CN110602402A - Single-sensor double-image-plane aerial camera image focus detection device and method - Google Patents
Single-sensor double-image-plane aerial camera image focus detection device and method Download PDFInfo
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- CN110602402A CN110602402A CN201910885666.2A CN201910885666A CN110602402A CN 110602402 A CN110602402 A CN 110602402A CN 201910885666 A CN201910885666 A CN 201910885666A CN 110602402 A CN110602402 A CN 110602402A
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
- G03B13/32—Means for focusing
- G03B13/34—Power focusing
- G03B13/36—Autofocus systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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Abstract
A single-sensor double-image-surface aerial camera image focus detection device and a method relate to the technical field of aerial camera imaging and solve the problem that the mounting position, the performance and the like of a photosensitive element influence the imaging effect of a detector in the existing method for indirectly detecting focus by adopting the photosensitive element, a camera controller sends a focus detection instruction which is received by a CMOS image data acquisition system, a focusing controller and a reflector controller, the reflector controller controls a scanning reflector to be in a forward image shift compensation working state to ensure that a ground scenery is static relative to a camera, and when the focusing controller moves the focusing reflector to a focus detection position, the camera controller shoots a command to the CMOS image data acquisition system, after the CMOS image data acquisition system receives the shooting command, controlling a CMOS detector to image the ground scenery, wherein the image of the ground scenery is imaged on an area a and an area b of the CMOS detector through a scanning reflector, an optical system of a camera and a focusing reflector; and a CMOS detector is adopted for image focus detection, so that higher focus detection precision is obtained.
Description
Technical Field
The invention relates to the technical field of aerial camera imaging, in particular to a single-sensor double-image-plane aerial camera image focus detection device and method.
Background
When an aerial camera is used for imaging in the air, the phenomenon of defocusing can be caused due to the changes of temperature, atmospheric pressure and photographic distance, the definition and the resolution of an image are seriously influenced, and the phenomenon is particularly caused by a long-focus camera. Therefore, to obtain a high-definition image, the camera needs to perform automatic focusing before photographing.
At present, a common detection focusing method for an aerial camera is a photoelectric self-collimation type, a grating is placed on an image surface to serve as a target, the image is imaged through an optical system and then reflected back to the image surface through a reflector, a photosensitive element is used for receiving the image, and the focal plane is judged through received energy.
In the existing method, a photosensitive element is used for focus detection, which belongs to indirect focus detection, and the mounting position, performance and the like of the photosensitive element can influence the imaging effect of a detector.
A novel automatic focus detection device and a novel automatic focus detection method are designed aiming at the situations, and a CMOS detector is adopted for image focus detection, so that higher focus detection precision can be obtained.
Disclosure of Invention
The invention provides a single-sensor double-image-plane aerial camera image focus detection device and method, aiming at solving the problem that the mounting position, performance and the like of a photosensitive element influence the imaging effect of a detector in the conventional method for indirectly detecting focus by adopting the photosensitive element.
The single-sensor double-image-plane aerial camera image focus detection device comprises an electric cabinet, a CMOS detector, a CCD detector, a reflector, a beam splitter prism, an optical axis, a scanning reflector, a focusing reflector and a camera optical system; the electric cabinet comprises a camera controller, a CMOS image data acquisition system, a focusing controller and a reflector controller;
the camera controller sends control instructions to the CMOS image data acquisition system, the focusing controller and the reflector controller, the reflector controller controls the scanning reflector, the focusing controller controls the focusing reflector, and the CMOS image data acquisition system controls the CMOS detector to image ground scenery;
placing a CMOS detector on a plane twice the focal depth behind the focal plane of the CCD detector, placing a beam splitter prism along the optical axis direction of the CMOS detector, placing a reflector on the left side of the beam splitter prism, and dividing the imaging area of the CMOS detector into an area a and an area b; the area a is located on a plane twice the focal depth in front of the focal plane position of the CCD detector along the optical axis direction on an aplanatic image plane, the area b is located on a plane twice the focal depth behind the focal plane position of the CCD detector along the optical axis direction on the aplanatic image plane, and the image of the ground scenery is imaged on the area a and the area b of the CMOS detector through the scanning reflector, the optical system of the camera and the focusing reflector.
