CN107301628B - It is trembled image deblurring method based on trembling as moving the satellite platform of track - Google Patents
It is trembled image deblurring method based on trembling as moving the satellite platform of track Download PDFInfo
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Abstract
The present invention provide it is a kind of trembled image deblurring method based on trembling as moving the satellite platform of track, comprising steps of calculating the integral beginning and ending time corresponding to each row of image, the picture extracted in each row imaging process of image moves track；It calculates to push away in the row time of integration and sweeps direction and vertically push away the picture shifting maximum value for sweeping direction, the size of fuzzy core is determined with this, and initialize to PSF；Interval division is carried out to the row time of integration of row to be processed, obtains the relative offset amount between each discrete instants ideal image center and actual imaging center, the discretization, superposition statistics and normalization of PSF are carried out with this；Determine image block to be restored, line by line to be restored line by line to image.The present invention is suitable for TDI CCD and trembles the processing of image deblurring, and the platform during taking full advantage of TDI CCD imaging is trembled information, accurately estimated with the degeneration fuzzy core to image, and then improves the picture quality after recovery.
Description
Technical field
The invention belongs to remote sensing image processing and analysis field, it is related to a kind of satellite platform and trembles image deblurring method.
Background technique
TDI (Time Delayed and Integration) CCD is a kind of line with time delay integration technical work
Battle array CCD increases the concept development of luminous energy by carrying out multiple exposure to same target.It is gathered around since it is imaged under dark field
There is big advantage, it has also become the mainstream sensor of high-resolution optical remote sensing device imaging system at present.The normal work of TDI CCD
Work is premised on the transfer velocity of image in the speed of photogenerated charge packet transfer and focal plane is fully synchronized.If its imaging process
In, there are platforms to tremble, and it will cause the fuzzy of image, influences image quality.
Under the influence of platform trembles, in the every level-one integral process of TDI CCD, it will generate photogenerated charge packet transfer with
The phenomenon that image transfer velocity mismatch on focal plane, lead to obscuring for charge, image mould is generated after multi-stage integral is superimposed
Paste even geometry deformation；And since not going together for TDI CCD image is imaged in different time, every a line has different journeys
Degree obscures, it is therefore desirable to be analyzed the degeneration of its every a line and be handled line by line.Currently, there are many high-precision
Platform trembles measurement method, carries out targeted image deblurring processing using the platform measured information of trembling.Traditional
Deblurring method is mostly that the movement in the row time of integration is reduced to linear uniform motion, during failing to fully take into account imaging
The track of trembling of platform, it is difficult to which image caused by trembling to complex platform, which degrades, to restore.The present invention for this problem, proposes
It is trembled image deblurring method based on trembling as moving the satellite platform of track, the platform during fully taking into account imaging trembles letter
Breath, is accurately estimated with the degeneration fuzzy core to the image that trembles, to improve the picture quality after restoring.
Summary of the invention
Existing method there are aiming at the problem that, the invention proposes trembled image based on trembling as moving the satellite platform of track
Deblurring method, the platform during fully taking into account TDI CCD imaging tremble information, are carried out with the degeneration fuzzy core to image quasi-
True estimation, to improve the picture quality after restoring.
To solve the above problems, the present invention adopts the following technical scheme:
It is trembled image deblurring method based on trembling as moving the satellite platform of track, degenerates and carry out to image caused by trembling
It eliminates, comprising steps of
Step 1, the integral beginning and ending time corresponding to each row of image is calculated, and extracts to push away in the period and sweeps direction and hang down
Directly push away the imaging picture shifting track for sweeping direction；
Step 2, it as moving track according to obtained in step 1, calculates to push away to sweep direction and vertically push away in the row time of integration and sweep
The picture in direction moves maximum value, the size of fuzzy core is determined with this, and initialize to fuzzy core；
Step 3, interval division is carried out to row time of integration of row to be processed, obtain each discrete instants ideal image center with
Relative offset amount between actual imaging center, and the discretization of fuzzy core is carried out according to each relative offset amount and is folded
Add statistics, statistics finishes the normalization for carrying out fuzzy core；
Step 4, image block to be restored is determined according to the size of the position of row to be processed and fuzzy core, to image block to be restored
It is restored using the Wiener Filtering based on optimal window, and using image center row after recovery as the processing knot of current line
Fruit is in this way handled image line by line, finally obtains complete deblurring image；
Step 5, when processed image be single band image, directly handled according to step 1-4；When image processed
It is multiband image, then the corresponding picture that trembles is extracted according to the imaging time of each wave band and moved, and carried out respectively according to step 1-4
Processing.
