CN110796655B - Photoelectric detection method and photoelectric detection device - Google Patents

Photoelectric detection method and photoelectric detection device Download PDF

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CN110796655B
CN110796655B CN201911059175.9A CN201911059175A CN110796655B CN 110796655 B CN110796655 B CN 110796655B CN 201911059175 A CN201911059175 A CN 201911059175A CN 110796655 B CN110796655 B CN 110796655B
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image
visible light
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subband
infrared
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CN110796655A (en
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张春熹
戴敏鹏
潘雄
刘海霞
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Nanjing Shenwei Photoelectric Technology Research Institute Co ltd
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Nanjing Shenwei Photoelectric Technology Research Institute Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/50—Image enhancement or restoration by the use of more than one image, e.g. averaging, subtraction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10048—Infrared image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20048—Transform domain processing
    • G06T2207/20064—Wavelet transform [DWT]

Abstract

The invention discloses a photoelectric detection method which is characterized by comprising the following steps of: s1, detecting visible light; s2, infrared detection; s3, laser ranging; s4, information fusion: and fusing the visible light image information and the infrared image information to obtain a clear target image. The three light of visible light/infrared/laser ranging are combined, so that the detection of the target can be realized all the day, and the detection comprises images and distance information; photoelectric high-precision investigation can be realized by a newly designed image fusion method.

