CN108509875A - Unmanned plane target identification positioning system - Google Patents
Unmanned plane target identification positioning system Download PDFInfo
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- CN108509875A CN108509875A CN201810219766.7A CN201810219766A CN108509875A CN 108509875 A CN108509875 A CN 108509875A CN 201810219766 A CN201810219766 A CN 201810219766A CN 108509875 A CN108509875 A CN 108509875A
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- image
- assessed value
- unmanned plane
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/30—Noise filtering
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/56—Extraction of image or video features relating to colour
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/98—Detection or correction of errors, e.g. by rescanning the pattern or by human intervention; Evaluation of the quality of the acquired patterns
- G06V10/993—Evaluation of the quality of the acquired pattern
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/07—Target detection
Abstract
The present invention relates to a kind of unmanned plane target identification positioning systems, including：It takes photo by plane equipment, is arranged on unmanned plane, towards being shot below the unmanned plane, to obtain and export body lower images；Assessed value extraction equipment, for receiving the body lower images, by the central area in four angles region and the body lower images in the body lower images together as region to be analyzed, parse the cyan component of each pixel in the region to be analyzed, magenta component, yellow color component and black component, determine the summation of the cyan component of each pixel using as cyan assessed value, determine the summation of the magenta component of each pixel using as magenta assessed value, determine the summation of the yellow color component of each pixel using as yellow assessed value, determine the summation of the black component of each pixel using as black assessed value.By means of the invention it is possible to find to be searched and rescued the real-time height of human body in time.
Description
Technical field
The present invention relates to field of image recognition more particularly to a kind of unmanned plane target identification positioning systems.
Background technology
Image recognition technology has been achieved for rapidly developing in last decade.But the research in this field is also far from
Terminate, technology is ripe not yet, and new theory and new method emerge one after another.The identification of unmanned plane dynamic image unmanned plane from
Dynamic landing navigation, the monitoring of unmanned plane, the tracking of unmanned plane etc. have good application prospect.
Unmanned plane on high in flight when its image have its specific feature, that is, background is relatively easy, the image know
Other task seeks to open the background segment of unmanned plane and its flight, while calculating the position of centre of gravity of unmanned plane as identification
Result.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of unmanned plane target identification positioning system, picture number is introduced
Pattern and wavelet filtering pattern according to statistics introduce on the basis of above two pattern based on unmanned plane carrier height and figure
The relative position of target determines the recognition mechanism of the true altitude of human body target in actual environment as in, to be accurately obtained
The real-time height for the human body target searched and rescued.
The present invention at least has following multiple important inventive points：
(1) relative position based on target in unmanned plane carrier height and image determines the true of human body target in actual environment
Real height, to provide important reference data for the rescue at rescue center；
(2) the adaptive wavelet filtering mechanism based on the result of capture images content analysis is established, improves and image is held
The specific aim of row wavelet filtering；
(3) by the central area one in four angles region and the body lower images in the body lower images
It rises and is used as region to be analyzed, each pixel treated in analyzed area carries out color channel data analysis, so as to obtain
Accurate image brightness data.
