CN109765747A - A kind of aerial image focusing test method, focus detection system and camera - Google Patents
A kind of aerial image focusing test method, focus detection system and camera Download PDFInfo
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Abstract
The invention discloses a kind of aerial image focusing test method, focus detection system and aerial cameras, the following steps are included: S1, choosing effective coverage in detector regimes, the effective coverage is all located in the detector regimes this method in a complete focusing test stroke；S2, the first frame image containing characteristic point is shot in focusing test initial position；S3, one group of continuous image is shot in one complete focusing test stroke, the corresponding stroke of adjacent two field pictures is less than 1/2 depth of focus in one group of continuous image；S4, the clarity for calculating each frame image in one group of continuous image, obtain the optimal picture position of clarity；S5, focus detection system is moved at the optimal picture position of the clarity.Focusing test task can be rapidly completed in the present invention in a short time in space shuttle flight course.
Description
Technical field
The present invention relates to aerospace imaging field more particularly to a kind of aerial image focusing test methods, focus detection system and phase
Machine.
Background technique
Aerial camera is mounted on aircraft from the optical instrument of aerial intake surface target, for aboard or its
Photogrammetric, scouting, gunnery training, a kind of camera for determining combat success etc. are carried out to ground, in the air on its aircraft.Due to boat
Machine taken the photograph ground target picture resolution in Kongxiang is higher, convenient for identification precision target, thus is widely applied.This camera
Resolution of lens is very high, and visual angle is larger, up to 70 ° or so.With what is automatically continuously photographed by certain setting time interval
Function.When aerial camera is imaged in the sky, due to temperature, atmospheric pressure and take a picture distance variation will cause defocus the phenomenon that,
The clarity and resolution ratio of image are seriously affected, long-focus camera is especially true.So to obtain image high-definition, just need
Focusing test is carried out before camera is taken pictures.Battle array vertical aerial camera focusing test mode in face mostly uses photoelectric auto-collimation mode at present, works as inspection
Jiao Shi needs scanning reflection mirror at the uniform velocity to swing in vertical optical axis position, and lens barrel, which is stablized, could complete focusing test in fixed position.It is such
Focusing test opto-mechanical mechanisms are complicated, and the focusing test time is longer, can not complete focusing test task in the short time in aircraft flight.
Summary of the invention
The present invention provides a kind of classification methods of remote sensing images, when solving focusing test present in above-mentioned background technique
Between long problem.
To achieve the goals above, the step of aerial image focusing test method is as follows:
S1, effective coverage is chosen in detector regimes, the effective coverage all position in a complete focusing test stroke
In in the detector regimes；
S2, the first frame image containing characteristic point is shot in focusing test initial position；
S3, one group of continuous image is shot in one complete focusing test stroke, in one group of continuous image
The corresponding stroke of adjacent two field pictures is less than 1/2 depth of focus；
S4, the clarity for calculating each frame image in one group of continuous image, obtain the optimal image of clarity
Position；
S5, focus detection system is moved at the optimal picture position of the clarity.
Further, the detector is the detection of high frame frequency.
Further, the effective coverage is (Sx0:(Sx0+ΔSx),Sy0:(Sy0+ΔSy)), wherein Sx0And Sy0Respectively
The horizontal and vertical coordinate value of the initial position, Δ SxWith Δ SyThe respectively described detector is in a complete focusing test stroke
Described in detector flat offset and vertical offset；
It should be noted that must satisfy in the effective coverage all the points when carrying out the selection of effective coverage described
During shooting one group of consecutive image, after doing windowing processing with the center pel of the first frame image containing characteristic point,
The all the points and the windowed regions do not overflow detector；The center pel for meeting last frame image simultaneously opens a window
After processing, all the points and the windowed regions do not overflow detector.
Further, the Δ SxWith Δ SyCalculation formula be respectively as follows:
Wherein, v is the movement velocity of the focus detection system, and θ is drift angle, and t is that the focus detection system completes one completely
Focusing test stroke used in the time, f be the focus detection system focal length, H be the focus detection system position and mesh to be captured
Mark the vertical range between object.
Further, it is described focusing test initial position shoot the first frame image containing characteristic point before also in the focusing test
Initial position judges whether there is characteristic point in the effective coverage, if nothing, continues in focusing test initial position shooting until institute
It states in effective coverage comprising characteristic point.
Further, the clarity is characterized by gradient operator.