Description

Photoelectric detection method and photoelectric detection device
Technical Field
The invention relates to the field of photoelectric detection, in particular to a visible light, long-wave infrared and laser multi-sensor composite detection device and method.
Background
The existing photoelectric detection device mainly comprises visible light detection equipment, such as a detection telescope, and can only detect a target in the daytime; laser detection equipment such as a laser range finder and a laser eye indicator, and night vision devices including an active infrared night vision device, a low-light night vision device and an infrared thermal imaging device, wherein the detection devices cannot detect targets all day long; the infrared and visible light integrated investigation device can realize the whole-day investigation of the target, but the device has large volume and high weight due to the adoption of one-to-one discrete lenses, which is unfavorable for portability.
Disclosure of Invention
The invention provides a visible light, long wave infrared and laser multi-sensor composite detection device for solving the problems in the background technology, overcomes the defects of large volume and high weight of the traditional device, and can realize rapid identification, positioning and tracking of targets under the portable condition.
The technical scheme is as follows:
the invention firstly discloses a photoelectric detection method, which comprises the following steps:
s1, visible light detection: the visible light detector receives visible light image information and transmits the visible light image information to the signal processing circuit board to form a visible light image V;
s2, infrared detection: the long-wave infrared detector receives the infrared image information and transmits the information to the signal processing circuit board to form an infrared image I;
s3, laser ranging: the laser range finder emits laser, reflects the laser after touching a target, is received by the laser range finding module, and transmits the laser to the signal processing circuit board to obtain the distance information of the target;
s4, information fusion: and fusing the visible light image information and the infrared image information to obtain a clear target image.
Preferably, the step of S4, information fusion includes the following steps:
s4-1, respectively carrying out N-layer decomposition on an original visible light image V and an infrared image I in a non-downsampled contourlet transform NSCT domain to respectively obtain low-frequency sub-bands of the visible light image VAnd bandpass direction subband->Low frequency subband of infrared image I +.>And bandpass direction subband->k i ＝2 1 ,2 2 ,...,2 N ；
S4-2, for low frequency sub-bandsPerforming two-dimensional wavelet transform to obtain a low-frequency subband +.>And three bandpass direction subbands>For low frequency sub-band->Performing two-dimensional wavelet transform to obtain a low-frequency subband +.>And three bandpass direction subbands>h i For three direction subbands j=1, 2,3, respectively representing the vertical direction, the horizontal direction, the diagonal direction;
s4-3, obtaining a fused low-frequency sub-band and a fused band-pass sub-band:
s4-3-1, the low frequency sub-band fusion step is:
A. obtaining the low-frequency subband fusion coefficient by the method (2)
In the formula (2), the amino acid sequence of the compound,for low frequency subband fusion coefficients, E I,0 (x, y) is the energy of the local area of the infrared image, E V,0 (x, y) is energy of a local area of the visible light image, and w1 is a weight coefficient;
B. obtaining three-directional band-pass subband fusion coefficients in the low-frequency subband fusion step through the method (5)：
In the formula (5), the amino acid sequence of the compound,for three-direction band-pass subband fusion coefficients, < ->Band-pass direction subband in window for visible image V +.>Band-pass direction subbands in the window for the infrared image I;
C. fusing coefficients of low frequency subbandsAnd three-directional band-pass subband fusion coefficients +.>Performing wavelet reconstruction to obtain a low-frequency subband for non-downsampled contourlet transform (NSCT) reconstruction;
s4-3-2, the fusion step of the band-pass sub-band is as follows:
the image high-frequency information mainly comprises information such as textures, edge contours and the like in the image, and in order to highlight target detail information in a source image in a fused image, a fusion coefficient is determined by adopting an absolute value maximization methodThe corresponding fused rule may be expressed as:
is the band-pass subband fusion coefficient in the band-pass subband fusion step,/->Band-pass directional subband for infrared image I, for example>Is a band-pass direction subband of the visible light image V;
fusing coefficients with subbandsPerforming wavelet reconstruction to obtain a band-pass subband for non-downsampled contourlet transform (NSCT) reconstruction;
s4-5, carrying out non-downsampled contourlet transform NSCT reconstruction on the obtained low-frequency sub-band and band-pass sub-band to obtain a final fusion image.
Preferably, for obtaining the weight coefficient w1, the threshold T1 and the threshold T2, defining the local area energy of the image; wherein, the liquid crystal display device comprises a liquid crystal display device,
the local energy of the visible light image is as follows:
gray-scale values representing low-frequency image points (i, j) of the visible light image V, local area window
W V (x,y)＝[1,2,1；2,3,2；1,2,1]15, D is distance information of laser ranging;
the infrared image local energy is:
CW l I,N (I, j) represents the gray value of the low frequency image point (I, j) of the infrared image I, the local area window
W I (x,y)＝[1,2,1；2,3,2；1,2,1]15, D is distance information of laser ranging;
the weight coefficient w1 is calculated by the following steps:
in the formula (3), H V,0 For the entropy of the visible light image information,H I,0 is the information entropy of the infrared image,m is the number of gray levels, p V,i ＝m V,i /m V The number of pixels of the ith gray value of the visible light image, p I,i ＝m I,i /m I The number of pixels for the ith gray value of the infrared image; />Is the total number of visible light image pixels, < >>The total number of pixels of the infrared image; k1 is a weight coefficient, and values are taken in (0, 1) according to specific conditions;
the calculation method of the threshold T1 and the threshold T2 comprises the following steps:
in the formula (4), k2 is a weight factor, and is a value in (0, 1) according to specific conditions; e (E) I,0,Avg Is the average energy of the low-frequency infrared image, E I,0,MAX Maximum energy, E, of the low frequency IR image V,0,Avg Is the average energy of the low frequency visible light image.
The invention also discloses a photoelectric detection device, which comprises a composite lens, wherein the composite lens comprises a visible light detector, an infrared detector, a laser ranging module and a signal processing circuit board, the signal processing circuit board receives image information detected by the visible light detector, the infrared detector and the laser ranging module, and the signal processing circuit board is used for the photoelectric detection method.
Preferably, the device further comprises a communication module, and the communication module is connected with the signal processing circuit board and used for transmitting information.
Preferably, the wavelength range detected by the infrared detector is 8 um-12 um; the wavelength range of the visible light detector is 0.38 um-0.76 um and 0.77 um-1.1 um; the laser wavelength of the laser ranging module is 1064nm.
Preferably, the visible light detector, the infrared detector and the laser ranging module are also connected with a power circuit board, and a voltage conversion circuit is integrated in the power circuit board.
Preferably, the power circuit board is externally connected with the communication module to transmit information.
The beneficial effects of the invention are that
The three light of visible light/infrared/laser ranging are combined, so that the detection of the target can be realized all the day, and the detection comprises images and distance information; photoelectric high-precision investigation can be realized by a newly designed image fusion method.