According to an aspect of the present invention, a kind of unmanned plane target identification positioning system is provided, the system comprises：
It takes photo by plane equipment, is arranged on unmanned plane, towards being shot below the unmanned plane, to obtain and export body
Lower images；
Assessed value extraction equipment is connect with the equipment of taking photo by plane, for receiving the body lower images, by the body
Central area in lower images in four angles region and the body lower images is together as region to be analyzed, parsing
Go out the cyan component, magenta component, yellow color component and black component of each pixel in the region to be analyzed, determines each
The summation of the cyan component of a pixel is as cyan assessed value, to determine the summation of the magenta component of each pixel to make
For magenta assessed value, determine the summation of the yellow color component of each pixel as yellow assessed value, to determine each pixel
Black component summation using as black assessed value；
Assessed value analytical equipment is connect with the assessed value extraction equipment, for receiving the cyan assessed value, the product
Red assessed value, the yellow assessed value and the black assessed value, by the cyan assessed value, the magenta assessed value,
The yellow assessed value and the black assessed value phase adduction divided by four are to obtain assessment mean value, by the assessment mean value divided by institute
Black assessed value is stated to obtain assessment reference value, and when the assessment reference value is more than or equal to default assessment limit value, is sent out bright
It spends the signal that transfinites and otherwise sends out brightness lower bound signal；
Height-gauge, be arranged on unmanned plane, for obtained based on air pressure testing principle the height of the unmanned plane with
It is exported as body height；
Relative position detection device is connect with lower section human body analytical equipment and height-gauge respectively, described for receiving
Body height is additionally operable to receive the human body target piecemeal and the body lower images, and is based on the human body target piecemeal
Relative position and the body height in the body lower images determine the corresponding human height of the human body target；
Image superposition equipment is connect with the relative position detection device, for receiving the human height, the human body
Target segment and the body lower images are highlighted the human body target point in the body lower images with red
Block, and it is highlighted the human height in the body lower images, near the human body target piecemeal with green, with
Export superimposed image；
Image compression apparatus is connect with described image superposition equipment, for receiving the superimposed image, and to the superposition
Image executes the compression processing based on MPEG-4 standards, to obtain and export compression image；
Wireless transmitting device is connect with described image compression device, for receiving the compression image, and by the compression
Image is wirelessly transmitted to by aviation short wave communication link at the rescue central server of distal end.
Description of the drawings
Embodiment of the present invention is described below with reference to attached drawing, wherein：
Fig. 1 is to be shown according to the structure of the equipment of taking photo by plane of the unmanned plane target identification positioning system shown in embodiment of the present invention
It is intended to.
Fig. 2 is the boat according to the equipment of taking photo by plane of the fixation unmanned plane target identification positioning system shown in embodiment of the present invention
Clap the structural schematic diagram of connector.
Specific implementation mode
The embodiment of the unmanned plane target identification positioning system of the present invention is described in detail below with reference to accompanying drawings.
The rescue group that outdoor rescue is mostly made of outdoor fan searches and rescues, and there are many successful examples.But also often
There is the case where pouring into incident area as a swarm of bees, objectively causes the difficulty searched and rescued.
If one teacher of 2008 Beijing goes alone outdoor sports missing, People's Armed Police, the rescue group of club, outdoor fan
Deng rushing towards possible region one after another, due to participating in the numerous of search and rescue, lead to not effectively distinguish trace, or even cause clue
Confusion, and cause this area overstaffed, the police caused to have to forbid searching and rescuing into mountain by force.The spontaneous search and rescue of the accident
Action continue for the several months, not find the missing's trace so far.
Therefore, in rescue operations, the positioning of the longitude and latitude for the human body target searched and rescued or altitude location are all very crucial,
However, lacking the mechanism of the human body target to being searched and rescued highly positioned in real time at present, can not be provided for the rescue in later stage
Valuable reference data.
In order to overcome above-mentioned deficiency, the present invention to build a kind of unmanned plane target identification positioning system, provided for search and rescue side
By the real-time height of search and rescue person.
Unmanned plane target identification positioning system according to embodiments of the present invention includes：
It takes photo by plane equipment, as shown in Figure 1, towards being shot below the unmanned plane, to obtain and export below body
Image；
It takes photo by plane connector, as shown in Fig. 2, being arranged on unmanned plane, for equipment of taking photo by plane described in fixation；
Assessed value extraction equipment is connect with the equipment of taking photo by plane, for receiving the body lower images, by the body
Central area in lower images in four angles region and the body lower images is together as region to be analyzed, parsing
Go out the cyan component, magenta component, yellow color component and black component of each pixel in the region to be analyzed, determines each
The summation of the cyan component of a pixel is as cyan assessed value, to determine the summation of the magenta component of each pixel to make
For magenta assessed value, determine the summation of the yellow color component of each pixel as yellow assessed value, to determine each pixel
Black component summation using as black assessed value.
Then, continue that the concrete structure of the unmanned plane target identification positioning system of the present invention is further detailed.