Further, the gradient operator is sobel gradient operator；
There is choosing, the calculating step of the sobel gradient operator includes:
S41, the characteristic point chosen in the first frame image are target point；
S42, position of the target point in one group of continuous image in n-th frame image is calculated；
S43, windowing design is carried out to the n-th frame image centered on the target point, windowing size is M*N, wherein M
For the pixel quantity of the n-th frame image in the horizontal direction after windowing, N is the n-th frame image after windowing in vertical direction
Pixel quantity；
Further, using formulaIt calculates in one group of continuous image
The sobel gradient operator of all frame images, wherein FsobelFor sobel gradient operator, x and y are respectively present frame figure to be calculated
The coordinate value of target point both horizontally and vertically as described in, IxFor horizontal sobel operator and the current frame image
Convolution algorithm as a result, IyFor the convolution algorithm result of vertical sobel operator and the current frame image.
Further, the calculation formula of position of the target point in the n-th frame image are as follows:
Wherein, x0And y0Seat horizontally and vertically of the respectively described target point in the first frame image
Mark；Time interval of the Δ t between n-th frame image capturing time and the first frame image containing characteristic point.
Preferably, focus detection system system described in the aerial image focusing test method is at the uniform velocity to move.
The present invention also provides a kind of aerial image focus detection systems, to solve focusing test light present in above-mentioned background technique
Learn the problem of mechanical system complexity.
To achieve the goals above, aerial image focus detection system, comprising:
Detector, optical system, driving mechanism and image processing module, the detector are used in a complete inspection
One group is shot in burnt stroke continuously containing the image of characteristic point, the driving mechanism is for moving focusing test in the optical system
Microscope group module, described image processing module are used to calculate the clarity of each frame image in the image containing characteristic point,
Obtain the optimal picture position of clarity.Further, the detector is high frame frequency detector.Before the optical system includes
Microscope group module, focusing test microscope group module and rear microscope group module, the focusing test microscope group module be located at the front lens group module rear end and
After described between the front end of microscope group module, the high frame frequency detector block is located at the rear end image planes position of the rear microscope group module,
The driving mechanism is connected with the focusing test microscope group module, and the movement for driving the focusing test microscope group module.
The present invention also provides a kind of aerial image camera, to simplify the aerial camera focusing test time in the prior art it is long,
The problem of structure is complicated.
To achieve the goals above, the aerial image camera includes executor and the aerial image focus detection system, institute
Executor is stated for far distance control and detects the aerial image focus detection system.
Compared with the prior art, a kind of aerial image focusing test method provided by the invention, is at the uniform velocity walked in the driving mechanism
While complete focusing test stroke, high frame frequency detector is continuously shot one group of image.The difference of the defocusing amount corresponding to the adjacent two field pictures
When value is less than half depth of focus, that is, the readability of this group of image can be used to judge position of most preferably practising physiognomy.Specifically, when focusing test starts, inspection
Burnt driving mechanism at the uniform velocity covers focusing test stroke, while detector shoots one group of image；By image focusing test algorithm to this group of image
The clarity of same target area is calculated and is compared, and position of most preferably practising physiognomy is obtained, and last driving mechanism reaches target position.
Focusing test task can be rapidly completed in a short time in space shuttle flight course.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Attached drawing is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be in background technique and the embodiment of the present invention
Required attached drawing is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore
It is not construed as the restriction to range, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other relevant attached drawings.
Fig. 1 shows the schematic illustration of camera imaging；
Fig. 2 shows aerial image focusing test method flow schematic diagrams of the present invention；
Fig. 3 shows the selection schematic diagram of effective coverage of the present invention；
Fig. 4 shows the change in location relational graph of image characteristic point of the present invention；
Fig. 5 shows Graded factor and focus detection system positional relationship functional arrangement of the present invention；
Fig. 6 shows focus detection system structure composition schematic diagram of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually
The step of embodiment of the present invention being described and illustrated herein in the accompanying drawings, can be implemented in various different ways.Therefore, below
The range of claimed invention is not intended to limit to the detailed description of the embodiment of the present invention provided in the accompanying drawings, and
It is to be merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not making creation
Property labour under the premise of every other embodiment obtained, shall fall within the protection scope of the present invention.
It should also be noted that similar label indicates similar terms in following attached drawing, therefore, once a certain Xiang Yi attached drawing
In be defined, then do not need that it is further defined and explained in subsequent attached drawing.
Fig. 1 is please referred to, Fig. 1 shows the schematic illustration of camera imaging of the present invention.Camera is a kind of using optical imagery
Principle forms image and the equipment using negative writing image, is the optical instrument for photography.Camera generally comprises camera lens, phase
The camera lens of machine is equivalent to a convex lens, and the light from object on film, at handstand, contracts by the camera lens post-concentration of camera
Small real image.That is, light is gathered on imaging plane by camera lens, to form clear photograph.Serial number 1 in Fig. 1
For imaging plane, serial number 2 is subject, A is the camera lens of camera, H be camera camera lens between subject 2 away from
From the distance between imaging plane that, f is camera to camera lens A, that is, the focal length of camera.Since H is much big in actual conditions
In f, it can approximately think that H is flying height.And according to light along the principle of straightline propagation, camera can by transformation focal length into
And adjust the range and clarity of subject.