Moreover, the step 3 includes following sub-step,
Step 3.1, the division in section is carried out to row to be processed and the relative position of each discrete instants is calculated, realized
Mode is as follows,
The row time of integration is divided into N number of section first, each demarcation interval is then further subdivided into equal small of m
Section is divided into m*N section at once in the time of integration, if T is the single stage integration time, then L row n-th integral is corresponding
Time is that (L+n-2) T~(L+n-1) T, n value is 1~N, then the length for integrating minizone is μ=T/m, m minizone
Ti=(L+n-2) T+i μ, wherein i=0,1,2 ... m at the time of starting corresponding with end, each moment corresponding ideal image center
The offset of opposite actual imaging position are as follows: Δ X=- (i/m+X (ti)), Δ Y=-Y (ti), wherein X (), Y () are respectively indicated
Push away sweep direction and vertically push away sweep direction tremble as move；
Step 3.2, the corresponding relative offset amount of each discrete instants is handled as follows respectively, realizes fuzzy core
Discretization,
Using fuzzy core center as imaging center, the corresponding offset of each discrete instants is added sequentially to obtain in fuzzy core
One new point coordinate (Xpsf, Ypsf), wherein Xpsf=int (rows/2)+Δ X, Ypsf=int (cols/2)+Δ Y, int
For bracket function, rows is the line number of fuzzy core, and cols is the columns of fuzzy core；Then it is calculated around it according to the position of the point
The weight of four pixels, and corresponding weighted value is included in corresponding pixel；
Step 3.3, processing described in step 3.2 is successively carried out to each discrete instants in the row time of integration to be processed, and
Statistics is overlapped to the value of pixel each in fuzzy core, is finally normalized, to calculate the probability density function of relative position.
Moreover, calculating the implementation of the weight of four pixels around it such as according to the position of the point in the step 3.2
Under,
If the coordinate of the point be (Xpsf, Ypsf), (i, j), (i+1, j), (i, j+1), (i+1, j+1) be respectively (Xpsf,
Ypsf) four adjacent integral point coordinates, then the corresponding weight of four points be (1-u) (1-v), u (1-v), (1-u) v,
Uv, u, v therein respectively represent vertical range, horizontal distance between point (Xpsf, Ypsf) and point (i, j).
Moreover, determine that the implementation of fuzzy core size is as follows in the step 2,
Assuming that pushed away in row imaging process to be processed sweep direction imaging picture move maximum value be a, vertically push away and sweep trembling for direction
As move maximum value be b, then the image blur core of L row having a size of,
Line number rows=2* (ceil (abs (a))+1)+1,
Columns cols=2*ceil (abs (b))+1,
Wherein, ceil () is the function that rounds up, and abs () is the function that takes absolute value.
Compared with prior art, the present invention has the advantage that
The present invention is suitable for TDI CCD and trembles the deblurring of image, the information of trembling that detection of trembling obtains is utilized, to shake
The fuzzy image that quivers targetedly is restored.Adequately in view of the platform during imaging trembles information, the degeneration to image
The estimation that fuzzy core is refined.Compared with traditional image deblurring method that trembles, the present invention is to flat during imaging
Platform tremble information carried out it is finer division and utilize, overcome conventional method to complexity tremble under the influence of image deblurring
Deficiency, thus improve restore after picture quality.
Detailed description of the invention
Fig. 1 is interval division schematic diagram in step 3.1 of the embodiment of the present invention.
Fig. 2 is related pixel weighted value in step 3.2 of the embodiment of the present invention.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawings and examples.
Present embodiment is directed to TDI CCD image, carries out targeted deblurring to the satellite platform image that trembles
Processing, the specific steps are as follows:
Step 1, the integral beginning and ending time corresponding to each row of image is calculated, and extracts the imaging picture in the period and moves rail
Mark；
The step further comprises following sub-step:
Step 1.1, each row of image corresponding integral beginning and ending time is determined, it is assumed that the single stage integration time is T, then image L
The row corresponding time of integration is (L-1) T~LT.
Step 1.2, to pushed away in the period sweep direction and vertically push away sweep direction imaging picture shifting extract.
Wherein, it vertically pushes away and sweeps the imaging picture shifting in direction and only include and tremble as moving, push away that sweep imaging picture on direction and move include shake
The picture that quivers, which is moved and pushed away, to be swept as moving, and pushing away and sweeping picture shifting is uniform rectilinear as moving, and an at the uniform velocity inswept picture within every level-one time of integration
Member position, will vertically push away sweep on direction trembling as move with push away sweep as move be overlapped can obtain in the row time of integration hang down
Directly push away the imaging picture shifting for sweeping direction.
