CN109357757A - Spectral radiometric calibration system and its light source control module - Google Patents
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Abstract
The invention discloses a kind of spectral radiometric calibration system and its light source control modules.The light source control module includes: acquiring unit, for obtaining target pixel value；First computing unit for calculating the radiance that scaling light source corresponding with the target pixel value should export according to quantum efficiency model, and calculates the input power of the scaling light source corresponding with the radiance according to power Intensity model；The input parameter of the power Intensity model is the radiance, and output parameter is the input power；Control unit for generating power control signal according to the input power, and controls the scaling light source according to the power control signal.The present invention can provide any radiances needed for radiation calibration, to solve the problems, such as that the true quantum Efficiency Fit precision for treating scalable video sensor is not high, provide the foundation for the high-precision automatic radiation calibration of sensor.
Description
Technical field
The present invention relates to a kind of radiation calibration fields of imaging sensor, in particular to a kind of to be directed to consumer level CMOS
The spectral radiometric calibration system of (Complementary Metal-Oxide Semiconductor, metal oxide semiconductor device)
And its light source control module.
Background technique
Radiation calibration is one of pretreated main contents of unmanned plane low altitude remote sensing image.The purpose is to eliminate camera clapping
Various types of radiation error brought by during taking the photograph, and the pixel value of remote sensing image (Digital number) is converted to can be true
The radiance of real reaction physical characteristic.
Currently, mostly using the calibration with certain radiance range during carrying out radiation calibration to imaging sensor
Light source (such as integration sphere light source system) is used as radiance value true value.During carrying out radiation calibration, volume is emitted by scaling light source
Then fixed radiance carries out digitized video acquisition using imaging sensor, thus establish in radiance and digitized video
Pixel value between functional relation, complete radiation calibration.
However, presently commercially available scaling light source only provides the corresponding relationship of a small number of radiances and its input power, due to
CMOS quantum efficiency curve is in the majority with complex distributions such as non-linear, segmentings, the spoke brightness value exported using current integrating sphere
Sequence, which is difficult to ensure, generates uniform response value sequence to scalable video sensor, causes the radiation calibration precision of imaging sensor
It is not high.
Summary of the invention
The technical problem to be solved by the present invention is in order to overcome the Calibration Method of the prior art to be difficult to ensure wait calibrate
Imaging sensor generates uniform response value sequence, and the defect for causing the radiation calibration precision of imaging sensor not high provides one
Kind spectral radiometric calibration system and its light source control module.
The present invention is to solve above-mentioned technical problem by following technical proposals:
A kind of light source control module of radiation calibration, the light source control module include:
Acquiring unit, for obtaining target pixel value；
First computing unit is answered for calculating scaling light source corresponding with the target pixel value according to quantum efficiency model
The radiance of output, and according to the input work of the power Intensity model calculating scaling light source corresponding with the radiance
Rate；The input parameter of the power Intensity model is the radiance, and output parameter is the input power；
Control unit, for generating power control signal according to the input power, and according to the power control signal
Control the scaling light source.
Preferably, the light source control module further include:
Model selection unit, for being selected according to the running parameter and/or image store format of target imaging sensor undetermined
The quantum efficiency model is selected, and is sent to first computing unit.
Preferably, the quantum efficiency model includes at least one of drag:
L1=a × DN2+b×DN+c；
L2=a × DN3+b×DN2+c×DN+d；
L3=a × lnDN+b；
L4=A × L1+B×L2+C；
Wherein, L1、L2、L3And L4Radiance is characterized, DN characterizes pixel value, and a, b, c and d characterize quantum efficiency Model
Coefficient, A, B, C characterize the combination coefficient of different functions type in piecewise function.
Preferably, the light source control module further include:
Judging unit for searching the power meter of the scaling light source, and judges to whether there is and institute in the power meter
State the corresponding input power of radiance；
When being judged as YES, the judging unit is also used to determine the input power according to lookup result, and is sent to
Described control unit；
When being judged as NO, the judging unit is also used to call first computing unit according to the power brightness
Model calculates the input power.
A kind of spectral radiometric calibration system, the spectral radiometric calibration system include: image acquiring module, scaling module and above-mentioned any
The light source control module of radiation calibration described in one；
The light source control module issues radiance for controlling the scaling light source；
The image acquiring module is used to set the imaging parameters of target imaging sensor undetermined, and controls described image biography
Sensor obtains the light-emitting window of the scaling light source under different imaging parameters in the scaling light source one radiance of every sending
Image；
The scaling module is used to determine the rdaiation response characteristic of described image sensor according to the image.
