CN107607088A - A kind of apparatus and method of infrared motion target detection and its three-dimensional information superposition - Google Patents
A kind of apparatus and method of infrared motion target detection and its three-dimensional information superposition Download PDFInfo
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- CN107607088A CN107607088A CN201710866633.4A CN201710866633A CN107607088A CN 107607088 A CN107607088 A CN 107607088A CN 201710866633 A CN201710866633 A CN 201710866633A CN 107607088 A CN107607088 A CN 107607088A
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Abstract
The invention discloses the apparatus and method of a kind of detection of infrared motion target and its three-dimensional information superposition.The device includes infrared camera, VGA displays, GPS and control circuit；Control circuit includes Video decoding module, video d/a modular converter, serial port module and FPGA core core；Method is：Infrared camera gathers visible images, and picture signal is sent into FPGA core core by video encoding module；FPGA core core carries out moving object detection；GPS gathers the bearing data of moving target, and is sent to FPGA core core；Fpga core intralamellar part soft-core processor NIOS II are parsed to gps data bag, and the gps data after parsing are superimposed to final data image signal is obtained in object detection results, and VGA displays are sent to by video d/a modular converter.The present invention can avoid losing third dimension information again while infrared motion target is successfully detected, have the advantages of testing result is comprehensive, operation is simple.
Description
Technical field
The invention belongs to technical field of image processing, and in particular to a kind of infrared motion target detection and its three-dimensional information are folded
The apparatus and method added.
Background technology
Since the second half in 20th century, computer vision (computer version, CV) technology is gradually developed, together
When, along with the related software and hardware technology of digital picture widely using in people live, digital picture has become the present age
The important composition factor in social information source.Therefore, researcher is increasingly concerned with how by vision sensor and computer
The coordinated of technology simulates collection, processing and analysis of the mankind to three-dimensional world image.Infrared motion target detection is made
For the important branch of image procossing and computer vision subject, also turn into the theoretical study hotspot with application, its mesh in recent years
Be how quickly and accurately detect the moving target in monitor video, laid the first stone for processing such as follow-up tracking.It should
With also quite varied, from industrial detection to Military Application, from medical image to security monitoring, various fields relate to.
Optics is always the opera involving much singing and action of scientific and technical innovation, but its upgrading often rests on the two-dimentional aspect such as pixel, photosensitive, and
The third dimension information (geometric data such as size, distance) in physical world is ignored, causes computer to realize photologging
Identified with plane characteristics of image, parser difficulty is very big.With three-dimensional (Three Dimension, 3D) imaging technique into
Ripe, optics has gradually pulled open the curtain upgraded from two dimension to three-dimensional, i.e., on the basis of two dimension, realizes the superposition of the pixel depth of field,
The steric information of object is recorded while shooting so that computer obtains space three-dimensional data, and can restore complete three
The world is tieed up, realizes various intelligent three-dimensional localizations.Similar with optics upgrading, the innovation of moving object detection algorithm is also only limitted to two
Dimension aspect, it is devoted to strengthen the signal to noise ratio of image, accumulation target energy greatly, to improve target detection capabilities, so often neglects
The third dimension information of target is omited.
At present, most moving object detection class documents are devoted to propose new algorithm or how to improve to have calculated
Method, and have ignored the third dimension information (distance, orientation etc.) of measured target.
The content of the invention
It is an object of the invention to provide a kind of infrared motion target detection and its three-dimensional information superposition apparatus and method,
Successfully detect to avoid losing its third dimension information again while moving target, and testing result is comprehensive, device operational control letter
Just, flexibly.
The technical solution for realizing the object of the invention is：A kind of infrared motion target detection and its three-dimensional information superposition
Device, including infrared camera, VGA displays, GPS and control circuit；Wherein,
Infrared camera is used to gather the infrared image containing moving target；
VGA displays are used for the image of display control circuit output；
GPS is used to position target to be measured in real time and gathers its azimuth information；
Control circuit includes Video decoding module, video d/a modular converter, serial port module and FPGA core core；Video solution
Code module is used for the vision signal of decoding IR camera collection；Video d/a modular converter is used to convert digital signals into mould
Intend signal and export to give VGA displays；Serial port module is used for the data for receiving GPS transmission, and is sent to FPGA core core；
FPGA core core is used for the packet for parsing serial port module transmission, detects moving target and its azimuth information is superimposed into detection figure
As in.
Further, the infrared camera, VGA displays, GPS and control circuit integrated setting, work
When, infrared camera shoots moving target vertically downward.
Further, the FPGA core core includes gps data parsing module, moving object detection module and azimuth information
Laminating module；Gps data parsing module includes building for NIOS II soft-core processors, is connected between GPS by serial ports
Connect, the packet sent for real time parsing GPS；Moving object detection module is used to detect moving target in real time；Side
Position information superposition module is used into detection image and export target bearing information superposition, is finally shown by VGA displays.