The image focus detection method of the single-sensor double-image-plane aerial camera is realized by the following steps:
the method comprises the following steps that firstly, a camera controller sends a focus detection instruction, the focus detection instruction is received by a CMOS image data acquisition system, a focusing controller and a reflector controller, the reflector controller controls a scanning reflector to be in a forward image motion compensation working state, the ground scenery is guaranteed to be static relative to a camera, when the focusing controller moves the focusing reflector to a focus detection position, the camera controller shoots a picture instruction to the CMOS image data acquisition system, the CMOS image data acquisition system controls a CMOS detector to image the ground scenery after receiving the picture instruction, and the image of the ground scenery is imaged on an area a and an area b of the CMOS detector through the scanning reflector, an optical system of the camera and the focusing reflector;
secondly, the focusing controller receives the numerical values of focusing evaluation functions corresponding to the images of the area a and the area b in the CMOS detector returned by the CMOS image data acquisition system, determines the next focus detection position according to the numerical values of the focusing evaluation functions, and finally obtains the optimal focus detection position;
and step three, the focusing controller sends the focus detection end parameters to the camera controller, and the camera controller ends focus detection.
The invention has the beneficial effects that: the focus detection method adopts the focusing evaluation function to analyze the image of the CMOS sensor, can greatly reduce the requirement on the attitude control precision of the aerial camera, and improves the focus detection precision; meanwhile, an image processing algorithm is simplified, the contents of ground images of the two CMOS sensors are completely the same, and image registration processing is not needed.
The invention adopts the CMOS detector to carry out image focus detection, and can obtain higher focus detection precision.
Drawings
FIG. 1 is a schematic diagram of a single-sensor dual-image plane aerial camera image focus detection device according to the present invention;
FIG. 2 is a schematic diagram of a relationship between a focal plane position and a focusing evaluation function value in the single-sensor double-image-plane aerial camera image focus detection device according to the invention;
FIG. 3 is a schematic structural diagram of an electric cabinet in the image focus detection device of the single-sensor double-image-plane aerial camera according to the invention;
fig. 4 is a schematic view of a beam splitter prism in the image focus detection device of the single-sensor dual-image-plane aerial camera according to the invention.
In the figure, 1, an electric cabinet, 11, a camera controller, 12, a CMOS image data acquisition system, 13, a focusing controller, 14, a reflector controller, 2, a CMOS detector, 3, a CCD detector, 4, a reflector, 5, a semi-reflecting and semi-transparent customized beam splitter prism, 6, an optical axis, 7, a scanning reflector, 8, a focusing reflector, 9 and a camera optical system.
Detailed Description
In a first specific embodiment, the present embodiment is described with reference to fig. 1 to 4, and the single-sensor dual-image plane aerial camera image focus detection apparatus includes an electric cabinet 1, a CMOS detector 2, a CCD detector 3, a reflecting mirror 4, a beam splitter prism 5, an optical axis 6, a scanning reflecting mirror 7, a focusing reflecting mirror 8, and a camera optical system 9; the electric cabinet comprises a camera controller 1-1, a CMOS image data acquisition system 1-2, a focusing controller 1-3 and a reflector controller 1-4;
the camera controller 1-1 sends control instructions to the CMOS image data acquisition system 1-2, the focusing controller 1-3 and the reflector controller 1-4, the reflector controller 1-4 controls the scanning reflector 7, the focusing controller 1-3 controls the focusing reflector 8, and the CMOS image data acquisition system 1-2 controls the CMOS detector to image ground scenery;
placing a CMOS detector 2 on a plane twice the focal depth behind the focal plane position of the CCD detector 3, placing a beam splitter prism 5 along the direction of an optical axis 6 of the CMOS detector 2, placing a reflector 4 on the left side of the beam splitter prism 5, and dividing the imaging area of the CMOS detector 2 into an area a and an area b; the area a is located on a plane with twice focal depth in front of the focal plane position of the CCD detector 3 along the direction of the optical axis 6 on an aplanatic image plane, the area b is located on a plane with twice focal depth behind the focal plane position of the CCD detector 3 along the direction of the optical axis 6 on the aplanatic image plane, and an image of a ground scenery is imaged on the area a and the area b of the CMOS detector 2 through the scanning reflector 7, the optical system 9 of the camera and the focusing reflector 8.