Preferably, the scaling module specifically includes:
Vignetting removes component, for the image to be carried out vignetting removal processing；
Component is calibrated, the radiance for issuing according to the scaling light source and the shadow by vignetting removal processing
The pixel value of picture determines the rdaiation response characteristic of described image sensor.
Preferably, the vignetting removal component specifically includes:
Coefficient acquiring unit, the coefficient of vignetting of each pixel for obtaining the image；
Second computing unit, for by the pixel value of each pixel and corresponding coefficient of vignetting doing mathematics operation.
Preferably, the spectral radiometric calibration system further include: locating connector；
The locating connector makes the scaling light source for fixing the scaling light source and described image sensor
Light-emitting window is bonded with the tangent line of described image sensor.
Preferably, the spectral radiometric calibration system further include: warehouse；
The inside of the warehouse is equipped with reflectorized material.
The locating connector is placed in the warehouse.
Preferably, the spectral radiometric calibration system further include: temperature sensor and air exhausting device；The temperature sensor and institute
Air exhausting device is stated to be all set on the warehouse；
The temperature sensor is for detecting the intracorporal temperature in the storehouse and being sent to the air exhausting device；
The air exhausting device is used to that the intracorporal air in the storehouse to be discharged when the temperature is more than preset temperature threshold.
The positive effect of the present invention is that: the present invention can provide any radiances needed for radiation calibration, thus
It solves the problems, such as that the true quantum Efficiency Fit precision for treating scalable video sensor is not high, is the High Precision Automatic of sensor
Change radiation calibration to provide the foundation.
Detailed description of the invention
Fig. 1 is the module diagram of the light source control module of the radiation calibration of the embodiment of the present invention 1.
Fig. 2 is the module diagram of the spectral radiometric calibration system of the embodiment of the present invention 2.
Fig. 3 is the structural schematic diagram of the locating connector of the spectral radiometric calibration system of the embodiment of the present invention 2.
Specific embodiment
The present invention is further illustrated below by the mode of embodiment, but does not therefore limit the present invention to the reality
It applies among a range.
Embodiment 1
As shown in Figure 1, the light source control module of the radiation calibration of the present embodiment includes: that acquiring unit 11, first calculates list
Member 12, control unit 13, model selection unit 14 and judging unit 15.
Acquiring unit 11 is for obtaining target pixel value.The basic number of target pixel value namely imaging sensor radiation calibration
According to can be sequence of pixel values corresponding with radiance sequence at equal intervals, according to the required precision of radiation calibration by user
Voluntarily determine.
First computing unit 12 is used to be answered according to quantum efficiency model calculating scaling light source corresponding with target pixel value defeated
Radiance out.Also target pixel value is inputted into quantum efficiency Model, when obtaining radiation calibration, scaling light source should be exported
Radiance.
In the present embodiment, the first computing unit 12 goes back calling model selecting unit 14 before calculating radiance with root
According to the running parameter and/or image store format of imaging sensor from database selection quantum efficiency Model, namely based on first
Test knowledge, existing experimental result is sentenced, the close quantum efficiency master pattern of most probable is determined, in rough estimate modeling process
Required radiance sequence.
Wherein, the running parameter of imaging sensor include: spectral response central wavelength, model and imaging parameters (for example,
Gain, time for exposure of sensor etc.) etc..Multiple quantum efficiency models can be stored in database, passed according to target image undetermined
The running parameter and/or image store format of sensor determine applicable quantum efficiency model.
The establishment process of quantum efficiency model is illustrated below:
Training sample set is obtained, training sample set includes: Standard Ratio brightness value image；To Standard Ratio brightness value image
Image procossing is carried out, obtains the unequal interval gray-scale intensity values (pixel value) in image, and its obtain spoke corresponding when image
Penetrate brightness value；
The mathematical model of pixel value and radiance is established, and the pixel value concentrated using training sample is radiated as independent variable
Brightness is that dependent variable carries out models fitting, and models fitting uses root-mean-square error minimum principle, selectes optimal quantum effect curve
Equation is to get to final quantum efficiency model and storing.Curvilinear equation can be linear function, nonlinear function, segmentation letter
Number etc..
In the present embodiment, quantum efficiency model can be, but not limited to following 4 kinds:
(1)L1=a × DN2+b×DN+c
(2)L2=a × DN3+b×DN2+c×DN+d
(3)L3=a × lnDN+b
(4)L4=A × L1+B×L2+C
Wherein, L characterizes radiance, and DN characterizes pixel value, and a, b, c and d characterize the coefficient of quantum efficiency Model, A, B, C
Characterize the combination coefficient of different functions type in piecewise function.First computing unit 12 is also used to be calculated according to power Intensity model
The input power of scaling light source corresponding with radiance.
