CN110543015B - Non-three-dimensional imaging binocular vision infrared image target tracking device and method - Google Patents
Non-three-dimensional imaging binocular vision infrared image target tracking device and method Download PDFInfo
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Abstract
The invention discloses a non-three-dimensional imaging binocular vision infrared image target tracking device and method, and belongs to the technical field of image processing and target tracking. The device comprises a collimating lens, a half-reflecting and half-transmitting lens, a first imaging objective lens and a first image sensor, wherein the collimating lens and the half-reflecting and half-transmitting lens are sequentially arranged along the light propagation direction; the imaging system also comprises a reflecting prism, a second imaging objective lens and a second image sensor which are arranged on the semi-reflecting and semi-transmitting mirror reflection optical path, wherein the image plane of the second image sensor is superposed with the focal plane of the second imaging objective lens; the first image sensor is rotatable; the method comprises the steps that firstly, whether a target rotates or not is judged by using a second image sensor, and whether the target moves along or in the direction vertical to the radius or not is judged by using two parameters obtained by a first image sensor under the condition of no rotation; the invention can identify the two-dimensional motion direction of the non-rotating target and is used for realizing target tracking.
Description
Technical Field
A non-three-dimensional imaging binocular vision infrared image target tracking device and method belong to the technical field of image processing and target tracking.
Background
Visual target tracking is an important research direction in computer vision, and has wide application in the fields of video monitoring, man-machine interaction, unmanned driving and the like.
In the last two thirty years, the machine vision target tracking technology has made great progress, and particularly in the last two years, a satisfactory effect is achieved by using a deep learning target tracking method, so that the target tracking technology has made a breakthrough progress.
However, moving object tracking is a very challenging task because the moving scene is very complex and changes frequently for a moving object, or the object itself changes continuously. In addition, factors such as illumination, low resolution, motion blur, beyond-field, rotation and the like also bring difficulty to target tracking.
For tracking military targets, such as tracking target vehicles on open land and tracking ships on the sea, the method has important strategic significance, and often utilizes the characteristic that the temperature of the target is different from the background, and infrared images are often adopted for tracking the targets, so that influence factors such as shielding, background mottle and the like can be effectively avoided.
However, there is still two-dimensional motion and rotation of the target in the horizontal plane. Because only the coordinates of a military target are concerned, how to acquire the two-position motion of the target under the influence of rotation is a technical problem to be solved urgently in the field.
Disclosure of Invention
Aiming at the technical requirements, the invention discloses a non-three-dimensional imaging binocular vision infrared image target tracking device and method, and also discloses a binocular vision bracket and a target turning judgment method, wherein when a target has two-dimensional motion and turning in a horizontal plane, the two-dimensional motion direction of the target is judged.
The purpose of the invention is realized as follows:
a non-three-dimensional imaging binocular vision infrared image target tracking device comprises a collimating lens, a half-reflecting half-transmitting lens, a first imaging objective lens and a first image sensor, wherein the collimating lens and the half-reflecting half-transmitting lens are sequentially arranged along the light propagation direction; the optical lens system further comprises a reflecting prism, a second imaging objective lens and a second image sensor which are arranged on the semi-reflecting and semi-transmitting mirror reflection optical path, wherein the image plane of the second image sensor is superposed with the focal plane of the second imaging objective lens; the first image sensor can rotate at a constant speed by taking a vertical direction as an axis.
A binocular vision support comprises an upper plate and a lower plate which are sequentially and horizontally arranged from top to bottom, wherein the two sides of the upper plate and the lower plate are connected through a connecting rod, a second image sensor is fixedly installed at the top of the upper plate, a through hole is formed in the lower plate, a bearing which is installed in an interference fit mode with the through hole is arranged in the through hole, a rotating shaft is installed in the bearing in an interference fit mode, the lower portion of the rotating shaft is connected with a motor through a coupler, and a first image sensor is installed above the rotating shaft through threads; the motor rotates at a constant speed to drive the rotating shaft to rotate at a constant speed, and further the first image sensor is driven to rotate at a constant speed by taking the vertical direction as an axis.
