CN109788170A - It is a kind of based on infrared with video image processing system and method for visible light - Google Patents
It is a kind of based on infrared with video image processing system and method for visible light Download PDFInfo
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Abstract
The present invention discloses a kind of based on infrared and video image processing system and method for visible light, including infrared optical system, visible light optical system, infrared sensor, visible light sensor, image processing module and image export mould group, infrared sensor obtains the infrared data analog signal of target scene by infrared optical system in real time, visible light sensor obtains the visible light digital signal of target scene by visible light optical system in real time and will be seen that light digital data transmission to image processing module, it further include the interface circuit of transmitted in both directions, for handling infrared data analog signal and visible light digital signal in real time and being transferred to image processing module while controlling infrared sensor and visible light sensor, image processing module is used to carry out image imaging to infrared data information and visible data information, thermometric, fusion and progress target Retrieval, classification and identification, image output mould group is for exporting image processing module analysis treated image information.
Description
Technical field
The invention belongs to digital image processing techniques fields, and in particular to a kind of based on infrared and visible light video image
Processing system and method.
Background technique
Thermal imaging system based on infrared focal plane array (Infrared Focal Plane Arrays, IRFPA) is to work as
It is modern to rapidly develop both at home and abroad, and the photoelectric imaging technology that application field constantly extends.Thermal imaging of new generation has structure letter
The features such as single, stable and reliable in work, high sensitivity, good temperature resolving power, simultaneously because system have round-the-clock, good concealment,
Operating distance is remote, is not easy to interfere for enemy, and extremely wide application is suffered from military field and civil field.
Non-refrigerated infrared detector is since its is small in size in existing infrared imaging system, and the advantages such as low in energy consumption are in occupation of master
Status is wanted, but the infrared detector of non-refrigeration type has the problems such as heterogeneity is poor, vulnerable to environmental factor interference.It deposits currently on the market
Non-refrigeration type thermal infrared imager, function and algorithm process are mostly realized using FPGA, are limited to system resource, it is difficult to realize
More complicated image processing algorithm causes image quality and application range not fully up to expectations, and there are at high cost, upgrading is difficult, function
The problems such as it is difficult to extend, and application flexibility is poor does not meet the demand and future development trend of the application of thermal imaging product consumption market.
Summary of the invention
The purpose of the invention is to overcome the deficiencies of the prior art and provide a kind of inexpensive, easy exploiting, function expansibility
Strong video image processing system and method, the present invention carry out infrared and visible light double wave segment information by image processing module
Processing constructs intelligent vision processing system, meets under different situations the difference of the needs of to imaging, and a variety of image procossings is supported to calculate
Method can be handled with real-time perfoming Nonuniformity Correction, image noise reduction, image adaptive enhancing, dynamic range compression etc., in addition,
The present invention also supports the functions such as the accurate thermometric of full width, sensation target intelligent detecting, identification and tracking, has high integration.
To achieve the goals above, the technical solution adopted by the present invention are as follows:
It is a kind of based on infrared with visible light video image processing system, including it is infrared optical system, visible light optical system, red
Outer sensor, visible light sensor, image processing module and image export mould group, and infrared sensor passes through infrared optical system reality
When obtain the infrared data analog signal of target scene, it is seen that optical sensor obtains target field by visible light optical system in real time
The visible light digital signal of scape simultaneously will be seen that light digital data transmission further includes the interface electricity of transmitted in both directions to image processing module
Road, for handling infrared data analog signal and visible light digital signal in real time and being transferred to image processing module while controlling red
Outer sensor and visible light sensor, image processing module include image image-forming module, total radiation temperature measurement module, image co-registration mould
Block and Classification and Identification module are respectively used to carry out image imaging, thermometric, fusion to infrared data information and visible data information
And target retrieval, classification and identification are carried out, image output mould group treated for exporting image processing module analysis image
Information.
Preferably, image processing module is the integrated chip based on DSP and CPU/MPU framework.