Wherein, the input parameter of power Intensity model is radiance, and output parameter is input power.For the ease of saying
It is bright, the radiance for not finding corresponding input power in power meter is known as target emanation brightness, is greater than mesh in power meter
Mark the minimum value L of radianceiWith the maximum value L for being less than target emanation brightnessi-1It is as follows with the functional relation of input power:
L is the spoke brightness value of integrating sphere outlet；L unit is Wm-2·sr-1；Φ is integrating sphere incident radiation flux, i.e.,
The radiation flux of integrating sphere internal light source；ρ is the reflectivity of integrating sphere coating on inner surface；F is integrating sphere aperture efficiency；R is integral
Ball internal diameter.It follows that P can be expressed as the functional relation about L, it is as follows:
In formula, L (pi-1,pi) it is target emanation brightness, pi-1For in power meter be less than target emanation brightness maximum value
Li-1Corresponding input power, piFor in power meter be greater than target emanation brightness minimum value LiCorresponding input power.It utilizes
Above-mentioned functional relation can solve arbitrarily in L (pi-1) and L (pi) between radiance value corresponding to input power value.Its
Specific solution procedure is as follows:
By two above formula it is found that for unknown radiance value in radiance look-up table, that is, it is in (Li-1,
P(Li-1)) and ((Li,P(Li)) between power and radiance value (LΔ,P(lΔ)), there are following relationships:
P(LΔ)=∫ g (LΔ-Li-1)dl+P(Li-1)；
Wherein, LΔIndicate the intermediate radiance value for needing to be inserted into.
Based on the corresponding relationship, the radiance value true value solved using standard quantum efficiency Model can solve journey
Control input power of the integrating sphere in each radiance value.The calculating of input power namely by carrying out at equal intervals in dynamic range
Result after interpolation, after inverse is carried out by curvilinear equation.
In the present embodiment, the first computing unit 12 is before calculating input power, and also calling judging unit 15 is fixed to search
The power meter of light source is marked, and is judged in power meter with the presence or absence of input power corresponding with radiance.Wherein, scaling light source example
It such as can be integrating sphere.The operation instructions of power meter namely integrating sphere, power meter list the integrating sphere in different middle cardiac waves
Under length, the relationship of the radiance of the input power and integrating sphere light-emitting window of integrating sphere.
If judging unit 15 is judged as YES, illustrate to have been provided in the power meter of integrating sphere corresponding with the radiance required
Input power, judging unit then determines input power according to lookup result, and the input power for acquisition of tabling look-up is sent to control
Unit 13.
If judging unit 15 is judged as NO, illustrate not providing in the power meter of integrating sphere corresponding with the radiance of output
Required input power, input power need separately to calculate, and judging unit then calls the first computing unit according to power brightness mould
Type calculates input power, and the input power being calculated is sent to control unit 13.
Control unit 13 is used to generate power control signal according to input power, and is controlled and calibrated according to power control signal
Light source.
Wherein, control signal include input power sequence { P } and scaling light source export time of different radiances with
Interval.
The light source control module of the present embodiment, it is possible to provide any radiance needed for radiation calibration, to solve pair
The problem not high to the true quantum Efficiency Fit precision of scalable video sensor is that the high-precision automatic radiation of sensor is fixed
Mark provides the foundation.
Embodiment 2
As shown in Fig. 2, the spectral radiometric calibration system of the imaging sensor of the present embodiment includes: warehouse, locating connector, shadow
The light source control module 1 of the radiation calibration as shown in acquisition module 2, scaling module 3 and embodiment 1.
Locating connector is located in warehouse, as shown in figure 3, it is used for fixed lens 7 and scaling light source 8, the camera lens 7 packet
Containing target imaging sensor undetermined, it is bonded the light-emitting window of scaling light source 8 and the tangent line on camera lens surface.In the present embodiment, calibration
Light source uses integrating sphere.
Specifically, locating connector includes lifting platform 61 and limiter 62, lifting platform 61 can be realized to camera lens height
Control.Limiter 62 is for fixing scaling light source and the camera lens including target imaging sensor undetermined, the filter of bayonet and camera lens
Mirror is parallel, it is ensured that the light-emitting window of scaling light source is bonded with camera lens surface tangent, guarantees sensor when receiving radiance value not
There are angles.
In the present embodiment, the inside of warehouse is equipped with reflectorized material, to completely cut off external light source, it is ensured that is carrying out radiation calibration mistake
External light source is excluded in journey to be influenced.Meanwhile guaranteeing that integration sphere light source system is in dustless state in use.
