can to understand and implement.
It should be noted that herein, such as term " including ", "comprising" or its any other variant are intended to
Nonexcludability is included, so that a series of process, method, article or equipment including key elements not only will including those
Element, but also including other key elements being not expressly set out, or also include for this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element for being limited by sentence "including a ...", it is not excluded that
Also there is other identical element in process, method, article or equipment including key element.
The above is only the specific embodiment of the present invention, it is noted that for those skilled in the art come
Say, under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (9)
1. a kind of system that measurement is tracked to point target, it is characterised in that include：
Two image-generating units and image processing apparatus；
Each described image-generating unit includes a post lens and a line-scan digital camera, the line-scan digital camera of each image-generating unit with
Described image processing meanss are connected by signal transmssion line；
In each described image-generating unit, the pixel orientation of its line-scan digital camera perpendicular to its post lens mother's axle, point target Jing
Cross after the post lens imaging and form striations, the striations is vertical with the pixel orientation of the line-scan digital camera, the line-scan digital camera
Captured in real-time striations during for moving on observation visual field perspective plane in point target；
The mother's axle of the post lens of described two image-generating units is mutually perpendicular to and in the same plane；
The imaging optical axis of the post lens of described two image-generating units is parallel to each other, and is directed to the point target；
Described image processing meanss are used for during the point target is moved on the perspective plane of the observation visual field, with default
Frequency is detection frequency, detects pixel coordinate value and each bat of the pixel that corresponding striations is photographed in each line-scan digital camera
The shooting time of the pixel of corresponding striations is taken the photograph, and described mesh is synthesized according to the pixel coordinate value and the shooting time
It is marked on the path curves moved on the perspective plane of the observation visual field.
2. system according to claim 1, it is characterised in that described two image-generating units are identical.
3. system according to claim 2, it is characterised in that the minimum of a value of the predeterminated frequency is 0, the predeterminated frequency
Maximum be the line-scan digital camera line frequency.
4. the system according to claims 1 to 3 any one, it is characterised in that described image processing meanss are used in institute
Point target is stated during motion on the perspective plane of the observation visual field, with predeterminated frequency to detect frequency, each linear array is detected
Photograph in camera the pixel of corresponding striations pixel coordinate value and each photograph corresponding striations pixel shooting
Before time, it is additionally operable to：
Set up measurement coordinate system O-uvw, origin of coordinates O of the measurement coordinate system be arranged at two post lens imaging photocentre it
Between, the plane that the plane u-v plane that the u axles of the measurement coordinate system and v axles determine determines with the mother's axle of two post lens overlaps,
The u axles and v axles of the measurement coordinate system are 45 ° with the angle of the mother's axle of each post lens, and the w axles of the measurement coordinate system refer to
To the point target.
5. system according to claim 4, it is characterised in that described image processing meanss are used for according to the pixel coordinate
Value and the shooting time synthesize the path curves that the point target is moved on the perspective plane of the observation visual field, concrete bag
Include：
Described image processing meanss are used to perform operations described below：
According to the pixel coordinate value and the shooting time, determine the point target in each shooting time according to the following equation
Displacement of the corresponding position relative to its original position；
Wherein, u represents the coordinate variable of the u axles of the measurement coordinate system, and v represents that the coordinate of the v axles of the measurement coordinate system becomes
Amount, du represents that the point target is sat relative to the displacement of its original position in the corresponding position of arbitrary shooting time along the measurement
The axial components of u of mark system, dv represents the point target in the corresponding position of the shooting time relative to its original position
Along the axial components of v of the measurement coordinate system, S represents the origin of coordinates of the point target to the measurement coordinate system for displacement
Distance, f represents the focal length of each post lens, aCRepresent the resolution ratio of the pixel of the sensor of each line-scan digital camera, nL1, nR1Table
Show that the point target photographs the pixel coordinate value of the pixel of corresponding striations, n in original position in two line-scan digital camerasL2,
nR2Represent that the point target photographs the pixel of corresponding striations at the corresponding position of the shooting time in two line-scan digital cameras
Pixel coordinate value；
According to the shooting time and the point target the corresponding position of each shooting time relative to its original position position
Move the path curves that the synthesis point target is moved on the perspective plane of the observation visual field.
6. the method that the system described in a kind of employing claim 1 or 2 is tracked measurement to point target, it is characterised in that bag
Include：
During point target is moved on observation visual field perspective plane, using two line-scan digital camera captured in real-time points of the system
The striations formed after target corresponding post lens imaging of system described in；
Adopt the image processing apparatus of the system with predeterminated frequency to detect frequency, detect in each line-scan digital camera and photograph phase
Answer the pixel of striations pixel coordinate value and each photograph corresponding striations pixel shooting time, and according to described
Pixel coordinate value and the shooting time synthesize the movement locus song that the point target is moved on the perspective plane of the observation visual field
Line.
7. method according to claim 6, it is characterised in that adopt the image processing apparatus of the system with predeterminated frequency
For detect frequency, detect the pixel that corresponding striations is photographed in each line-scan digital camera pixel coordinate value and each photograph
Before the shooting time of the pixel of corresponding striations, the method also includes：
Measurement coordinate system O-uvw is set up using the image processing apparatus of the system, origin of coordinates O of the measurement coordinate system sets
Be placed between the imaging photocentre of two post lens, the plane u-v plane that the u axles of the measurement coordinate system and v axles determine with two
The plane that the mother's axle of post lens determines overlaps, and the u axles and v axles of the measurement coordinate system is equal with the angle of the mother's axle of each post lens
For 45 °, the w axles of the measurement coordinate system point to the point target.
8. method according to claim 7, it is characterised in that synthesized according to the pixel coordinate value and the shooting time
The process of the path curves that the point target is moved on the perspective plane of the observation visual field, specifically includes：
According to the pixel coordinate value and the shooting time, determine the point target in each shooting time according to the following equation
Displacement of the corresponding position relative to its original position；
Wherein, u represents the coordinate variable of the u axles of the measurement coordinate system, and v represents that the coordinate of the v axles of the measurement coordinate system becomes
Amount, du represents that the point target is sat relative to the displacement of its original position in the corresponding position of arbitrary shooting time along the measurement
The axial components of u of mark system, dv represents the point target in the corresponding position of the shooting time relative to its original position
Along the axial components of v of the measurement coordinate system, S represents the origin of coordinates of the point target to the measurement coordinate system for displacement
Distance, f represents the focal length of each post lens of the system, aCRepresent the sensor of each line-scan digital camera of the system
The resolution ratio of pixel, nL1, nR1Represent that the point target photographs corresponding striations in original position in two line-scan digital cameras
The pixel coordinate value of pixel, nL2, nR2Represent that the point target is clapped at the corresponding position of the shooting time in two line-scan digital cameras
Take the photograph the pixel coordinate value of the pixel of corresponding striations；
According to the shooting time and the point target the corresponding position of each shooting time relative to its original position position
Move the path curves that the synthesis point target is moved on the perspective plane of the observation visual field.
9. method according to claim 8, it is characterised in that the minimum of a value of the predeterminated frequency is 0, the predeterminated frequency
Maximum be the system line-scan digital camera line frequency.
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