In the unmanned plane target identification positioning system, further include：
Assessed value analytical equipment is connect with the assessed value extraction equipment, for receiving the cyan assessed value, the product
Red assessed value, the yellow assessed value and the black assessed value, by the cyan assessed value, the magenta assessed value,
The yellow assessed value and the black assessed value phase adduction divided by four are to obtain assessment mean value, by the assessment mean value divided by institute
Black assessed value is stated to obtain assessment reference value, and when the assessment reference value is more than or equal to default assessment limit value, is sent out bright
It spends the signal that transfinites and otherwise sends out brightness lower bound signal.
In the unmanned plane target identification positioning system, further include：
Height-gauge, be arranged on unmanned plane, for obtained based on air pressure testing principle the height of the unmanned plane with
It is exported as body height；
Relative position detection device is connect with lower section human body analytical equipment and height-gauge respectively, described for receiving
Body height is additionally operable to receive the human body target piecemeal and the body lower images, and is based on the human body target piecemeal
Relative position and the body height in the body lower images determine the corresponding human height of the human body target；
Image superposition equipment is connect with the relative position detection device, for receiving the human height, the human body
Target segment and the body lower images are highlighted the human body target point in the body lower images with red
Block, and it is highlighted the human height in the body lower images, near the human body target piecemeal with green, with
Export superimposed image；
Image compression apparatus is connect with described image superposition equipment, for receiving the superimposed image, and to the superposition
Image executes the compression processing based on MPEG-4 standards, to obtain and export compression image；
Wireless transmitting device is connect with described image compression device, for receiving the compression image, and by the compression
Image is wirelessly transmitted to by aviation short wave communication link at the rescue central server of distal end；
Wavelet filtering processing equipment takes photo by plane equipment and the assessed value analytical equipment is connect, for receiving with described respectively
The assessment reference value and the body lower images, be additionally operable to receive the brightness transfinite signal when, by the machine
The image wavelet that body lower images carry out the reduction wavelet filtering amplitude based on the assessment reference value is filtered, to obtain simultaneously
Filtered image is exported, and when receiving the brightness lower bound signal, the body lower images are carried out based on described
The image wavelet of the reinforcing wavelet filtering amplitude of assessment reference value is filtered, to obtain and export filtered image；
Lower section human body analytical equipment is connect with the wavelet filtering processing equipment, for analyzing the filtered image
In human body position human body target piecemeal, and the human body target piecemeal is cut and defeated from filtered image punishment
Go out.
In the unmanned plane target identification positioning system, further include：
SD storage devices are connect with the assessed value analytical equipment, for prestoring the default assessment limit value.
In the unmanned plane target identification positioning system：
The wavelet basis selected in the corresponding wavelet filtering pattern of reduction wavelet filtering amplitude based on the assessment reference value
Dimension, less than the small echo selected in the corresponding wavelet filtering pattern of reinforcing wavelet filtering amplitude based on the assessment reference value
The dimension of base.
In the unmanned plane target identification positioning system：
The assessment reference value is bigger, the corresponding wavelet filtering of reduction wavelet filtering amplitude based on the assessment reference value
The dimension of the wavelet basis selected in pattern is fewer.
And in the unmanned plane target identification positioning system：
The assessment reference value is bigger, the corresponding wavelet filtering of reduction wavelet filtering amplitude based on the assessment reference value
The dimension of the wavelet basis selected in pattern is fewer.
In addition, the image filtering that wavelet filtering pattern is related to, i.e., right under conditions of retaining image detail feature as possible
The noise of target image is inhibited, and is indispensable operation in image preprocessing, and the quality for the treatment of effect is by direct shadow
The validity and reliability for handling and analyzing is rung to subsequent image.