Referring to figure 2. and Fig. 3, Fig. 2 shows aerial image focusing test method flow schematic diagram of the present invention, Fig. 3 shows this hair
The schematic diagram of bright effective coverage selection.Firstly, in the present embodiment, choosing the vertical aerial camera of the face XX battle array, focal length is
900mm, flying height 12km~24km, speed and height ratio range are 0.007~0.014.Detector chooses IO company
Flare 12M125CL model, this cmos detector resolution ratio 4096*3072, frame frequency 124fps, pixel dimension is 5.5 micro-
Rice, CameraLink interface.The driving mechanism of focus detection system chooses RORZE company stepper motor M24241S.Joined by camera
When scenery movement speed is most fast on detector known to number, flying height 12km, flying speed 168m/s.Camera is by optical system
System provides defocus range affected by environment in ± 10 times of focal depth ranges, and drift angle θ range takes 0~45 °.In step S1, visiting
It surveys and chooses effective coverage within the scope of device, effective coverage is all located in the detector regimes in a complete focusing test stroke.
Specifically, design parameter: focusing test motor at the uniform velocity covers whole focusing test strokes in 0.33s, while detector shoots 41 frame images,
Every 1/4 depth of focus of two field pictures interval.A certain target point deviates meter along aviation fuselage direction over time so on detector
Calculating formula isAlong vertical aviation fuselage direction, offset calculation formula isWherein, ν is this reality
The speed of focusing test motor in example is applied, Δ t is the current frame image and the 1st frame image taking in 41 frame images described in the present embodiment
Time interval, f be the present embodiment in aerial camera focal length, H be the present embodiment in flying height, also refer to the focus of camera
Arrive the distance between subject.Simultaneously, it should be noted that must satisfy when carrying out the selection of effective coverage described has
All the points are during one group of consecutive image of the shooting in effect region, in the first frame image containing characteristic point
After imago member does windowing processing, all the points and the windowed regions do not overflow detector；Meet last frame simultaneously
After the center pel of image does windowing processing, all the points and the windowed regions do not overflow detector.It calculates according to this
It is (1100:2996,128:1572) that the position of the 41 frame image, which obtains effective coverage,.It is of course also possible to select other models
Aerial camera, detector or stepper motor complete this focusing test method, it might even be possible to select decelerating motor or other actuating units
As driving mechanism, obtained result is all identical or similar.
In step S2, when focusing test starts, is detected visit in focusing test motor initial position by characteristic point Algorithms of Selecting first
It surveys and whether there is characteristic point in device effective coverage, when characteristic point is not present in effective coverage, continue to shoot in initial position, directly
To current frame image, there are characteristic points in effective coverage.The wherein choosing method of characteristic point are as follows: if the gray value P of point (a, b)
(a, b) can meet simultaneously
| P (a, b)-P (a, b+50) | > 80, | P (a+2, b)-P (a+2, b+50) | > 80,
| P (a+4, b)-P (a+4, b+50) | > 80；①
| P (a, b)-P (a+50, b) | > 80, | P (a, b+2)-P (a+50, b+2) | > 80,
| P (a, b+4)-P (a+50, b+4) | > 80；②
It is believed that (a, b) is put in horizontal direction or vertically to having larger grey value difference with adjacent part, can select (a, b)
It is characterized a little.And it is tested through practical Aerial Images, which can quickly and effectively select object scene.
In step S3, camera is continuously shot 41 frame images in the focusing test motor at the uniform velocity entire focusing test stroke of mobile completion, and
Stroke between every two field pictures is 1/4 depth of focus.
In step S4, for the clarity of more objective appraisal picture frame, a characteristic point can be chosen and carried out as target point
Subsequent calculating and verifying.Firstly, according to special in flight parameter (take pictures distance, flying speed, drift angle) and first frame image
The position for levying point is calculated since space shuttle flies, and this feature point is on other frame images after upper scenery of practising physiognomy shifts
Position.Wherein, target feature point is along aviation fuselage direction offset calculation formulaMesh
Characteristic point, which is marked, along the offset calculation formula of aviation fuselage vertical direction isN is present frame
The serial number of image, other symbols are as the value of the same symbol in the present embodiment.Further, target feature point is carried out
Windowing design, that is to say, that centered on target feature point, windowing size is that 256*256 (is exactly the side of horizontal and vertical coordinate
256) quantity of upward pixel is.Following table is different photograph apart from lower detector pixel and ground scenery range corresponding relationship.
