CN106991657A - A kind of infrared small target detection method and system based on FPGA - Google Patents
A kind of infrared small target detection method and system based on FPGA Download PDFInfo
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- CN106991657A CN106991657A CN201710173550.7A CN201710173550A CN106991657A CN 106991657 A CN106991657 A CN 106991657A CN 201710173550 A CN201710173550 A CN 201710173550A CN 106991657 A CN106991657 A CN 106991657A
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- 238000000034 method Methods 0.000 claims abstract description 18
- 238000005260 corrosion Methods 0.000 claims abstract description 7
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- 230000000877 morphologic effect Effects 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims description 21
- 238000001914 filtration Methods 0.000 claims description 14
- 239000000203 mixture Substances 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000002708 enhancing effect Effects 0.000 claims description 3
- 230000010339 dilation Effects 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/28—Indexing scheme for image data processing or generation, in general involving image processing hardware
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20024—Filtering details
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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- G06T2207/20036—Morphological image processing
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Abstract
The present invention proposes a kind of infrared small target detection method and system based on FPGA, gathers infrared image using the Cameralink cameras under Full patterns and the infrared image video data collected is sent into Cameralink Video Reception Systems；The infrared image video data received is sent into FPGA master chips by Cameralink Video Reception Systems in real time；In FPGA master chips, median filter process is carried out to infrared image video data, then Small object detected using Robinson wave filters, Morphological scale-space finally is carried out to the Small object detected using corrosion expanding method.The present invention realizes the detection of the moving target under complex background by the way that the infrared image collected on FPGA hardware platform is transplanted using the hardware of algorithm.
Description
Technical field
The invention belongs to IMAQ and target detection technique field, and in particular to a kind of infrared small target based on FPGA
Detection method and system.
Background technology
Infrared small target detection is infrared warning system, infrared target detection and tracking, big visual field object detection system, defended
A core technology in the systems such as star remote sensing, disaster alarm, fire control and disaster rescue.
Because infrared sensor is influenceed by factors such as air, radiation from sea surface, operating distance and noise of detector so that
Remote target size on infrared image is smaller, or even point-like is presented；In addition, the signal to noise ratio of infrared image is relatively low, add
Background is usually relatively complex, and target is easy to be flooded by noise and background clutter so that the detection of infrared small target becomes more
Plus it is difficult.
The content of the invention
It is an object of the invention to provide a kind of infrared small target detection method based on FPGA and system, by by FPGA
The infrared image collected on hardware platform is transplanted to realize the detection of the moving target under complex background using the hardware of algorithm.
In order to solve the above-mentioned technical problem, the present invention provides a kind of infrared small target detection method based on FPGA, uses
Cameralink cameras under Full patterns gather infrared image and are sent to the infrared image video data collected
Cameralink Video Reception Systems；Cameralink Video Reception Systems send the infrared image video data received in real time
Enter FPGA master chips；In FPGA master chips, median filter process is carried out to infrared image video data, then used
Robinson wave filters are detected to Small object, finally carry out morphology to the Small object detected using corrosion expanding method
Processing.
The present invention also proposes a kind of infrared small target detection system based on FPGA, including Cameralink video receptions system
System, FPGA master chips, kilomega network transport module, exterior arrangement circuit and display；Cameralink Video Reception Systems by
Two MDR connectors, three solution difference chips, serial communication chip, differential driving chip compositions, the first MDR connectors difference
It is connected with the first solution difference chip, serial communication chip, differential driving chip, the 2nd MDR connectors solve difference with second respectively
Chip, the 3rd solution difference chip connection；Three solution difference chips, serial communication chip, differential driving chips with the main cores of FPGA
Piece is connected, and the TTL signal that solution difference chip is produced enters FPGA master chips, and FPGA master chips are used to realize image detection algorithm,
The detection to infrared small target is realized, then the infrared small target detected to PC ends is sent by kilomega network transport module and shown
Show that device is shown, complete the detection of infrared target.