Preferably, interface circuit is ADC and FPGA interface circuit, and adc circuit is used for the simulation for exporting infrared sensor
Voltage carry out digital quantization, FPGA for realizing to infrared sensor and light-exposed sensor Timing driver and register configuration with
And the infrared data after visible light digital signal and adc circuit quantization is analyzed and processed.
Further, image output mould group include Wifi interface, BT interface, CMOS interface, LAN interface, MIPI interface,
HDMI interface, USB interface and LCD interface.
Further, the software architecture of image processing module successively includes: BSP layers from bottom to top layer, in system
Interface driver；Middleware layer is used for Visual image processing and audio/video encoding/decoding；Image algorithm layer is used for infrared image
Processing, image co-registration, total radiation thermometric and target detection identification and offer image algorithm API, for application layer according to different
Application mode carries out flexible combination, completes to customize application；Application layer, for providing the information exchange of application program needs and remote
Journey operation.
Further, which further includes power management module and display module, and the power management module is used to supply system
Electricity, regulation output voltage and management electrifying timing sequence, the display module are used to show the video image of image processing module output,
The power management module is connect with image processing module, and the display module is connect with image output mould group.
It is a kind of based on infrared with visible light method of video image processing, comprising the following steps:
(1) infrared sensor obtains the infrared data analog signal of target scene by infrared optical system in real time, it is seen that light passes
Sensor obtains the visible light digital signal of target scene by visible light optical system in real time and will be seen that light digital data transmission
To image processing module, while infrared data analog signal and visible light digital signal are by being transferred to figure after interface circuit processing
As processing module, interface circuit controls visible light sensor and infrared sensor simultaneously；
(2) the image image-forming module in image processing module, total radiation temperature measurement module, image co-registration module and Classification and Identification module
Infrared data information and visible data information to input carry out image imaging, thermometric, fusion and carry out target retrieval, divide
Class and identifying processing；
(3) it is exported by image processing module treated video image by image output mould group, and in display module
Upper display.
Further, image image-forming module carries out blind element detection and compensates, is non-equal to the data information of input in step (2)
Even property correction, image noise reduction, image detail enhancing and dynamic compression processing；Image co-registration module believes the visible data of input
Breath and infrared data information carry out image registration, processing and fusion；Picture recognition module is by sample collection and training study, so
Feature selecting carried out to the data information that transmission comes based on training study afterwards and is extracted and progress sensation target detection and classification
Identification.
Further, image noise reduction processing method includes median filtering method, bilateral filtering method and based on multi-scale transform
Wavelet de-noising method.
Further, image detail enhancing and dynamic compression processing method the following steps are included:
(a) low-pass filtering is carried out to visible light and infrared image, respectively obtains visible images low frequency component figure and infrared image
Low frequency component figure；
(b) calculus of differences is carried out with visible images low frequency component with the visible images before filtering, it is high obtains visible images
Frequency division spirogram；Calculus of differences is carried out with infrared image low frequency component with the infrared image before filtering, obtains the high frequency division of infrared image
Spirogram；
(c) image stretch is carried out to visible images low frequency component figure and infrared image low frequency component figure；Described image stretches logical
Cross the realization of Double tabletop histogram equalization algorithm；
(d) the visible images low frequency component figure to visible images high fdrequency component figure and after stretching carries out linear weighted function compression,
And the infrared image low frequency component figure to infrared image high fdrequency component figure and after stretching carries out linear weighted function compression, obtains respectively
Enhanced visible images and infrared image.
Compared with prior art, beneficial effects of the present invention:
(1) present invention is by the interface circuit of setting transmitted in both directions, not only can be to infrared and can will be at light data information
Reason can adjust infrared sensor by command interaction by handling infrared and visible light double wave segment information in real time
With the working region of visible light sensor, infrared and visible light sensor is set to be worked at any time in optimum working zone, to guarantee it
Dynamic range is big as far as possible, and measurement range is wide as far as possible and far from saturation region；
(2) present invention is by constructing intelligent vision processing system, meeting not to infrared and can handle light double wave segment information
With, to the demand difference of image imaging, a variety of image procossings are supported in situation, can be dropped with real-time perfoming Nonuniformity Correction, image
It makes an uproar, image adaptive enhancing, the processing such as dynamic range compression.In addition, the present invention also supports the accurate thermometric of full width, sensation target intelligence
The functions such as energy detection, identification and tracking, at low cost, integrated level is high, low in energy consumption, function expansibility is strong, processing capacity is various
The features such as.