Know that within the scope of this may include ground scenery abundant enough, the reference picture that can most preferably practise physiognomy as judge.Certainly, more
In more embodiments, it can also open a window to obtain more pixels, resulting sobel operator is also more accurate, equally can also consume
More computing resources reduce focusing test speed to a certain extent.
Further, focusing test algorithm is realized using FPGA, for the ease of realizing and considering the rapidity of algorithm, chosen
For sobel gradient operator as the method for judging image clearly degree, formula is as follows:
Wherein, M is the pixel quantity of the n-th frame image in the horizontal direction after windowing, and N is the n-th n frame after windowing
Pixel quantity of the image in vertical direction；
IxIndicate the convolution algorithm of horizontal sobel operator and image as a result,
IyIndicate the convolution algorithm of vertical sobel operator and image as a result,
Further, operation is carried out to 41 frame images, acquires the F of every frame imagesobelValue, obtains F more afterwardssobelValue is most
Big corresponding image frame number nmax.It then most preferably practises physiognomy position are as follows:
Wherein, L0For focusing test motor initial position, L is focusing test total stroke length.
In step S5, driving focusing test motor makes focus detection system reach LmaxFocusing test is completed in position.
Referring to figure 4., Fig. 4 shows the change in location relational graph of image characteristic point of the present invention.That is, the target
The calculation formula of position of the point in the n-th frame image are as follows:
Wherein, x0And y0The respectively described target feature point in the first frame image horizontally and vertically
Coordinate.It so can be with position of the quickly positioning target characteristic point in any frame image, thus to the sobel of the frame image
Gradient operator is calculated.
Referring to figure 5., Fig. 5 shows Graded factor and focus detection system positional relationship functional arrangement of the present invention, and thus figure can be with
Find out, the relationship of SIN function is presented in the position of sobel gradient operator and focus detection system, is best inspection at the wave crest of function
Focal plane is conducive to quick focusing test.
Please refer to Fig. 6, Fig. 6 shows focus detection system structure composition schematic diagram of the present invention, this focus detection system include detector 7,
Driving mechanism 8, optical system 4~6 and image processing module module 9, the detector 7 are high frame frequency detector 7, the driving
Mechanism 8 is for moving the focusing test microscope group module 5.Further, the optical system 4~6 includes front lens group module 4, focusing test
Microscope group module 5, rear microscope group module 6, the focusing test microscope group module 5 be located at the front lens group module 4 rear end and it is described after microscope group
Between the front end of module 6, the high frame frequency detector 7 is located at the rear end of the rear microscope group module 6, the driving mechanism 8 and institute
State the connection of focusing test microscope group module 5, and the movement for driving the focusing test microscope group module 5.Preferably, driving mechanism can choose
Stepper motor, decelerating motor or other devices that focusing test microscope group module 5 can be made mobile.Described image processing module module 9 is used
In the clarity for calculating each frame image in the image containing characteristic point, the optimal picture position of clarity is obtained.The meter
Calculate module 9 can be an individual component and independently of driving mechanism and detector except, be also possible to a kind of integrated electric
Road is chip embedded to be integrated in inside the detector.It should be noted that no matter computing module 9 exists in which way,
It is all electrically connected with detector 7, in order to which computing module 9 can accurately receive image information, and then calculates and contains characteristic point
Image in each frame image clarity.It should be noted that the computing module 9 includes CPU or MCU, storage unit,
The CPU or MCU for executing corresponding calculation procedure, data of the storage unit for being generated in storage computation process or
Calculation result data.Further, the medium of the storage unit can be DRAM particle, be also possible to NAND particle.There is choosing
, in order to ensure data trackability or avoid loss of data caused by powering off suddenly, the storage unit includes at least
NAND particle.
Further, the present invention also provides a kind of aerial cameras, including including executor and aviation focusing test as described above
System；The executor is for far distance control and detects the aerial image focus detection system, there is choosing, the executor and institute
It states aerial image focus detection system to connect by wireless communication, which can be used for the short time in space shuttle flight course
Focusing test task is inside rapidly completed.