Step 2, it as moving track according to obtained in step 1, calculates to push away to sweep direction and vertically push away in the row time of integration and sweep
The picture in direction moves maximum value, the size of PSF (fuzzy core) is determined with this, and initialize to PSF；
The ruler of PSF is dynamically determined as moving amplitude maximum according to the imaging of the both direction in row imaging process to be processed
It is very little.Assuming that pushed away in row imaging process to be processed sweep direction imaging picture move maximum value be a, the vertical direction TDI tremble as move most
Big value is b, since the ranks number of PSF should be odd number, defines the imaging PSF size of L row are as follows: line number rows=2*
(ceil (abs (a))+1)+1, columns cols=2*ceil (abs (b))+1, wherein ceil () is the function that rounds up, abs ()
For the function that takes absolute value.Probability density function calculating is carried out to each relative offset amount for the ease of subsequent, therefore each to PSF
The value of discrete point is initialized, and enabling the initial value of all the points is 0.
Step 3, interval division is carried out to row time of integration of row to be processed, obtain each discrete instants ideal image center with
Relative offset amount between actual imaging center, and according to each relative offset amount carry out PSF discretization be superimposed
Statistics, statistics finish the normalization for carrying out PSF；
The step further comprises following sub-step:
Step 3.1, it carries out the division in section and the relative position of each discrete instants is calculated, sweep direction to push away and be
Example, interval division schematic diagram is referring to attached drawing 1, and wherein horizontal axis represents the time of integration, and the longitudinal axis is represented as shifting amount, t0For at the beginning of row to be processed
Begin the time of integration, T is the single stage integration time, and N is integral series, and m is the interval number of single stage integration time further division.
In order to the row time of integration be divided first during interval division to the influence progress effective compensation swept as moving is pushed away
For N number of section, since still there may be complicated to tremble as moving, on the basis of demarcation interval in the single stage integration time
It is upper to carry out secondary division, each demarcation interval is further subdivided into the section m, is divided into m*N section in the time of integration at once.
By taking L row n-th (value of n is 1~N) integral as an example, the calculating of relative offset amount is introduced.The
L row n-th integrates the corresponding time as (L+n-2) T~(L+n-1) T, is divided into m equal minizones, then integrates small
The length in section is μ=T/m, ti=(L+n-2) T+i μ at the time of m minizone starts corresponding with end, wherein i=0, and 1,
2 ... m, each moment corresponding ideal image center with respect to actual imaging position offset are as follows: Δ X=- (i/m+X (ti)), Δ
Y=-Y (ti), wherein X (), Y () respectively indicate push away sweep direction and vertically push away sweep direction tremble as move.
Step 3.2, the corresponding relative offset amount of each discrete instants is handled as follows respectively, to realize PSF's
Discretization: using the center PSF as imaging center, the corresponding offset of each discrete instants is added sequentially to obtain one in PSF newly
Point coordinate (Xpsf, Ypsf), wherein Xpsf=int (rows/2)+Δ X, Ypsf=int (cols/2)+Δ Y, int are to be rounded
Function, rows are the line number of PSF, and cols is the columns of PSF.Since (Xpsf, Ypsf) is most likely not integral point, it is therefore desirable to
Discretization is carried out to it.It calculates the weight of four pixels around it according to the position of the point, and corresponding weighted value is included in pair
Pixel is answered, related pixel weighted value is as shown in Fig. 2, wherein (x, y) is point (Xpsf, Ypsf), (i, j), (i+1, j), (i,
J+1), (i+1, j+1) is respectively four adjacent integral point coordinates of (x, y), and the weight of each point is respectively (1-u) (1-v), u (1-
V), (1-u) v, uv, u, v respectively represent vertical range, horizontal distance between point (x, y) and point (i, j)；
Step 3.3, processing described in step 3.2 is successively carried out to each discrete instants in the row time of integration to be processed, and
Statistics is overlapped to the value of pixel each in PSF, is finally normalized, to calculate the probability density function of relative position.
Step 4, image to be processed is restored line by line using the Wiener Filtering based on optimal window.
Since the image deterioration of TDI CCD is spatial variations, use a kind of method restored line by line, according to
The position and the size of PSF for handling row determine image block to be restored, restore to image block to be restored, and image after restoring
Processing result of the center row as current line, is in this way handled image line by line, finally obtains complete deblurring shadow
Picture.
Assuming that PSF having a size of 5*5, then when restoring line n image, may be selected [n-2, n+2] and be used as parked image, it is right
Parked image block is restored, and final result of the image center row as line n image deblurring after restoring is chosen.
It uses the Wiener filtering restored method based on optimal window in this specific embodiment to be restored line by line, this method
Point multiplication operation is carried out to degraded image and window function first, carries out Wiener filtering recovery on this basis.Assuming that degraded image is f
(m, n), window function are w (m, n), then image is represented by f'(m, n after point multiplication operation):
F'(m, n)=f (m, n) w (m, n) (1)
Wherein, m, n are the ranks number of image.