Detailed description of the invention
Fig. 1 is the schematic illustration of present system；
Fig. 2 is the schematic illustration that infrared sensor and visible light sensor are connect with interface circuit in the present invention；
Fig. 3 is the software platform architecture diagram of image processing module in the present invention.
Specific embodiment
It below with reference to Fig. 1 and Fig. 3, elaborates to embodiments of the present invention and specific operating process, but this hair
Bright protection scope is not limited to the following embodiments.
The invention discloses a kind of based on infrared and visible light video image processing system, as shown in Figure 1, including infrared
Optical system, visible light optical system, infrared sensor, visible light sensor, the interface circuit of transmitted in both directions, image procossing mould
Block and image export mould group, and infrared sensor obtains the infrared data simulation letter of target scene by infrared optical system in real time
Number, it is seen that optical sensor obtains the visible light digital signal of target scene by visible light optical system in real time and will be seen that light number
Word signal is transferred to image processing module by data-interface, and the interface circuit of transmitted in both directions for handling infrared data mould in real time
Quasi- signal and visible light digital signal and image processing module is transferred to by data-interface and meanwhile control infrared sensor with can
Light-exposed sensor adjusts the working region of infrared sensor and visible light sensor in real time；Image processing module include image at
As module, total radiation temperature measurement module, image co-registration module and Classification and Identification module, it is respectively used to infrared data information and visible
Light data information carries out image imaging, thermometric, fusion and carries out target retrieval, classification and identification, and image output mould group is used for
Export image processing module analysis treated image information.It is obtained it is noted herein that being handled by visible light sensor
There are two kinds of delivering paths for the visible light digital signal taken, and image processing module can be both transferred to by interface circuit can also be with
It is transferred directly to image processing module.
Specifically, it is seen that the data-interface between optical sensor and image processing module include but is not limited to CIF interface and
USB interface, the data-interface between interface circuit and image processing module include but is not limited to BT656 interface, MIPI interface and
CIF interface.Infrared lens in mid-infrared light system of the present invention are the infrared germanium camera lens of continuous vari-focus, and infrared sensor is using non-
Refrigeration focal surface array, imaging band are 8-14 microns；The visible light lens of visible light optical system use continuous magnification lens,
Visible light sensor is ccd sensor or cmos sensor.It should be noted that infrared optical system and visible optical system
Optical axis is equidirectional and is parallel to each other, and infrared sensor and visible light sensor are conveyed to the video image of image processing module
Frame synchronization is needed, in order to carry out image registration.
In the present invention, interface circuit is ADC and FPGA interface circuit, as shown in Fig. 2, adc circuit is used for infrared biography
The analog voltage of sensor output carries out digital quantization, and FPGA is for realizing the Timing driver to infrared sensor and light-exposed sensor
It is analyzed and processed with register configuration and to the infrared data after visible light digital signal and adc circuit quantization.By setting
Setting the interface circuit of transmitted in both directions not only can be to infrared and can handle light data information by infrared and visible light
Double wave segment information is handled, and can adjust the work of infrared sensor and visible light sensor in real time by command interaction
Region makes infrared and visible light sensor be worked at any time in optimum working zone, to guarantee that its dynamic range is big as far as possible, measures model
Enclose wide as far as possible and separate saturation region.