A non-three-dimensional imaging binocular vision infrared image target tracking method requires a first image sensor to image under the condition of uniform rotation by taking a vertical direction as an axis, and the rotation angular speed is omega; the second image sensor is used for imaging under a fixed condition; the method comprises the following steps:
step a, judging whether a target has a rotating body by using a second image sensor, if:
if yes, returning to the step a;
if not, entering the step b;
step b, recording the time t when the target enters the field of view of the first image sensor for the nth timen,1And time t of nth departure from field of view of the first image sensorn,2(ii) a Recording the time t when the target enters the field of view of the first image sensor n +1 timesn+1,1And time t of leaving the field of view of the first image sensor n +1 timesn+1,2；
Step c, judging tn,2-tn,1And tn+1,2-tn+1,1If:
tn,2-tn,1＞tn+1,2-tn+1,1the target is far away from the target tracking device along the radius direction;
tn,2-tn,1＞tn+1,2-tn+1,1the target approaches the target tracking device along the radius direction;
tn,2-tn,1＞tn+1,2-tn+1,1no motion of the target along the radius direction;
the radius direction is the connecting direction of the target and the target tracking device;
step d, judgment
And
if:
the radius direction is a connecting direction of the target and the target tracking device.
An image-based target swivel judgment method comprises the following steps:
step a, when the target enters the first image sensor for the nth time, the second image sensor images to obtain an image f1When the target enters the first image sensor for the (n + 1) th time, the second image sensor images to obtain an image f2；
Step b, aiming at the image f1Performing 2 × 2 expansion to obtain an image f3；
Step c, calculating according to the following formula
Wherein M × N is f1Or image f2The resolution of (a); i and j represent the ith row and jth column of the image, respectively; x is 1,2, …, M, y is 1,2, …, N;
step d, judging whether max [ r (x, y) ] is smaller than a threshold value, if:
it is, the target does not have a swivel;
otherwise, the target has a swivel.
Has the advantages that:
firstly, the binocular vision technology is adopted, but the binocular vision technology is different from the traditional binocular vision technology in that the binocular vision of the invention is operated independently, and each camera is responsible for processing respective information, so that the arrangement simplifies the work of calibration and the like of the binocular vision;
secondly, the method can take the target entering the view field and leaving the view field as favorable factors on the basis of not establishing a three-dimensional image, can judge the two-dimensional movement directions of the target by only acquiring four time parameters, has simple calculation and high operation speed, and is favorable for tracking the high-speed moving target;
thirdly, whether the target has a rotating body can be judged only through a core formula, so that the influence on the judgment of the target position is avoided when the target translates and rotates simultaneously;
the invention also provides a structure of the binocular vision bracket.
Drawings
FIG. 1 is a light path diagram of a non-three-dimensional imaging binocular vision infrared image target tracking device of the invention.
Fig. 2 is a schematic structural view of the binocular vision bracket of the present invention.
In the figure: the device comprises a collimator 1, a half-reflecting half-transmitting mirror 2, a first imaging objective 3, a first image sensor 4, a reflecting prism 5, a second imaging objective 6, a second image sensor 7, an upper plate 11, a lower plate 12, a connecting rod 13, a bearing 14, a rotating shaft 15 and a motor 16.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Detailed description of the invention
The embodiment is an example of a non-three-dimensional imaging binocular vision infrared image target tracking device.
The optical path diagram of the non-three-dimensional imaging binocular vision infrared image target tracking device of the embodiment is shown in fig. 1. The device comprises a collimator lens 1 and a semi-reflecting and semi-transmitting lens 2 which are sequentially arranged along the light propagation direction, and further comprises a first imaging objective lens 3 and a first image sensor 4 which are arranged on the transmission light path of the semi-reflecting and semi-transmitting lens 2, wherein the image plane of the first image sensor 4 is superposed with the focal plane of the first imaging objective lens 3; the imaging device further comprises a reflecting prism 5, a second imaging objective 6 and a second image sensor 7 which are arranged on a reflection light path of the half-reflecting and half-transmitting mirror 2, wherein an image plane of the second image sensor 7 is superposed with a focal plane of the second imaging objective 6; the first image sensor 4 can rotate at a constant speed with a vertical direction as an axis.