Not perfect due to imaging system, transmission medium and recording equipment etc., digital picture is in its formation, transmission log mistake
It is often polluted by a variety of noises in journey.In addition, certain links in image procossing when the picture object inputted and are not so good as pre-
Also noise can be introduced when thinking in result images.These noises often show as one and cause the isolated of stronger visual effect on the image
Pixel or block of pixels.Generally, noise signal it is uncorrelated to the object to be studied it occur with useless message form, upset figure
The observable information of picture.For data image signal, psophometer is either large or small extreme value, these extreme values are acted on by plus-minus
On the true gray value of image pixel, cause bright, dim spot to interfere image, greatly reduce picture quality, influence image restoration,
The progress of the subsequent work such as segmentation, feature extraction, image recognition.Construct it is a kind of it is effective inhibit noise filter must take into consideration
Two basic problems：The noise that can be effectively removed in target and background；Meanwhile can protect well image object shape,
Size and specific geometry and topological features.
In common image filtering pattern one is nonlinear filters, it is, in general, that when signal spectrum and noise frequency
When composing aliasing or such as the noise caused by mission nonlinear or there are non-gaussian to make an uproar when containing nonadditivity noise in signal
Sound etc.), traditional linear filter technology, if Fourier converts, while filtering out noise, always blurred picture is thin in some way
Section (such as edge) and then the extraction property reduction for leading to the positioning accuracy and feature as linear character.And nonlinear filter is
Based on a kind of Nonlinear Mapping relationship to input signal, often a certain specific noise approximatively can be mapped as zero and retained
Signal wants feature, thus it can overcome the shortcoming of linear filter to a certain extent.
Unmanned plane target identification positioning system using the present invention, in the prior art by the real-time height nothing of search and rescue person
The technical problem that method determines is based on unmanned plane carrier height and image by the high-precision analysis and processing to associated picture
The relative position of middle target determines the true altitude of human body target in actual environment, is highlighted human body mesh on the image with red
Piecemeal is marked, and is highlighted human height on the image, near the human body target piecemeal with green, finally exports stacking chart
Picture, to provide important reference data for the rescue at rescue center.
It is understood that although the present invention has been disclosed in the preferred embodiments as above, above-described embodiment not to
Limit the present invention.For any person skilled in the art, without departing from the scope of the technical proposal of the invention,
Many possible changes and modifications all are made to technical solution of the present invention using the technology contents of the disclosure above, or are revised as
With the equivalent embodiment of variation.Therefore, every content without departing from technical solution of the present invention is right according to the technical essence of the invention
Any simple modifications, equivalents, and modifications made for any of the above embodiments still fall within the range of technical solution of the present invention protection
It is interior.
Claims (7)
1. a kind of unmanned plane target identification positioning system, which is characterized in that the system comprises：
It takes photo by plane equipment, is arranged on unmanned plane, towards being shot below the unmanned plane, to obtain and export below body
Image；
Assessed value extraction equipment is connect with the equipment of taking photo by plane, will be below the body for receiving the body lower images
Central area in image in four angles region and the body lower images parses institute together as region to be analyzed
The cyan component, magenta component, yellow color component and black component for stating each pixel in region to be analyzed, determine each picture
The summation of the cyan component of vegetarian refreshments is as cyan assessed value, to determine the summation of the magenta component of each pixel using as product
Red assessed value determines the summation of the yellow color component of each pixel as yellow assessed value, to determine the black of each pixel
The summation of colouring component is using as black assessed value.
2. unmanned plane target identification positioning system as described in claim 1, which is characterized in that the system also includes：
Assessed value analytical equipment is connect with the assessed value extraction equipment, for receiving the cyan assessed value, the magenta
Assessed value, the yellow assessed value and the black assessed value, by the cyan assessed value, the magenta assessed value, described
Yellow assessed value and the black assessed value phase adduction divided by four are to obtain assessment mean value, by the assessment mean value divided by described black
Color assessed value, when the assessment reference value is more than or equal to default assessment limit value, it is super to send out brightness to obtain assessment reference value
Otherwise limit signal sends out brightness lower bound signal.