Preferably, image processing module is the integrated chip based on DSP and CPU/MPU framework, and specifically, DSP is for scheming
As processing, thermometric, fusion and Motion parameters processing, CPU/MPU are used for the timing control of DSP platform and peripheral interface circuit
System, initial configuration and data communication；Image processing module is expanded using layering and the software architecture of configuration convenient for system function
The quick exploitation of exhibition and application, as shown in figure 3, its software architecture successively includes: BSP layers from bottom to top layer, in system
Interface driver, such as display driving, audio-video driving, Wifi driving, USB driving, power management driving；Middleware layer is used
In Visual image processing and audio/video encoding/decoding, including H.264, image 3D noise reduction, wide dynamic WDR, intelligent jitter elimination, go
Staggeredly, defogging etc. is handled；Image algorithm layer carries out infrared image processing, image co-registration, total radiation survey on the basis of middleware layer
Mild target detection identification and offer image algorithm API carry out flexible combination according to different application modes for application layer, complete
It is applied at customizing；Application layer can be applied to driving note for providing the information exchange and remote operation of application program needs
Record instrument, unmanned plane, smart home and video monitoring etc..In this system, image processing module can be micro- using auspicious core
Rockchip " wisdom visual development platform " RV1108 chip, the chip embed DSP and CPU, with powerful opening and can
Becoming property has the technologies such as intelligent image processing, can realize high energy efficiency intelligent vision and image perception in embedded systems, but
Image processing module in the present invention is not merely defined in this chip, and the present invention is not specifically limited.
It is exported in many ways for the ease of video image, the image output mould group in the present invention includes but is not limited to Wifi
Interface, BT interface, CMOS interface, LAN interface, MIPI interface, HDMI interface, USB interface and LCD interface.
Further, which further includes power management module and display module, and power management module is used to supply system
Electricity, regulation output voltage and management electrifying timing sequence, it is preferred to use the PMU chip RK805 of the auspicious micro- Rockchip of core, but the present invention is not
It is specifically limited.Display module is used to show the video image of image processing module output, can use LCD display or LED
Display.Power management module is connect with image processing module, and display module is connect with image output mould group.
Based on the above-mentioned infrared video image processing system with visible light, the present invention also provides a kind of infrared and visible light
Method of video image processing, comprising the following steps:
(1) infrared sensor obtains the infrared data analog signal of target scene by infrared optical system in real time, it is seen that light passes
Sensor obtains the visible light digital signal of target scene by visible light optical system in real time and will be seen that light digital data transmission
To image processing module, while infrared data analog signal and visible light digital signal are by being transferred to figure after interface circuit processing
As processing module, interface circuit controls visible light sensor and infrared sensor simultaneously；
(2) the image image-forming module in image processing module, total radiation temperature measurement module, image co-registration module and Classification and Identification module
Image imaging, thermometric, fusion are carried out to infrared data information and visible data information and carry out target retrieval, classification and knowledge
Other places reason；Wherein, image image-forming module carries out blind element detection and compensation, Nonuniformity Correction, image to the data information of input
Noise reduction, image detail enhancing and dynamic compression processing.Asymmetric correction method includes correction based on radiation calibration and is based on
The correcting algorithm of scene；Image noise reduction processing method includes median filtering method, bilateral filtering method and based on the small of multi-scale transform
Wave Method of Noise.Wherein the weight of two-sided filter is equal to the product of spatial neighbor degree and the brightness similarity factor, weighs in the present invention
Repeated root tables look-up to obtain according to the distance and gray scale difference of two pixels.The spatial neighbor degree factor is according to the alternate position spike meters of two pixels
It calculates.According to the template-setup of bilateral filtering, the distance of each pixel and central point be it is known, then its spatial neighbor degree factor has been
Know.The brightness similarity factor is calculated according to the direct color difference of two pixels, for infrared image, the model of this difference
Enclosing anticipated that, i.e. [- 16384,16384].So first according to the spatial neighbor degree factor and color difference generate weight because
Sub- precomputation table tables look-up to obtain weight when actually carrying out bilateral filtering calculating according to the distance of two pixels and gray scale difference.
Image co-registration module carries out image registration, processing and fusion to the visible data information and infrared data information of input；Image
Identification module is then based on training study and carries out feature selecting to the data information that transmission comes by sample collection and training study
With extraction and progress sensation target detection and Classification and Identification；
(3) it is exported by image processing module treated video image by image output mould group, and in display module
Upper display.