Detailed description of the invention
The present embodiment is an example of a binocular vision support.
The binocular vision support of the embodiment is shown in fig. 2 in a schematic structural diagram, and comprises an upper plate 11 and a lower plate 12 which are sequentially horizontally arranged from top to bottom, two sides of the upper plate 11 and the lower plate 12 are connected through a connecting rod 13, a second image sensor 7 is fixedly mounted at the top of the upper plate 11, a through hole is formed in the lower plate 12, a bearing 14 which is in interference fit with the through hole is arranged in the through hole, a rotating shaft 15 is mounted in the bearing 14 in interference fit with an inner ring, the lower part of the rotating shaft 15 is connected with a motor 16 through a coupler, and a first image sensor 4 is mounted above the rotating shaft 15 through threads; the motor 16 rotates at a constant speed to drive the rotating shaft 15 to rotate at a constant speed, and further drive the first image sensor 4 to rotate at a constant speed by taking the vertical direction as an axis.
It should be noted that the binocular vision bracket of the present embodiment may be implemented alone, or may be implemented on the basis of the first specific embodiment.
Detailed description of the invention
The embodiment is an embodiment of a non-three-dimensional imaging binocular vision infrared image target tracking method.
The non-three-dimensional imaging binocular vision infrared image target tracking method of the embodiment requires that the first image sensor 4 images under the condition of uniform rotation by taking the vertical direction as an axis, and the rotation angular speed is omega; the second image sensor 7 images under stationary conditions; the method comprises the following steps:
step a, judging whether a target has a rotating body by using a second image sensor 7, if:
if yes, returning to the step a;
if not, entering the step b;
step b, recording the time t when the target enters the field of view of the first image sensor 4 for the nth timen,1And the time t of the nth departure from the field of view of the first image sensor 4n,2(ii) a The time t at which the target enters the field of view of the first image sensor 4 n +1 is recordedn+1,1And time t of leaving the field of view of the first image sensor 4 n +1 timesn+1,2；
Step c, judging tn,2-tn,1And tn+1,2-tn+1,1If:
tn,2-tn,1＞tn+1,2-tn+1,1the target is far away from the target tracking device along the radius direction;
tn,2-tn,1＞tn+1,2-tn+1,1the target approaches the target tracking device along the radius direction;
tn,2-tn,1＞tn+1,2-tn+1,1no motion of the target along the radius direction;
the radius direction is the connecting direction of the target and the target tracking device;
step d, judgment
And
if:
the radius direction is a connecting direction of the target and the target tracking device.
It should be noted that the binocular vision bracket of the present embodiment is implemented on the basis of the first embodiment or the second embodiment.
Detailed description of the invention
The present embodiment is an example of an image-based target swivel determination method.
The target swivel judging method based on the image comprises the following steps:
step a, when the target enters the first image sensor 4 for the nth time, the second image sensor 7 images to obtain an image f1When the target enters the first image sensor 4 for the (n + 1) th time, the second image sensor 7 images to obtain an image f2；
Step b, aiming at the image f1Performing 2 × 2 expansion to obtain an image f3；
Step c, calculating according to the following formula
Wherein M × N is f1Or image f2The resolution of (a); i and j represent the ith row and jth column of the image, respectively; x is 1,2, …, M, y is 1,2, …, N;
step d, judging whether max [ r (x, y) ] is smaller than a threshold value, if:
it is, the target does not have a swivel;
otherwise, the target has a swivel.
It should be noted that the binocular vision bracket of the present embodiment is implemented on the basis of the first embodiment, the second embodiment or the third embodiment.