Further, Cameralink Video Reception Systems are by Base patterns all the way and two-way Channel Link elementary cells
Composition, is specifically made up of, the first MDR two MDR connectors, three solution difference chips, serial communication chip, differential driving chips
Connector is connected with the first solution difference chip, serial communication chip, differential driving chip respectively, the 2nd MDR connectors respectively with
Second solution difference chip, the 3rd solution difference chip connection；Three solution difference chips, serial communication chip, differential driving chips are equal
It is connected with FPGA master chips, the TTL signal that solution difference chip is produced enters FPGA master chips, FPGA master chips are used to realize image
Detection algorithm, realizes the detection to infrared small target, then passes the infrared small target detected by kilomega network transport module
Give PC ends display to be shown, complete the detection of infrared target.
Further, Cameralink Link signals include three parts：
First, LVDS signals are converted to TTL signal by video receiver with conversion chip, four pairs of differential data signals are received
With a pair of differential clock signals, all the way outputting data signals and clock signal；
Second, camera control module includes four pairs of differential signals, from difference chip drives；
Third, serial communication chip includes two pairs of differential signals, by serial communication to the various of Cameralink cameras
Parameter is configured.
Further, detection of the matching enhancing filtering mode realization to Small object is combined using Robinson wave filters.
Compared with prior art, its remarkable advantage is the present invention：
(1) the inventive method and system can be met and be schemed at a high speed based on the Cameralink image procossings under Full patterns
As the requirement of processing, data bandwidth can reach 6.4Gbps, to having significant advantage in the high-precision image transmitting of high frame frequency,
Than common BASE transmission rates faster；
(2) the inventive method and system are handled in real time using the image information collected, and fortune can be completed faster
Calculate and reach the purpose of target detection；
(3) the inventive method and system are from the processing method such as medium filtering, and simple and processing speed is fast, is easy to hardware
The transplanting of platform, and the precision of images is high, and algorithm stability is strong.
Brief description of the drawings
Fig. 1 is the flow chart of the inventive method；
Fig. 2 is that Cameralink Video Reception Systems constitute schematic diagram；
Fig. 3 is the infrared image artwork collected using the present invention；
Fig. 4 is the image after medium filtering in the present invention；
Fig. 5 is the image after the processing of cloud sector in the present invention；
Fig. 6 is the image after Morphological scale-space in the present invention.
Embodiment
It is readily appreciated that, according to technical scheme, in the case where not changing the connotation of the present invention, this area
Those skilled in the art can imagine a variety of embodiment party of infrared small target detection method of the present invention based on FPGA and system
Formula.Therefore, detailed description below and accompanying drawing are only the exemplary illustrations to technical scheme, and are not to be construed as
The whole of the present invention is considered as limitation or restriction to technical solution of the present invention.
With reference to accompanying drawing, the process that infrared small target detection system of the present invention based on FPGA carries out target detection is：
The first step, Cameralink Video Reception Systems, including the Cameralink signals decoding under Full patterns all the way
Module.Also include FPGA master chips, kilomega network transport module, exterior arrangement circuit and display.Cameralink signal solutions
Code module receives the differential signal from Cameralink interfaces, is translated into TTL data signals.Under Full patterns
Cameralink circuits include three parts：
1st, video receiver receives 4 pairs of differential datas and a pair of differential clocks with conversion chip DS90CR288A, and chip can
So that differential signal to be decoded as to parallel CMOS/TTL signals, complete to be up to 28bit data synchronization transmissions, contain 24bit
Viewdata signal, 1bit field sync signal (FVAL), 1bit line synchronising signal
(LVAL), 1bit data valid signal (DVAL) and 1bit stick signal (SPARE)
2nd, camera control module includes 4 pairs of differential signals, and 4 pairs of differential signals are driven from difference chip DS90LV047A；
3rd, chip DS90LV019, including 2 pairs of differential signals are selected in serial communication part, by serial communication to camera
Various parameters are configured.
Cameralink signals decoder module is by two MDR connectors, three solution difference chips, serial communication chip, differences
Divide driving chip composition, the first MDR connectors connect with the first solution difference chip, serial communication chip, differential driving chip respectively
Connect, the 2nd MDR connectors are connected with the second solution difference chip, the 3rd solution difference chip respectively.Three solve difference chip, serially lead to
Letter chip, differential driving chip are connected with FPGA master chips, and the TTL signal that solution difference chip is produced enters FPGA master chips,
FPGA master chips are used to realize image detection algorithm, the detection to infrared small target are realized, then by the infrared small mesh detected
Mark sends PC ends display to by kilomega network transport module and shown, completes the detection of infrared target, signal flow direction such as Fig. 2
It is shown.