Specifically, in step (2), image detail enhancing and dynamic compression processing method the following steps are included:
(a) low-pass filtering is carried out to visible light and infrared image, respectively obtains visible images low frequency component figure and infrared image
Low frequency component figure；
(b) calculus of differences is carried out with visible images low frequency component with the visible images before filtering, it is high obtains visible images
Frequency division spirogram；Calculus of differences is carried out with infrared image low frequency component with the infrared image before filtering, obtains the high frequency division of infrared image
Spirogram；
(c) image stretch is carried out to visible images low frequency component figure and infrared image low frequency component figure；Described image stretches logical
Cross the realization of Double tabletop histogram equalization algorithm；
(d) the visible images low frequency component figure to visible images high fdrequency component figure and after stretching carries out linear weighted function compression,
And the infrared image low frequency component figure to infrared image high fdrequency component figure and after stretching carries out linear weighted function compression, obtains respectively
Enhanced visible images and infrared image.
Image algorithm in the present invention uses Vector-C multiple programming technology, improves image processing efficiency.It utilizes
Vector-C vector sliding window technology, realizes parallel memory Accessing Mechanism, may have access to multiple memory address in single command cycle, make
Multiple features can be loaded in single vector by obtaining, and can play DSP high-performance treatments ability in this way.
Vector-C vector sliding window technology reuses data effectively, to reduce internal storage access and reduce power consumption.
Kernel can improve performance using sliding window instruction when including duplicate input source.The flexibility of sliding window instruction keeps user efficient
2D filtering needed for completing, the operation such as convolution sum bilateral filtering.Sliding window source includes two data vectors, picture respectively to be processed
Prime element and a vector comprising filter coefficient.Pixel element and filter coefficient are read into two vector deposits respectively
Device carries out sliding window operation, sequence selected pixels element and filter coefficient first from two vector registers, then by pixel
Data and filter coefficient, which are mapped, carries out convolution operation, and by the number in the result of convolution algorithm and purpose vector register
Value is cumulative, and wherein purpose vector register is mainly used for saving the operation result of above-mentioned two vector register.According to the above step
Rapid operation can be run concurrently repeatedly and (generate the results such as 8,16,32).After the completion of current pixel element operation, sliding window
It deviates a pixel and continues to run until that all image pixel processing are completed.
The present invention constructs intelligent vision processing system, meets by handling infrared and visible light double wave segment information
To the demand difference of image imaging under different situations, a variety of image procossings are supported, it can be with real-time perfoming Nonuniformity Correction, image
The processing such as noise reduction, image adaptive enhancing, dynamic range compression, in addition, the present invention also supports the accurate thermometric of full width, sensation target
The functions such as intelligent detecting, identification and tracking, at low cost, integrated level is high, low in energy consumption, function expansibility is strong, processing capacity is more
The features such as sample.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc. should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. it is a kind of based on infrared with visible light video image processing system, including infrared optical system, visible light optical system,
Infrared sensor, visible light sensor, image processing module and image export mould group, and infrared sensor passes through infrared optical system
The infrared data analog signal of target scene is obtained in real time, it is seen that optical sensor obtains target by visible light optical system in real time
The visible light digital signal of scene simultaneously will be seen that light digital data transmission to image processing module, which is characterized in that further include double
To the interface circuit of transmission, for handling infrared data analog signal and visible light digital signal in real time and being transferred to image procossing
Module controls infrared sensor and visible light sensor simultaneously, and image processing module includes image image-forming module, total radiation thermometric
Module, image co-registration module and Classification and Identification module are respectively used to carry out figure to infrared data information and visible data information
As imaging, thermometric, fusion and target retrieval, classification and identification are carried out, image output mould group is for exporting image processing module
Analysis treated image information.
2. according to claim 1 based on infrared and visible light video image processing system, which is characterized in that the figure
As processing module is the integrated chip based on DSP and CPU/MPU framework.