Before calibration, target imaging sensor undetermined and integrating sphere are fixed on locating connector, make target undetermined
By the target sensor undetermined and determine in same level height the relative position of the light-emitting window of imaging sensor and integrating sphere
The light-emitting window fitting of light source is marked, to complete the geometric correction to imaging sensor.Certainly, it also needs before calibration to image sensing
Device is initialized, and the basic parameters such as ISO (the photosensitive metrization of digital camera provides), time for exposure are adjusted.
The working principle of radiation calibration is illustrated below:
Light source control module 1 issues radiance for controlling scaling light source.Wherein, input power sequence { P } can be according to
Sequence sequence from low to high, then control scaling light source and successively issue radiance according to putting in order when radiation calibration.
Image acquiring module 2 is used to obtain the imaging parameters of target imaging sensor undetermined, and controls imaging sensor and exist
When scaling light source one radiance of every sending, the image of the light-emitting window of the scaling light source under different imaging parameters is obtained.
Since the image that imaging sensor obtains under the imaging parameters such as different gains, time for exposure, white balance is that have area
It is other, the image under different imaging parameters is obtained to each radiance and carries out radiation calibration analysis, is conducive to image sensing
Accurate, comprehensive calibration of device.
It repeats to call light source control module 1 and image acquiring module 2, until completing the input power sequence { P } of integrating sphere
Under whole image datas acquisition.
Scaling module 3 is used to determine the rdaiation response characteristic of imaging sensor according to all images.
In the present embodiment, scaling module is specifically included: vignetting removes component and calibration component.
Vignetting removes component and is used to image carrying out vignetting removal processing, is brought with removal since incident light angle is different
Centre it is bright, the dark error of surrounding.
In the present embodiment, using imaging sensor obtain image principal point position vignetting effect coefficient be 1 original
Reason removes the vignetting effect of pixel value image, and vignetting removal component specifically includes: coefficient acquiring unit and the second computing unit.
Coefficient acquiring unit is used to obtain the coefficient of vignetting of each pixel of image.
The acquisition of coefficient of vignetting is illustrated below:
At least two width images of the same radiance obtained under different imaging parameters are normalized, establish with
The three-dimensional surface model weakened centered on the principal point of image and along key light axial edge；Three-dimensional surface model characterizes the every of image
The relative size relationship of the coefficient of vignetting of the coefficient of vignetting and principal point and other pixels of a pixel；In the present embodiment,
Coefficient of vignetting can be stored in the form of a table, thus without repeating acquisition when carrying out radiation calibration to high-volume image
The step of coefficient of vignetting, need to only search the vignetting system that coefficient of vignetting table can be obtained each pixel of original pixel values image
Number substantially increases the efficiency of high-volume image radiation calibration, reduces computation complexity and meter so as to carry out parallel computation
Calculation amount.
Using the coefficient of three-dimensional surface model as the corresponding coefficient of vignetting of each pixel.It is gone by carrying out vignetting to image
Except processing, the precision of radiation calibration can be improved.In the present embodiment, specifically using built-in function mesh function in MATLAB
Establish three-dimensional surface model.
Second computing unit is used for the pixel value of each pixel of image and corresponding coefficient of vignetting doing mathematics operation,
Obtain the pixel value of each pixel in image.
Wherein, mathematical operation can be division arithmetic, also will each original pixel values image each pixel picture
Element value completes the vignetting effect of removal image divided by corresponding coefficient of vignetting.
The pixel value of radiance and image that calibration component is used to be issued according to scaling light source determines imaging sensor
Rdaiation response characteristic.
In the present embodiment, the integrated control of the imaging sensor and scaling light source for the treatment of calibration is realized, to realize
The sensor calibration of procedure, efficiency greatly improve.
In the present embodiment, spectral radiometric calibration system further include: temperature sensor 4 and air exhausting device 5.
Temperature sensor is placed at the top of warehouse, concurrent for detecting the intracorporal temperature in storehouse close to the light-emitting window of integrating sphere
It send to air exhausting device.In the present embodiment, display device can be also set outside storehouse, for the temperature inside real-time display warehouse.
Air exhausting device is used to start when the intracorporal temperature in storehouse is more than preset temperature threshold, and the intracorporal air in storehouse is discharged,
It realizes heat dissipation, to reduce the intracorporal operating temperature in storehouse, makes integration sphere light source system in use always in optimal use temperature.
Meanwhile the convection current during air draft can reduce warehouse internal dust, provide the dustfree environment in the course of work.