A kind of method of infrared motion target detection and its three-dimensional information superposition, step are as follows：
Step 1, infrared camera collection visible images, and picture signal is sent to by FPGA core by video encoding module
Core；
Step 2, FPGA core core reads data image signal and carries out moving object detection；
Step 3, the bearing data of GPS collection moving target, and FPGA core core is sent to by serial ports；
Step 4, fpga core intralamellar part soft-core processor NIOS II parse to gps data bag, and by after parsing
Gps data, which is superimposed to, obtains final data image signal in object detection results；
Step 5, step 4 gained data image signal is transmitted to video d/a modular converter, video d/a modular converter is by number
Word picture signal is converted into analog signal and is sent to VGA displays.
Compared with prior art, its remarkable advantage is the present invention：(1) it is straight while effective detection goes out infrared motion target
Connect and show its azimuth information, realize being superimposed for two-dimensional detection image and third dimension location information, researcher can be helped more
Add the motion state for comprehensively understanding target, raw information is provided for follow-up tracking, analyzing and processing；(2) realized in FPGA hardware
Embeded processor NIOS II are combined on the basis of algorithm of target detection, for parsing gps data bag, can independently be customized
Processing system, it is more flexible and convenient；(3) package unit can be integrated in one, and have the advantages of compact-sized, miniaturization.
Brief description of the drawings
Fig. 1 is that the overall structure of infrared motion target detection and its three-dimensional information stacking apparatus of the present invention based on FPGA is shown
It is intended to.
The relative position relation schematic diagram of whole device and target to be measured when Fig. 2 is normal work of the present invention.
Fig. 3 is the infrared figure containing moving target that infrared camera collects in the present invention.
Fig. 4 is to carry out the output figure after target detection in the present invention to infrared image.
Fig. 5 is azimuth information (longitude, latitude) and the device bat of the invention being superimposed in detection image into moving target
Take the photograph the result figure of time.
Embodiment
A kind of detection of infrared motion target and its device of three-dimensional information superposition, including infrared camera, VGA displays,
GPS and control circuit；Wherein,
Infrared camera is used to gather the infrared image containing moving target；
VGA displays are used for the image of display control circuit output；
GPS is used to position target to be measured in real time and gathers its azimuth information；
Control circuit includes Video decoding module, video d/a modular converter, serial port module and FPGA core core；Video solution
Code module is used for the vision signal of decoding IR camera collection；Video d/a modular converter is used to convert digital signals into mould
Intend signal and export to give VGA displays；Serial port module is used for the data for receiving GPS transmission, and is sent to FPGA core core；
FPGA core core is used for the packet for parsing serial port module transmission, detects moving target and its azimuth information is superimposed into detection figure
As in.
Further, the infrared camera, VGA displays, GPS and control circuit integrated setting, work
When, infrared camera shoots moving target vertically downward.
Further, the FPGA core core includes gps data parsing module, moving object detection module and azimuth information
Laminating module；Gps data parsing module includes building for NIOS II soft-core processors, is connected between GPS by serial ports
Connect, the packet sent for real time parsing GPS；Moving object detection module is used to detect moving target in real time；Side
Position information superposition module is used into detection image and export target bearing information superposition, is finally shown by VGA displays.
A kind of method of infrared motion target detection and its three-dimensional information superposition, step are as follows：
Step 1, infrared camera collection visible images, and picture signal is sent to by FPGA core by video encoding module
Core；
Step 2, FPGA core core reads data image signal and carries out moving object detection；
Step 3, the bearing data of GPS collection moving target, and FPGA core core is sent to by serial ports；
Step 4, fpga core intralamellar part soft-core processor NIOS II parse to gps data bag, and by after parsing
Gps data, which is superimposed to, obtains final data image signal in object detection results；
Step 5, step 4 gained data image signal is transmitted to video d/a modular converter, video d/a modular converter is by number
Word picture signal is converted into analog signal and is sent to VGA displays.
Embodiment 1
With reference to Fig. 1, the device of infrared motion target detection and its three-dimensional information superposition of the present invention, including infrared camera,
VGA displays, GPS and control circuit, wherein, control circuit include Video decoding module, video d/a modular converter,
Serial port module and FPGA core core.Before device work, infrared camera is connected to Video decoding module, the connection of VGA displays
To video d/a modular converter, connected between GPS and FPGA core core by serial ports；The program that will be finished on computer
Mouth is downloaded by JTAG2 and is downloaded to FPGA core core, to can normal work after system power supply.
What infrared camera was selected is red as the non-brake method of core using the 03X1AD types non-refrigerating infrared focal planes of GWIR 02
Outer imaging system, by 220V normal communication power voltage supplies, for detecting the infrared image containing moving target.
What VGA displays were selected is the BNC/VGA/AV multifunctional monitorings of Shenzhen numeral science and technology Co., Ltd of You Nuo sections production
Display, by 220V normal communication power voltage supplies, the image for display circuit board output.