It should be noted that, in this document, such as first and second or the like term be used merely to an entity or
Person's operation is distinguished with another entity or operation, without necessarily requiring or implying there are any this between these operations
Actual relationship or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, article or equipment for including a series of elements not only includes those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, article or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described want
There is also other identical elements in the process, method, article or equipment of element.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
Claims (10)
1. a kind of aerial image focusing test method, which comprises the following steps:
S1, effective coverage is chosen in detector regimes, the effective coverage is all located at institute in a complete focusing test stroke
It states in detector regimes；
S2, the first frame image containing characteristic point is shot in focusing test initial position；
S3, one group of continuous image is shot in one complete focusing test stroke, it is adjacent in one group of continuous image
The corresponding stroke of two field pictures is less than 1/2 depth of focus；
S4, the clarity for calculating each frame image in one group of continuous image, obtain the optimal picture position of clarity；
S5, focus detection system is moved at the optimal picture position of the clarity.
2. aerial image focusing test method according to claim 1, which is characterized in that the detector is the detection of high frame frequency
Device.
3. aerial image focusing test method according to claim 1, which is characterized in that the effective coverage is (Sx0:(Sx0+Δ
Sx),Sy0:(Sy0+ΔSy)), wherein Sx0And Sy0The horizontal and vertical coordinate value of the respectively described initial position, Δ SxWith Δ Sy
The horizontal offset and vertical offset of respectively described detector detector described in a complete focusing test stroke；
The Δ SxWith Δ SyCalculation formula be respectively as follows:
Wherein, v is the movement velocity of the focus detection system, and θ is drift angle, and t is that the focus detection system completes a complete inspection
Time used in burnt stroke, f are the focal length of the focus detection system, position and to be captured object of the H for the focus detection system
Between vertical range.
4. aerial image focusing test method according to claim 1, which is characterized in that the shooting in focusing test initial position contains
Also judge whether there is characteristic point in the effective coverage in the focusing test initial position before the first frame image for having characteristic point, if
Nothing continues in focusing test initial position shooting until including characteristic point in the effective coverage.
5. aerial image focusing test method according to claim 1, which is characterized in that the clarity is carried out by gradient operator
Characterization.
6. aerial image focusing test method according to claim 5, which is characterized in that the gradient operator is sobel gradient
Operator；
The calculating step of the sobel gradient operator includes:
S41, the characteristic point chosen in the first frame image are target point；
S42, position of the target point in one group of continuous image in n-th frame image is calculated；
S43, windowing design is carried out to the n-th frame image centered on the target point, windowing size is M*N, and wherein M is to open
The pixel quantity of the n-th frame image in the horizontal direction after window, N be windowing after the n-th frame image vertical direction picture
First quantity；
S44, using formulaCalculate each frame image in one group of continuous image
Sobel gradient operator, wherein FsobelFor sobel gradient operator, x and y are respectively target described in current frame image to be calculated
The coordinate value of point both horizontally and vertically, IxFor the convolution algorithm knot of horizontal sobel operator and the current frame image
Fruit, IyFor the convolution algorithm result of vertical sobel operator and the current frame image.
7. aerial image focusing test method according to claim 6, which is characterized in that the target point is in the n-th frame figure
The calculation formula of position as in are as follows:
Wherein, x0And y0Coordinate horizontally and vertically of the respectively described target point in the first frame image；Δ
Time interval of the t between n-th frame image capturing time and the first frame image containing characteristic point.
8. a kind of aerial image focus detection system characterized by comprising
Detector, optical system, driving mechanism and image processing module, the detector are used in a complete focusing test row
One group is shot in journey continuously containing the image of characteristic point, the driving mechanism is for moving focusing test microscope group in the optical system
Module, described image processing module are used to calculate the clarity of each frame image in the image containing characteristic point, obtain
The optimal picture position of clarity.
9. aerial image focus detection system according to claim 8, which is characterized in that the detector is the detection of high frame frequency
Device, the optical system include front lens group module, focusing test microscope group module and rear microscope group module, and the focusing test microscope group module is located at institute
It states between the rear end of front lens group module and the front end of the rear microscope group module, the high frame frequency detector is located at the rear microscope group mould
The rear end image planes position of block, the driving mechanism are connected with the focusing test microscope group module, and for driving the focusing test microscope group mould
The movement of block.
10. a kind of aerial camera, which is characterized in that including executor and aviation focus detection system as claimed in claim 8 or 9；
The executor is for far distance control and detects the aerial image focus detection system.
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| CN110677582B (en) * | 2019-09-27 | 2020-11-24 | 中国科学院长春光学精密机械与物理研究所 | Filtering speed measurement focus detection method and system and terminal equipment |
| CN111726532A (en) * | 2020-06-30 | 2020-09-29 | 北京环境特性研究所 | Windowing alarm detection system and method |
| CN111726532B (en) * | 2020-06-30 | 2021-08-27 | 北京环境特性研究所 | Windowing alarm detection system and method |
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