In the present embodiment, the quantity of air exhausting device is settable multiple, such as setting 4, and 4 air exhausting devices are respectively disposed on
The upper right corner and the lower left corner and warehouse the right side upper right corner, the lower left corner on the left of warehouse.Exhaust fan is series connection after powered up.Row
Position designed by wind apparatus has the function of forced convertion, can effectively be radiated to internal working environment.
In the present embodiment, barn door is disposed on air exhausting device, it is unglazed that barn door is also at air exhausting device in work
State.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that this is only
For example, protection scope of the present invention is to be defined by the appended claims.Those skilled in the art without departing substantially from
Under the premise of the principle and substance of the present invention, many changes and modifications may be made, but these change and
Modification each falls within protection scope of the present invention.
Claims (10)
1. a kind of light source control module of radiation calibration, which is characterized in that the light source control module includes:
Acquiring unit, for obtaining target pixel value；
First computing unit should be exported for calculating scaling light source corresponding with the target pixel value according to quantum efficiency model
Radiance, and calculate according to power Intensity model the input power of corresponding with the radiance scaling light source；
The input parameter of the power Intensity model is the radiance, and output parameter is the input power；
Control unit for generating power control signal according to the input power, and is controlled according to the power control signal
The scaling light source.
2. the light source control module of radiation calibration as described in claim 1, which is characterized in that the light source control module is also wrapped
It includes:
Model selection unit, for selecting institute according to the running parameter and/or image store format of target imaging sensor undetermined
Quantum efficiency model is stated, and is sent to first computing unit.
3. the light source control module of radiation calibration as claimed in claim 2, which is characterized in that the quantum efficiency model includes
With at least one of drag:
L1=a × DN2+b×DN+c；
L2=a × DN3+b×DN2+c×DN+d；
L3=a × lnDN+b；
L4=A × L1+B×L2+C；
Wherein, L1、L2、L3And L4Radiance is characterized, DN characterizes pixel value, and a, b, c and d characterize the coefficient of quantum efficiency Model,
A, B, C characterize the combination coefficient of different functions type in piecewise function.
4. the light source control module of radiation calibration as described in claim 1, which is characterized in that the light source control module is also wrapped
It includes:
Judging unit for searching the power meter of the scaling light source, and judges to whether there is and the spoke in the power meter
Penetrate the corresponding input power of brightness；
When being judged as YES, the judging unit is also used to determine the input power according to lookup result, and is sent to described
Control unit；
When being judged as NO, the judging unit is also used to call first computing unit according to the power Intensity model
Calculate the input power.
5. a kind of spectral radiometric calibration system, which is characterized in that the spectral radiometric calibration system include: scaling light source, image acquiring module,
The light source control module of scaling module and the radiation calibration as described in any one of claim 1-4；
The light source control module issues radiance for controlling the scaling light source；
The image acquiring module is used to set the imaging parameters of target imaging sensor undetermined, and controls described image sensor
In the scaling light source one radiance of every sending, the shadow of the light-emitting window of the scaling light source under different imaging parameters is obtained
Picture；
The scaling module is used to determine the rdaiation response characteristic of described image sensor according to the image.
6. spectral radiometric calibration system as claimed in claim 5, which is characterized in that the scaling module specifically includes:
Vignetting removes component, for the image to be carried out vignetting removal processing；
Calibration component, the radiance for being issued according to the scaling light source and the image by vignetting removal processing
Pixel value determines the rdaiation response characteristic of described image sensor.
7. spectral radiometric calibration system as claimed in claim 6, which is characterized in that the vignetting removal component specifically includes:
Coefficient acquiring unit, the coefficient of vignetting of each pixel for obtaining the image；
Second computing unit, for by the pixel value of each pixel and corresponding coefficient of vignetting doing mathematics operation.
8. spectral radiometric calibration system as claimed in claim 5, which is characterized in that the spectral radiometric calibration system further include: positioning connects
Connection device；
The locating connector is for fixing the scaling light source and described image sensor.
9. spectral radiometric calibration system as claimed in claim 8, which is characterized in that the spectral radiometric calibration system further include: warehouse；
The inside of the warehouse is equipped with reflectorized material；
The locating connector is placed in the warehouse.
10. spectral radiometric calibration system as claimed in claim 9, which is characterized in that the spectral radiometric calibration system further include: temperature passes
Sensor and air exhausting device；The temperature sensor and the air exhausting device are all set on the warehouse；
The temperature sensor is for detecting the intracorporal temperature in the storehouse and being sent to the air exhausting device；
The air exhausting device is used to that the intracorporal air in the storehouse to be discharged when the temperature is more than preset temperature threshold.
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