In this embodiment, the focusing controller 1-3 selects a Texas Instruments (TI) digital signal processor (TMS320F2812) as a main controller, and has high-speed computing capability and high-efficiency motor-oriented control capability, and is characterized in that: 50MHz working frequency, 32 bit data lines, 18kRAM, 128kFLASH, 16-channel PWM, 3 timers and 2 full-duplex SCI serial ports. Data are exchanged among the focusing controller, the camera controller and the CMOS data acquisition system through an RS-422 serial port, and DS26C31 and DS26C32 are selected as RS-422 serial communication interface chips.
The focusing controller 1-3 detects focus according to an instruction sent by the camera controller, drives the focusing reflector to a specified focal plane position, sends a photographing instruction to the CMOS data acquisition system when receiving that the reflector controller works in a forward image motion compensation state, receives a numerical value of a focusing evaluation function corresponding to the CMOS detector returned by the CMOS data acquisition system, analyzes the numerical value, moves the next focal plane position according to the numerical value, judges whether focus detection is finished or not, and returns the focusing evaluation function to the camera controller for detecting parameters.
The camera controller 1-1 also uses TMS320F2812 from Texas Instruments (TI) of USA as the main controller. DS26C31 and DS26C32 are selected as RS-422 serial communication interface chips and are in serial communication with the focusing controller, the reflector controller and the CMOS data acquisition system. The camera controller is used as a main controller and uniformly sends a focus detection instruction to the focusing controller, the reflector controller and the CMOS data acquisition system.
The mirror controller 1-4 also uses TMS320F2812 from Texas Instruments (TI) of America as the main controller. DS26C31 and DS26C32 are selected as RS-422 serial communication interface chips, after a reflector controller receives a focus detection instruction of a camera controller, the reflector controller controls a scanning reflector to work in a forward image shift compensation working state, the ground scenery is guaranteed to be static relative to the camera, and the working state is fed back to a focusing controller (the working state of the scanning reflector is divided into a forward image shift compensation state and a return state, and a CMOS detector cannot image in the return state).
The CMOS data acquisition system 1-2 also uses TMS320F2812 of Texas Instruments (TI) of America as a main controller. DS26C31 and DS26C32 are selected as RS-422 serial communication interface chips and are in serial communication with the camera controller 1-1 and the focusing controller 1-3. After receiving a focus detection imaging instruction sent by the camera controller 1-1, the CMOS data acquisition system 1-2 performs imaging according to a photographing instruction of the focus controller 1-3, and respectively calculates function values corresponding to imaging of two areas of the CMOS detector according to a focus evaluation function. And then sends the function value to the focusing controller 1-3 through the serial port.
In this embodiment, the specific application of the focus evaluation function is as follows:
for an image, the more blurred, the smaller the rate of change of the gray levels in the image. A gradient differential squared function may be used to represent the rate of change of image gray scale. And (4) carrying out differential square operation on the gray levels of f (x, y) adjacent points, and extracting the change size of the points to obtain an image gray level gradient differential square operator.
For the k-th image of the image sequence, the differential square sum of the gray gradient in a certain image window W is E, and the value of E reflects the gray change rate of the k-th image in the image sequence in the image window W.