Second step, to the infrared image artwork collected, as shown in figure 3, removing picture noise and blind element, the figure after processing
As shown in Figure 4.
Due in infrared detector imaging characteristicses, can have a number of blind element, and can be in imaging process
Moment changes, and there is also the noise spot that the interference of other factors is caused.Noise spot in these infrared detector imaging systems with
The distribution form of salt-pepper noise occurs, and the primary visible light image of input carries out image preprocessing.It is big using window in the system
It is small be 3 × 3 Filtering Template complete, corresponding data is expressed as a11, a12, a13, a21, a22, a23, a31, a32, a33, wherein a22Represent
Current pixel location value.Three row data are ranked up respectively, then the result for comparing acquisition is subjected to analysis and obtain 9 numbers of correspondence
According to intermediate value, be used as current pixel filtering output.In FPGA, after being ranked up to three column datas, during using three
Clock completes corresponding sequence work and exports median result.
Visible images and infrared image are pre-processed respectively using average median filtering algorithm, i.e., by mould
Pixel is first averaging and takes intermediate value again in plate, to remove the gray value at picture noise and compensation blind element, is shown below：
In formula, (x, y) represents pixel position, and m (x, y) represents the Pixel Information exported after medium filtering, median []
Expression takes median operation, and f (x, y) represents the original infrared image that detector is obtained, and q (x, y) represents the Filtering Template chi selected
Spend size.
3rd step, module of target detection realizes the detection work to Small object mainly in conjunction with Robinson filtering, examines
Considering in infrared small target size, system uses size 7 × 7 to carry out, and in FPGA implementation process, utilizes template detection result
To extract target.Image after processing is as shown in figure 5, this method is described as follows：
For being carried out positioned at the pixel in image centre position by the way of Robinson filtering, corresponding calculation formula can
To be expressed as：
In above formula, fRobinson(x, y) represents the result of template convolution, and f (x, y) is input picture, and max represents to take maximum
Value, min represents to take minimum value, it is assumed that mean (A) represents to average to matrix A, ziIt is defined as follows：
z1=mean (I (x-m, y-n) ..., I (x-m, y) ..., I (x-m, y+n))
z2=mean (I (x+m, y-n) ..., I (x+m, y) ..., I (x+m, y+n))
z3=mean (I (x-m, y-n) ..., I (x, y-n) ..., I (x+m, y-n))
z4=mean (I (x-m, y+n) ..., I (x, y+n) ..., I (x+m, y+n)) (6)
Wherein m, n represent field, and I (x, y) represents half-tone information.
4th step, cloud sector detection part mainly includes in filtering part and corrosion dilation, the system from filtering
Template is 5 × 5 progress, and Morphological scale-space part, Erodent Algorithm selects 8 × 8, and expansion template selects 17 × 17.Morphological operation
In corrosion expansive working primarily directed to all pixels in template size carry out with computing and/or computing, and by the computing of acquisition
As a result assignment is to center pixel position.Image below figure 6 after processing.In Morphological scale-space, corrosion dilation operation is defined as follows：
In above formula, (x, y) represents the position of structural element, and f (x, y) represents the pixel of filter result correspondence (x, y) position
Value, b (x, y) represents structural element, and Θ represents erosion operation process,Dilation operation is represented, after process is by Morphological scale-space
Image become apparent from.DfImage function f domain of definition, DbStructural element b domain of definition.
Claims (8)
1. a kind of infrared small target detection method based on FPGA, it is characterised in that
Using the Cameralink cameras collection infrared image under Full patterns and by the infrared image video data transmitting collected
Give Cameralink Video Reception Systems；Cameralink Video Reception Systems by the infrared image video counts received factually
When send into FPGA master chips；In FPGA master chips, median filter process is carried out to infrared image video data, then used
Robinson wave filters are detected to Small object, finally carry out morphology to the Small object detected using corrosion expanding method
Processing.