That GPS is selected is the BDS/GPS bimodulus locating module UM220-III NL released with Xin Xingtong companies, is adopted
With 2.7V~3.6V DC-voltage supplies, for positioning target to be measured in real time and gathering its azimuth information, the data of output follow
NMEA-0183 agreements.
What Video decoding module was selected is the TW2867 video decoding chips of Techwell companies production, can input 4 tunnels and answer
Vision signal (device only needs video input all the way when working) is closed, PAL/NTSC/SECAM automatic identifications, exports BT656, can be more
Road multiplex bus, the vision signal for being responsible for collecting infrared camera are decoded and are sent into FPGA core core.
Video d/a modular converter selected ADI companies produce ADV7123 video d/a conversion chips, be mainly used in by
The data signal for the pal format that FPGA core core is transmitted through is converted into analog signal and is sent into VGA displays being shown.
Serial port module is used for the data for receiving GPS transmission, and is sent to FPGA core core.
What FPGA core core was selected is the EP4CE30F23C6 high-performance of the Cyclone IV series of altera corp's production
Core board, and two panels DDR2SDRAM is carried, for caching image data；Designer is led to after computer terminal writes program
Cross JTAG and download mouth by download program to core board.Core board is responsible for controlling the Timing driver of whole system modules
System, moving object detection is carried out to the data image signal that Video decoding module is sent into, and detection image data storage is existed
In DDR2SDRAM, while the gps data bag being sent into by serial port module is parsed, the azimuth information of target is then superimposed to detection
In image, the data signal for being eventually fabricated pal format is transmitted to video d/a modular converter.
With reference to Fig. 2, during work, the device of integration is placed on unmanned plane by we, and the motion mesh that takes a crane shot vertically downward
Mark.Due to being that the moving target under static background is detected, thus during system work, it is desirable to which unmanned plane and ground keep phase
To static, so, the gps data that GPS receives can be approximately considered be moving target azimuth information.
With reference to Fig. 3, this is an infrared image shot by infrared camera, and scene is pedestrian in the rain.
With reference to Fig. 4, this is the output image after a target is successfully detected, and infrared camera send the image after shooting
Toward Video decoding module, FPGA core core is re-fed into after decoding, target detection is carried out by FPGA core core.
With reference to Fig. 5, the target three-dimensional data of superposition is in the upper left corner, the longitude and latitude comprising shooting time, target position；
GPS continuously sends the packet containing target bearing information by serial ports to FPGA core core, packet by
Fpga core intralamellar part embeded processor NIOS II are parsed, and obtain the bearing data of target, FPGA core core by these
Data investigation completes three-dimensional imaging into detection image.
Claims (4)
1. a kind of infrared motion target detection and its three-dimensional information stacking apparatus, it is characterised in that including infrared camera, VGA
Display, GPS and control circuit；Wherein,
Infrared camera is used to gather the infrared image containing moving target；
VGA displays are used for the image of display control circuit output；
GPS is used to position target to be measured in real time and gathers its azimuth information；
Control circuit includes Video decoding module, video d/a modular converter, serial port module and FPGA core core；Video decodes mould
Block is used for the vision signal of decoding IR camera collection；Video d/a modular converter is used to convert digital signals into simulation letter
Number and export and give VGA displays；Serial port module is used for the data for receiving GPS transmission, and is sent to FPGA core core；FPGA
Core board is used for the packet for parsing serial port module transmission, detects moving target and its azimuth information is superimposed into detection image
In.
2. infrared motion target detection as claimed in claim 1 and its three-dimensional information stacking apparatus, it is characterised in that described infrared
Camera, VGA displays, GPS and control circuit integrated setting, during work, infrared camera is shot vertically downward
Moving target.
3. infrared motion target detection as claimed in claim 1 and its three-dimensional information stacking apparatus, it is characterised in that the FPGA
Core board includes gps data parsing module, moving object detection module and azimuth information laminating module；Gps data parsing module
Including building for NIOS II soft-core processors, it is connected between GPS by serial ports, for real time parsing GPS
The packet of transmission；Moving object detection module is used to detect moving target in real time；Azimuth information laminating module is used for target
Azimuth information is superimposed in detection image and exported, and is finally shown by VGA displays.
4. a kind of infrared motion target detection and its three-dimensional information stacking method, it is characterised in that step is as follows：
Step 1, infrared camera collection visible images, and picture signal is sent to by fpga core by video encoding module
Plate；
Step 2, FPGA core core reads data image signal and carries out moving object detection；
Step 3, the bearing data of GPS collection moving target, and FPGA core core is sent to by serial ports；
Step 4, fpga core intralamellar part soft-core processor NIOS II parse to gps data bag, and by the GPS after parsing
Data investigation obtains final data image signal into object detection results；
Step 5, step 4 gained data image signal is transmitted to video d/a modular converter, video d/a modular converter is by digitized map
VGA displays are sent to as signal is converted into analog signal.
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Application publication date: 20180119 |