Claims (1)
1. A non-three-dimensional imaging binocular vision infrared image target tracking method is realized on a non-three-dimensional imaging binocular vision infrared image target tracking device, the non-three-dimensional imaging binocular vision infrared image target tracking device comprises a collimating lens (1) and a half-reflecting and half-transmitting lens (2) which are sequentially arranged along a light propagation direction, and further comprises a first imaging objective lens (3) and a first image sensor (4) which are arranged on a transmission light path of the half-reflecting and half-transmitting lens (2), wherein an image plane of the first image sensor (4) is superposed with a focal plane of the first imaging objective lens (3); the imaging device also comprises a reflecting prism (5), a second imaging objective lens (6) and a second image sensor (7) which are arranged on a reflection light path of the half-reflecting and half-transmitting mirror (2), wherein an image plane of the second image sensor (7) is superposed with a focal plane of the second imaging objective lens (6); the non-three-dimensional imaging binocular vision infrared image target tracking device further comprises a binocular vision support, the binocular vision support comprises an upper plate (11) and a lower plate (12) which are sequentially and horizontally arranged from top to bottom, two sides of the upper plate (11) and the lower plate (12) are connected through a connecting rod (13), a second image sensor (7) is fixedly mounted at the top of the upper plate (11), a through hole is formed in the lower plate (12), a bearing (14) which is in interference fit with the through hole is arranged in the through hole, a rotating shaft (15) is mounted in the bearing (14) in an interference fit manner, the lower part of the rotating shaft (15) is connected with a motor (16) through a coupler, and a first image sensor (4) is mounted above the rotating shaft (15) through threads; the motor (16) rotates at a constant speed to drive the rotating shaft (15) to rotate at a constant speed, and further drive the first image sensor (4) to rotate at a constant speed by taking the vertical direction as an axis;
it is characterized in that the preparation method is characterized in that,
the first image sensor (4) can rotate at a constant speed by taking the vertical direction as an axis; the first image sensor (4) is required to image under the condition of uniform rotation by taking the vertical direction as an axis, and the rotation angular speed is omega; the second image sensor (7) images under a fixed condition;
the non-three-dimensional imaging binocular vision infrared image target tracking method comprises the following steps:
step a, judging whether a target has a rotating body by using a second image sensor (7), if so:
if yes, returning to the step a;
if not, entering the step b;
step b, recording the time t when the target enters the field of view of the first image sensor (4) for the nth timen,1And the time t of the nth departure from the field of view of the first image sensor (4)n,2(ii) a Recording the time t when the target enters the field of view of the first image sensor (4) n +1 timesn+1,1And time t of leaving the field of view of the first image sensor (4) n +1 timesn+1,2；
Step c, judging tn,2-tn,1And tn+1,2-tn+1,1If:
tn,2-tn,1＜tn+1,2-tn+1,1the target is far away from the target tracking device along the radius direction;
tn,2-tn,1＞tn+1,2-tn+1,1the target approaches the target tracking device along the radius direction;
tn,2-tn,1＝tn+1,2-tn+1,1no motion of the target along the radius direction;
the radius direction is the connecting direction of the target and the target tracking device;
step d, judgment
And
if:
the radius direction is the direction of the connection line between the target and the target tracking device.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101334276A (en) * | 2007-06-27 | 2008-12-31 | 中国科学院自动化研究所 | Visual sense measurement method and device |
| CN106343950A (en) * | 2016-09-28 | 2017-01-25 | 天津工业大学 | Fundus camera binocular stereo-imaging system based on eye model |
| CN108351654A (en) * | 2016-02-26 | 2018-07-31 | 深圳市大疆创新科技有限公司 | System and method for visual target tracking |
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| CN105752580B (en) * | 2016-01-31 | 2017-07-04 | 西北农林科技大学 | A kind of cereal simple grain dynamic transport and binocular image harvester |
| CN106227241A (en) * | 2016-08-01 | 2016-12-14 | 西北工业大学 | A kind of motion platform double-view field double loop scan tracing system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101334276A (en) * | 2007-06-27 | 2008-12-31 | 中国科学院自动化研究所 | Visual sense measurement method and device |
| CN108351654A (en) * | 2016-02-26 | 2018-07-31 | 深圳市大疆创新科技有限公司 | System and method for visual target tracking |
| CN106343950A (en) * | 2016-09-28 | 2017-01-25 | 天津工业大学 | Fundus camera binocular stereo-imaging system based on eye model |
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