3. according to claim 1 based on infrared and visible light video image processing system, which is characterized in that described to connect
Mouth circuit is ADC and FPGA interface circuit, and the analog voltage that adc circuit is used to export infrared sensor carries out digital quantization,
FPGA believes for realizing the Timing driver and register configuration to infrared sensor and light-exposed sensor and to visible light number
Number and adc circuit quantization after infrared data be analyzed and processed.
4. according to claim 1 based on infrared and visible light video image processing system, which is characterized in that the figure
As output mould group includes Wifi interface, BT interface, CMOS interface, LAN interface, MIPI interface, HDMI interface, USB interface and LCD
Interface.
5. according to claim 1 based on infrared and visible light video image processing system, which is characterized in that the figure
As the software architecture of processing module successively includes: BSP layers from bottom to top layer, for the interface driver in system；Middleware layer,
For Visual image processing and audio/video encoding/decoding；Image algorithm layer is used for infrared image processing, image co-registration, total radiation
Thermometric and target detection identification and offer image algorithm API carry out flexible combination according to different application modes for application layer,
It completes to customize application；Application layer, for providing the information exchange and remote operation of application program needs.
6. according to any one of claims 1 to 5 based on infrared and visible light video image processing system, feature exists
In, further include power management module and display module, the power management module be used for system power supply, regulation output voltage and
Electrifying timing sequence is managed, the display module is used to show the video image of image processing module output, the power management module
It is connect with image processing module, the display module is connect with image output mould group.
7. a kind of according to any one of claims 1 to 5 based on the infrared view with the video image processing system of visible light
Frequency image processing method, which comprises the following steps:
(1) infrared sensor obtains the infrared data analog signal of target scene by infrared optical system in real time, it is seen that light passes
Sensor obtains the visible light digital signal of target scene by visible light optical system in real time and will be seen that light digital data transmission
To image processing module, while infrared data analog signal and visible light digital signal are by being transferred to figure after interface circuit processing
As processing module, interface circuit controls visible light sensor and infrared sensor simultaneously；
(2) the image image-forming module in image processing module, total radiation temperature measurement module, image co-registration module and Classification and Identification module
Infrared data information and visible data information to input carry out image imaging, thermometric, fusion and carry out target retrieval, divide
Class and identifying processing；
(3) it is exported by image processing module treated video image by image output mould group, and in display module
Upper display.
8. according to claim 7 a kind of based on infrared and visible light method of video image processing, which is characterized in that step
Suddenly in (2) image image-forming module to the data information of input carry out blind element detection and compensation, Nonuniformity Correction, image noise reduction,
Image detail enhancing and dynamic compression processing；Image co-registration module to the visible data information of input and infrared data information into
Row image registration, processing and fusion；Picture recognition module is then based on training study to biography by sample collection and training study
Defeated next data information carries out feature selecting and extracts and carry out sensation target detection and Classification and Identification.
9. according to claim 8 a kind of based on infrared and visible light method of video image processing, which is characterized in that figure
As noise reduction process method includes median filtering method, bilateral filtering method and wavelet de-noising method based on multi-scale transform.
10. according to claim 8 a kind of based on infrared and visible light method of video image processing, which is characterized in that
Image detail enhancing and dynamic compression processing method the following steps are included:
(a) low-pass filtering is carried out to visible light and infrared image, respectively obtains visible images low frequency component figure and infrared image
Low frequency component figure；
(b) calculus of differences is carried out with visible images low frequency component with the visible images before filtering, it is high obtains visible images
Frequency division spirogram；Calculus of differences is carried out with infrared image low frequency component with the infrared image before filtering, obtains the high frequency division of infrared image
Spirogram；
(c) image stretch is carried out to visible images low frequency component figure and infrared image low frequency component figure；Described image stretches logical
Cross the realization of Double tabletop histogram equalization algorithm；
(d) the visible images low frequency component figure to visible images high fdrequency component figure and after stretching carries out linear weighted function compression,
And the infrared image low frequency component figure to infrared image high fdrequency component figure and after stretching carries out linear weighted function compression, obtains respectively
Enhanced visible images and infrared image.
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