The expression is as follows:
V1＝max{Ek}(k＝1，2，3……n)
in the formula: ekF (i, j) is the gray scale value of the ith row and jth column pixel in the focusing area, and M, N refers to the width and height of the window taken.
The calculation of the above formula is carried out in a space domain, and the focusing evaluation function E is obtained by summing the square of the difference of the brightness values of the pixels in the adjacent columns and the sum of the square of the difference of the brightness values of the pixels in the adjacent rowsk。EkMaximum time the image is clearest, V1I.e. corresponds to the best focal plane position.
In a second embodiment, the present embodiment is described with reference to fig. 3, and the present embodiment is a focus detection method of a single-sensor dual-image plane aerial camera image focus detection apparatus according to the first embodiment:
in the present embodiment, the method for image focus detection is generally applicable to processing of one image sequence, that is, imaging a plurality of focal plane positions with respect to the same target, processing data of the image sequence by the focus evaluation function, and finding the focal plane position of the image corresponding to the extreme value of the function as the optimal imaging focal plane. However, because of the continuous motion of the carrier, it is difficult to repeatedly image the same target many times, so it is necessary to design a method to obtain an image sequence of the same target. The focus detection system is designed to independently use one focus detection detector because the focus detection system needs to adapt to different working modes of the area-array camera and the line-array camera; and because the imaging target of the aerial camera constantly changes, adopt the half-reflecting half-transmitting prism to carry out the beam split, and put two areas of this focus detection detector on different focal plane positions, can guarantee like this that the image that two areas of focus detection detector become corresponds same target, can adopt the evaluation function of focusing to carry out the analysis of image, simultaneously can greatly reduced the requirement to the attitude control precision of aerial camera.
The focusing evaluation function is a gradient differential square function of the image gray scale. In the whole focus detection range, large stepping distance is divided firstly, focus detection is carried out point by point, and then the difference value of focusing evaluation functions corresponding to the area a and the area b of each point CMOS detector is judged; and after finding the point with the minimum difference, selecting an initial point by adopting a medium stepping distance in a large stepping distance range of the point, moving the initial point to a direction with a smaller value by a medium stepping distance according to the numerical values of the focusing evaluation functions corresponding to the area a and the area b of the CMOS detector, then imaging again and judging the difference, and when the difference of the focusing evaluation functions is smaller than a certain threshold value, considering that the output values of the focusing evaluation functions are the same, thereby finding the optimal focal plane position.
The specific implementation process is as follows:
firstly, a camera controller 1-1 sends out a focus detection instruction through a serial port, the focus detection instruction is received by a CMOS image data acquisition system 1-2, a focusing controller 1-3 and a reflector controller 1-4, the reflector controller 1-4 controls a scanning reflector 7 to be in a forward image motion compensation working state to ensure that a ground scene is static relative to a camera, a focusing controller 13 moves a focusing reflector 8 to a focus detection position and sends a photographing instruction to the CMOS image data acquisition system 1-2, the CMOS image data acquisition system 1-2 controls a CMOS detector 2 to image the ground scene after receiving the photographing instruction,
secondly, the CMOS image data acquisition system 1-2 respectively calculates images of an area a and an area b of the CMOS detector 2 according to the focusing evaluation function, and sends numerical values of the focusing evaluation function corresponding to the images of the area a and the area b to the focusing controller 1-3, and then the focusing controller 1-3 determines the next focus detection position according to the numerical values of the focusing evaluation function, and finally the best focus detection position is obtained.
And thirdly, the focusing controller 1-3 sends focus detection end parameters to the camera controller 1-1, and the camera controller 11 ends focus detection.
In the present embodiment, the degree of blur of the image of the ground scene on the image plane in the region a and the region b of the CMOS detector 2 is the same at the time of focusing, and both the output values calculated from the CMOS image by the employed focusing evaluation function are the same and are smaller than a certain threshold (the threshold is 3%). The image of the scene received by the CCD detector 3 is clearest at this time.