Step 5, it if processed image is single band image, is directly handled according to above-mentioned steps, if by
Handling image is multiband image, then extracts the corresponding picture that trembles according to the imaging time of each wave band and move, and according to above-mentioned step
Suddenly it is respectively processed.
The image that trembles is handled by above method, can to tremble caused by trembling as the careful division of shift-in row with
It utilizes, improves the estimated accuracy of PSF, and pass through optimal window Wiener filtering restored method, it is suppressed that ringing effect, thus gram
It has taken conventional method to tremble the drawbacks of trembling image deblurring under image to complexity, and then has improved the quality of image deblurring.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (3)
- The image deblurring method 1. the satellite platform based on picture shifting track of trembling trembles, which comprises the steps of:Step 1, the integral beginning and ending time corresponding to each row of image is calculated, and extracts to push away in the period and sweeps direction and vertically push away The imaging picture for sweeping direction moves track；Step 2, it as moving track according to obtained in step 1, calculates to push away to sweep direction and vertically push away in the row time of integration and sweeps direction Picture move maximum value, the size of fuzzy core is determined with this, and initialize to fuzzy core；Step 3, interval division is carried out to the row time of integration of row to be processed, obtains each discrete instants ideal image center and reality Relative offset amount between imaging center, and according to each relative offset amount carry out fuzzy core discretization be superimposed unite Meter, statistics finish the normalization for carrying out fuzzy core；The step 3 includes following sub-step,Step 3.1, the division in section is carried out to row to be processed and the relative position of each discrete instants is calculated, implementation It is as follows,The row time of integration is divided into N number of section first, each demarcation interval is then further subdivided into m equal cells Between, m*N section is divided into the time of integration at once, if T is the single stage integration time, then when L row n-th integral is corresponding Between be (L+n-2) T~(L+n-1) T, n value be 1~N, then the length for integrating minizone is μ=T/m, and m minizone is opened Ti=(L+n-2) T+i μ, wherein i=0,1,2 ... m at the time of beginning corresponding with end, each moment corresponding ideal image center phase To the offset of actual imaging position are as follows: Δ X=- (i/m+X (ti)), Δ Y=-Y (ti), wherein X (), Y () are respectively indicated and pushed away It sweeps direction and vertically pushes away the picture shifting of trembling for sweeping direction；Step 3.2, the corresponding relative offset amount of each discrete instants is handled as follows respectively, realizes the discrete of fuzzy core Change,Using fuzzy core center as imaging center, it is added sequentially to each discrete instants corresponding offset to obtain one in fuzzy core New point coordinate (Xpsf, Ypsf), wherein Xpsf=int (rows/2)+Δ X, Ypsf=int (cols/2)+Δ Y, int is to take Integral function, rows are the line number of fuzzy core, and cols is the columns of fuzzy core；Then four are calculated around it according to the position of the point The weight of pixel, and corresponding weighted value is included in corresponding pixel；Step 3.3, processing described in step 3.2 is successively carried out to each discrete instants in the row time of integration to be processed, and to mould The value of each pixel is overlapped statistics in paste core, is finally normalized, to calculate the probability density function of relative position；Step 4, image block to be restored is determined according to the size of the position of row to be processed and fuzzy core, image block to be restored is used Wiener Filtering based on optimal window is restored, and using image center row after recovery as the processing result of current line, with This method handles image line by line, finally obtains complete deblurring image；Step 5, when processed image be single band image, directly handled according to step 1-4；When image processed is more Wave band image, then according to the imaging time of each wave band extract it is corresponding tremble as move, and respectively according to step 1-4 at Reason.
- The image deblurring method 2. the satellite platform for moving track based on the picture that trembles as described in claim 1 trembles, feature exist In: the implementation for calculating the weight of four pixels around it according to the position of the point in the step 3.2 is as follows,If the coordinate of the point be (Xpsf, Ypsf), (i, j), (i+1, j), (i, j+1), (i+1, j+1) be respectively (Xpsf, Ypsf) four adjacent integral point coordinates, then the corresponding weight of four points be (1-u) (1-v), u (1-v), (1-u) v, Uv, u, v therein respectively represent vertical range, horizontal distance between point (Xpsf, Ypsf) and point (i, j).
- The image deblurring method 3. the satellite platform for moving track based on the picture that trembles as described in claim 1 trembles, feature exist In: determine that the implementation of fuzzy core size is as follows in the step 2,Assuming that pushed away in row imaging process to be processed sweep direction imaging picture move maximum value be a, vertically push away sweep direction tremble as move Maximum value is b, then the image blur core of L row having a size of,Line number rows=2* (ceil (abs (a))+1)+1,Columns cols=2*ceil (abs (b))+1,Wherein, ceil () is the function that rounds up, and abs () is the function that takes absolute value.
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