2. the infrared small target detection method based on FPGA according to right 1, it is characterised in that Cameralink video receptions
System is made up of Base patterns all the way and two-way Channel Link elementary cells, specifically by two MDR connectors, three guards escorting prisoners
Divide chip, serial communication chip, differential driving chip composition, the first MDR connectors solve difference chip with first, serially led to respectively
Believe chip, the connection of differential driving chip, the 2nd MDR connectors are connected with the second solution difference chip, the 3rd solution difference chip respectively；
Three solution difference chips, serial communication chip, differential driving chips are connected with FPGA master chips, and solution difference chip is produced
TTL signal enters FPGA master chips, and FPGA master chips are used to realize image detection algorithm, realize the detection to infrared small target,
Then send the infrared small target detected to PC ends display by kilomega network transport module to be shown, complete infrared mesh
Target is detected.
3. the infrared small target detection method based on FPGA according to right 2, it is characterised in that Cameralink Link believe
Number include three parts：
First, LVDS signals are converted to TTL signal by video receiver with conversion chip, four pairs of differential data signals and one are received
To differential clock signal, all the way outputting data signals and clock signal；
Second, camera control module includes four pairs of differential signals, from difference chip drives；
Third, serial communication chip includes two pairs of differential signals, pass through various parameters of the serial communication to Cameralink cameras
It is configured.
4. the infrared small target detection method based on FPGA according to right 1, it is characterised in that use Robinson wave filters
The detection to Small object is realized with reference to matching enhancing filtering mode.
5. a kind of infrared small target detection system based on FPGA, it is characterised in that including Cameralink Video Reception Systems,
FPGA master chips, kilomega network transport module, exterior arrangement circuit and display；Cameralink Video Reception Systems are by two
MDR connectors, three solution difference chips, serial communication chip, differential driving chips compositions, the first MDR connectors are respectively with the
One solution difference chip, serial communication chip, the connection of differential driving chip, the 2nd MDR connectors respectively with the second solution difference chip,
3rd solution difference chip connection；Three solution difference chips, serial communication chip, differential driving chips connect with FPGA master chips
Connect, the TTL signal that solution difference chip is produced enters FPGA master chips, FPGA master chips are used to realize image detection algorithm, realized
Detection to infrared small target, then sends the infrared small target detected to PC ends display by kilomega network transport module
It has been shown that, complete the detection of infrared target.
6. the infrared small target detection system as claimed in claim 5 based on FPGA, it is characterised in that using under Full patterns
Cameralink cameras gather infrared image and the infrared image video data collected are sent into Cameralink videos and connect
Receipts system；The infrared image video data received is sent into FPGA master chips by Cameralink Video Reception Systems in real time；
In FPGA master chips, median filter process is carried out to infrared image video data, then using Robinson wave filters to small mesh
Mark is detected, finally carries out Morphological scale-space to the Small object detected using corrosion expanding method.
7. the infrared small target detection system as claimed in claim 5 based on FPGA, it is characterised in that Cameralink Link
Signal includes three parts：
First, LVDS signals are converted to TTL signal by video receiver with conversion chip, four pairs of differential data signals and one are received
To differential clock signal, all the way outputting data signals and clock signal；
Second, camera control module includes four pairs of differential signals, from difference chip drives；
Third, serial communication chip includes two pairs of differential signals, pass through various parameters of the serial communication to Cameralink cameras
It is configured.
8. the infrared small target detection system as claimed in claim 5 based on FPGA, it is characterised in that filtered using Robinson
Device combines detection of the matching enhancing filtering mode realization to Small object.
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| CN109142379A (en) * | 2018-09-19 | 2019-01-04 | 武汉意普科技有限责任公司 | SOC embedded machine vision equipment based on FPGA |
| CN112188033A (en) * | 2020-09-14 | 2021-01-05 | 北京环境特性研究所 | Real-time marking device for digital infrared images |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109142379A (en) * | 2018-09-19 | 2019-01-04 | 武汉意普科技有限责任公司 | SOC embedded machine vision equipment based on FPGA |
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Application publication date: 20170728 |