One of the area a and the area b of the CMOS detector 2 is closer to the optimal image surface position when the focus is out of focus, the image is clearer, and the output value calculated by the focusing evaluation function according to the CMOS image of the area is larger; and the other area is far away from the optimal image surface position, the image is more fuzzy, and the output value calculated by the focusing evaluation function according to the CMOS image is smaller.
And when the output values of the corresponding functions of the 2 areas are different, the difference value is calculated, the focusing mirror 8 is driven to move towards the direction of reducing the difference value, finally the difference value is smaller than the threshold value, and the output values of the two areas are the same, so that the optimal focal plane position is found.
In the present embodiment, a commonly used square beam splitter prism is lengthened in order to ensure that the region a of the CMOS detector 2 is located on a plane twice the depth of focus before the position of the focal plane of the CCD detector 3 along the optical axis 6 on the aplanatic image plane and the region b of the CMOS detector 2 is located on a plane twice the depth of focus after the position of the focal plane of the CCD detector 3 along the optical axis 6 on the aplanatic image plane, and the beam splitter prism 5 is described with reference to fig. 4. Assuming that the 1-time focal depth of the camera optical system 9 is m, and the length of the short side BC of the beam splitter prism 5 is l, the length of the long side AB of the beam splitter prism 5 is 3l +8 m.
In a third specific embodiment, the present embodiment is an example of the image focus detection method for a single-sensor dual-image-plane aerial camera in the second specific embodiment:
the specific implementation of the method is illustrated by taking a focusing system of a certain type of aerial camera as an example. The camera adopts a linear array TDICCD detector, which is 4096 pixels, 200 levels, 8 microns in pixel size, 600mm in optical system focal length, 5.6 in aperture and visible light band imaging. The selected CMOS detector has a pixel size of 7.4 microns, an image surface size of 1 Kx 1K and a frame frequency of 120fps, and is provided with an electronic shutter, and the CMOS detector is arranged at a position, close to the optical system, of 2 times of focal depth, namely 0.14mm, of the CCD detector. The light splitting prism is a cuboid, the short side is 5mm, and the long side is 15.56 mm. Firstly, selecting the stepping distance to be 0.4mm, detecting the focus within +/-2.5 mm in the whole focusing range, and finding the position of a focal plane corresponding to the minimum difference point of the focusing evaluation functions corresponding to the two areas of the CMOS detector. Then, the step distance of 0.1mm is used, and the focal plane position is moved in the direction in which the difference of the 2 functions is reduced until the difference is smaller than a certain value. Then, the focal plane position at which the difference between the functions of the two regions is the minimum is found as the optimum focal plane position by using the step distance of 0.02 mm.
Claims (7)
1. The image focus detection device for the single-sensor double-image-plane aerial camera comprises an electric cabinet (1), a CMOS detector (2), a CCD detector (3), a reflector (4), a beam splitter prism (5), an optical axis (6), a scanning reflector (7), a focusing reflector (8) and a camera optical system (9); the electric cabinet comprises a camera controller (1-1), a CMOS image data acquisition system (1-2), a focusing controller (1-3) and a reflector controller (1-4); the method is characterized in that:
the camera controller (1-1) sends control instructions to the CMOS image data acquisition system (1-2), the focusing controller (1-3) and the reflector controller (1-4), the reflector controller (1-4) controls the scanning reflector (7), the focusing controller (1-3) controls the focusing reflector (8), and the CMOS image data acquisition system (1-2) controls the CMOS detector to image ground scenery;
a CMOS detector (2) is placed on a plane twice the focal depth behind the focal plane of the CCD detector (3), a beam splitter prism (5) is placed along the direction of an optical axis (6) of the CMOS detector (2), a reflector (4) is placed on the left side of the beam splitter prism (5), and an imaging area of the CMOS detector (2) is divided into an area a and an area b; the area a is located on a plane twice the focal depth in front of the focal plane position of the CCD detector (3) along the direction of the optical axis (6) on an aplanatic image plane, the area b is located on a plane twice the focal depth behind the focal plane position of the CCD detector (3) along the direction of the optical axis (6) on the aplanatic image plane, and an image of a ground scenery is imaged on the area a and the area b of the CMOS detector (2) through a scanning reflector (7), an optical system (9) of a camera and a focusing reflector (8).