3. unmanned plane target identification positioning system as claimed in claim 2, which is characterized in that the system also includes：
Height-gauge is arranged on unmanned plane, for obtained based on air pressure testing principle the height of the unmanned plane using as
Body height exports；
Relative position detection device is connect respectively with lower section human body analytical equipment and height-gauge, for receiving the body
Highly, it is additionally operable to receive the human body target piecemeal and the body lower images, and based on the human body target piecemeal in institute
It states the relative position in body lower images and the body height determines the corresponding human height of the human body target；
Image superposition equipment is connect with the relative position detection device, for receiving the human height, the human body target
Piecemeal and the body lower images are highlighted the human body target piecemeal in the body lower images with red, and
It is highlighted the human height in the body lower images, near the human body target piecemeal with green, with output
Superimposed image；
Image compression apparatus is connect with described image superposition equipment, for receiving the superimposed image, and to the superimposed image
The compression processing based on MPEG-4 standards is executed, to obtain and export compression image；
Wireless transmitting device is connect with described image compression device, for receiving the compression image, and by the compression image
It is wirelessly transmitted at the rescue central server of distal end by aviation short wave communication link；
Wavelet filtering processing equipment takes photo by plane equipment and the assessed value analytical equipment is connect with described respectively, described for receiving
Assessment reference value and the body lower images, be additionally operable to receive the brightness transfinite signal when, will be under the body
The image wavelet that square image carries out the reduction wavelet filtering amplitude based on the assessment reference value is filtered, to obtain and export
Filtered image, and when receiving the brightness lower bound signal, the body lower images are carried out to be based on the assessment
The image wavelet of the reinforcing wavelet filtering amplitude of reference value is filtered, to obtain and export filtered image；
Lower section human body analytical equipment is connect with the wavelet filtering processing equipment, for analyzing in the filtered image
The human body target piecemeal of human body position, and the human body target piecemeal is cut and exported from filtered image punishment.
4. unmanned plane target identification positioning system as claimed in claim 3, which is characterized in that the system also includes：
SD storage devices are connect with the assessed value analytical equipment, for prestoring the default assessment limit value.
5. unmanned plane target identification positioning system as claimed in claim 4, it is characterised in that：
The dimension of the wavelet basis selected in the corresponding wavelet filtering pattern of reduction wavelet filtering amplitude based on the assessment reference value
Degree, less than the wavelet basis selected in the corresponding wavelet filtering pattern of reinforcing wavelet filtering amplitude based on the assessment reference value
Dimension.
6. unmanned plane target identification positioning system as claimed in claim 5, it is characterised in that：
The assessment reference value is bigger, the corresponding wavelet filtering pattern of reduction wavelet filtering amplitude based on the assessment reference value
The dimension of the wavelet basis of middle selection is fewer.
7. unmanned plane target identification positioning system as claimed in claim 6, it is characterised in that：
The assessment reference value is bigger, the corresponding wavelet filtering pattern of reduction wavelet filtering amplitude based on the assessment reference value
The dimension of the wavelet basis of middle selection is fewer.
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| CN109611914A (en) * | 2018-12-04 | 2019-04-12 | 李珊珍 | Top suction type smoke exhaust ventilator based on pot body analysis |
| CN109888873A (en) * | 2019-03-12 | 2019-06-14 | 奥菲(泰州)光电传感技术有限公司 | Charge mode field control system |
| CN110371139A (en) * | 2019-04-01 | 2019-10-25 | 泰州三凯工程技术有限公司 | Highlighted data display methods |
| CN110415204A (en) * | 2019-03-22 | 2019-11-05 | 泰州三凯工程技术有限公司 | Reliable safety traffic control system |
| CN110415205A (en) * | 2019-04-01 | 2019-11-05 | 泰州三凯工程技术有限公司 | Reliable parameter extraction platform |
| CN111046712A (en) * | 2019-04-01 | 2020-04-21 | 泰州三凯工程技术有限公司 | High-brightness data display mechanism |
| CN111231667A (en) * | 2019-03-22 | 2020-06-05 | 泰州三凯工程技术有限公司 | Reliable safe driving control method |
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| CN109611914A (en) * | 2018-12-04 | 2019-04-12 | 李珊珍 | Top suction type smoke exhaust ventilator based on pot body analysis |
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| CN108509875B (en) | 2019-04-05 |
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