2. The single-sensor double-image-plane aerial camera image focus detection device according to claim 1, characterized in that: the beam splitter prism (5) is a cuboid, the length of the short side is l, the length of the long side of the beam splitter prism (5) is 3l +8m, and m is the focal depth of the camera.
3. The single-sensor double-image-plane aerial camera image focus detection method according to claim 1, characterized in that: the method is realized by the following steps:
step one, a camera controller (1-1) sends a focus detection instruction, a CMOS image data acquisition system (1-2), a focusing controller (1-3) and a reflector controller (1-4) receive the focus detection instruction, the reflector controller (1-4) controls a scanning reflector (7) to be in a forward image shift compensation working state to ensure that a ground scenery is static relative to a camera, when the focusing controller (1-3) moves the focusing reflector (8) to a focus detection position, the camera controller (1-1) takes a picture instruction to the CMOS image data acquisition system (1-2), the CMOS image data acquisition system (1-2) controls a CMOS detector (2) to image the ground scenery after receiving the picture taking instruction, an image of the ground scenery passes through the scanning reflector (7), an optical system (9) of the camera and the focusing reflector (8), simultaneously imaging on a region a and a region b of the CMOS detector (2);
secondly, the focusing controller (1-3) receives the numerical values of focusing evaluation functions corresponding to the images of the area a and the area b in the CMOS detector returned by the CMOS image data acquisition system (1-2), determines the next focus detection position according to the numerical values of the focusing evaluation functions, and finally obtains the optimal focus detection position;
and step three, the focusing controller (1-3) sends the focus detection end parameters to the camera controller (1-1), and the camera controller (1-1) ends focus detection.
4. The single-sensor double-image-plane aerial camera image focus detection method according to claim 3, characterized in that:
when focusing, the fuzzy degree of the image of the ground scenery on the image surface of the area a and the image surface of the area b of the CMOS detector (2) is the same, the focusing controller calculates the output value of the corresponding focusing evaluation function of the image of the area a and the image of the area b according to the CMOS image data acquisition system (1-2) to be less than a threshold value, and the scenery image received by the CCD detector (3) is clear at the moment.
5. The single-sensor double-image-plane aerial camera image focus detection method according to claim 3, characterized in that:
when the image is out of focus, in the area a and the area b of the CMOS detector (2), the area close to the optimal image surface position has clear images, the numerical value of the focusing evaluation function corresponding to the image in the area is large, the area far away from the optimal image surface position has blurry images, and the numerical value of the focusing evaluation function corresponding to the image in the area is small.
6. The single-sensor double-image-plane aerial camera image focus detection method according to claim 3, characterized in that:
when in focus detection, the scanning reflector (7) is controlled to be in a forward image motion compensation working state, the focusing controller drives the focusing reflector 8 to move, output values of focusing evaluation functions corresponding to an area a and an area b of the CMOS detector (2) corresponding to each position are obtained, when the output values of corresponding functions of the area a and the area b are different, the difference value is calculated, the focusing reflector (8) is driven to move towards the direction of reducing the difference value, finally, the difference value is smaller than a threshold value, the output values of corresponding functions of the area a and the area b are the same, and the optimal focal plane position is found.
7. The single-sensor double-image-plane aerial camera image focus detection method according to claim 6, characterized in that: the threshold is 3%.
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