The integrated design of the visible light/long wave infrared/laser composite lens reduces the volume and weight of the device.
Drawings
FIG. 1 is a step diagram of a method of a photoelectric detection device according to the present invention
FIG. 2 is a flow chart of a method for fusing infrared and visible light images and distance information
FIG. 3 is a schematic structural diagram of a photoelectric detection device according to the present invention
Detailed Description
The invention is further illustrated below with reference to examples, but the scope of the invention is not limited thereto:
referring to fig. 1, a method for photodetection includes the steps of:
s1, visible light detection: the visible light detector receives visible light image information and transmits the visible light image information to the signal processing circuit board to form a visible light image V;
s2, infrared detection: the long-wave infrared detector receives the infrared image information and transmits the information to the signal processing circuit board to form an infrared image I;
s3, laser ranging: the laser range finder emits laser, reflects the laser after touching a target, is received by the laser range finding module, and transmits the laser to the signal processing circuit board to obtain the distance information of the target;
s4, information fusion: and fusing the visible light image information and the infrared image information to obtain a clear target image.
Referring to fig. 2, the step S4 of information fusion includes the following steps:
s4-1, respectively carrying out N-layer decomposition on an original visible light image V and an infrared image I in a non-downsampled contourlet transform NSCT domain to respectively obtain low-frequency sub-bands of the visible light image VAnd bandpass direction subband->Low frequency subband of infrared image I +.>And bandpass direction subband->k i ＝2 1 ,2 2 ,...,2 N ；
S4-2, for low frequency sub-bandsPerforming two-dimensional wavelet transform to obtain a low-frequency subband +.>And three bandpass direction subbands>For low frequency sub-band->Performing two-dimensional wavelet transform to obtain a low-frequency subband +.>And three bandpass direction subbands>h i For three direction subbands j=1, 2,3, respectively representing the vertical direction, the horizontal direction, the diagonal direction;
s4-3, obtaining a fused low-frequency sub-band and a fused band-pass sub-band:
s4-3-1, the low frequency sub-band fusion step is:
A. obtaining the low-frequency subband fusion coefficient by the method (2)
In the formula (2), the amino acid sequence of the compound,for low frequency subband fusion coefficients, E I,0 (x, y) is the energy of the local area of the infrared image, E V,0 (x, y) is energy of a local area of the visible light image, and w1 is a weight coefficient;
B. obtaining three-directional band-pass subband fusion coefficients in the low-frequency subband fusion step through the method (5)：
In the formula (5), the amino acid sequence of the compound,for three-direction band-pass subband fusion coefficients, < ->Band-pass direction subband in window for visible image V +.>Band-pass direction subbands in the window for the infrared image I;
C. fusing coefficients of low frequency subbandsAnd three-directional band-pass subband fusion coefficients +.>Performing wavelet reconstruction to obtain a low-frequency subband for non-downsampled contourlet transform (NSCT) reconstruction;
s4-3-2, the fusion step of the band-pass sub-band is as follows:
the image high-frequency information mainly comprises information such as textures, edge contours and the like in the image, and in order to highlight target detail information in a source image in a fused image, a fusion coefficient is determined by adopting an absolute value maximization methodThe corresponding fused rule may be expressed as:
is the band-pass subband fusion coefficient in the band-pass subband fusion step,/->Band-pass directional subband for infrared image I, for example>Is a band-pass direction subband of the visible light image V;
fusing coefficients with subbandsPerforming wavelet reconstruction to obtain a band-pass subband for non-downsampled contourlet transform (NSCT) reconstruction;
s4-5, carrying out non-downsampled contourlet transform NSCT reconstruction on the obtained low-frequency sub-band and band-pass sub-band to obtain a final fusion image.
As a more preferable scheme, defining the energy of the local area of the image for obtaining the weight coefficient w1, the threshold T1 and the threshold T2; wherein, the liquid crystal display device comprises a liquid crystal display device,
the local energy of the visible light image is as follows:
CW l V,N (i, j) represents the gray value of the low frequency image point (i, j) of the visible light image V, the local area window
W V (x,y)＝[1,2,1；2,3,2；1,2,1]15, D is distance information of laser ranging;
the infrared image local energy is:
CW l I,N (I, j) represents the gray value of the low frequency image point (I, j) of the infrared image I, the local area window
W I (x,y)＝[1,2,1；2,3,2；1,2,1]15, D is distance information of laser ranging;
the weight coefficient w1 is calculated by the following steps:
in the formula (3), H V,0 For the entropy of the visible light image information,H I,0 is the information entropy of the infrared image,m is the number of gray levels, p V,i ＝m V,i /m V The number of pixels of the ith gray value of the visible light image, p I,i ＝m I,i /m I The number of pixels for the ith gray value of the infrared image; />Is the total number of visible light image pixels, < >>The total number of pixels of the infrared image; k1 is a weight coefficient, and values are taken in (0, 1) according to specific conditions;
the calculation method of the threshold T1 and the threshold T2 comprises the following steps:
in the formula (4), k2 is a weight factor, and is a value in (0, 1) according to specific conditions; e (E) I,0,Avg Is the average energy of the low-frequency infrared image, E I,0,MAX Maximum energy, E, of the low frequency IR image V,0,Avg Is the average energy of the low frequency visible light image.
The three light of visible light/infrared/laser ranging are combined, so that the detection of the target can be realized all the day, and the detection comprises images and distance information; photoelectric high-precision investigation can be realized by a newly designed image fusion method.
Referring to fig. 3, a photoelectric detection device includes a compound lens, where the compound lens includes a visible light detector, an infrared detector, a laser ranging module, and a signal processing circuit board, where the signal processing circuit board receives image information detected by the visible light detector, the infrared detector, and the laser ranging module, and the signal processing circuit board is used to execute the photoelectric detection method according to claims 1-3.
Preferably, the device further comprises a communication module, and the communication module is connected with the signal processing circuit board and used for transmitting information.
Preferably, the wavelength range detected by the infrared detector is 8 um-12 um; the wavelength range of the visible light detector is 0.38 um-0.76 um and 0.77 um-1.1 um; the laser wavelength of the laser ranging module is 1064nm.
Preferably, the visible light detector, the infrared detector and the laser ranging module are also connected with a power circuit board, and a voltage conversion circuit is integrated in the power circuit board.
Preferably, the power circuit board is externally connected with the communication module to transmit information.
The integrated design of the visible light/long wave infrared/laser composite lens reduces the volume and weight of the device.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims (6)

1. The photoelectric detection method is characterized by comprising the following steps of:
s1, visible light detection: the visible light detector receives visible light image information and transmits the visible light image information to the signal processing circuit board to form a visible light image V;
s2, infrared detection: the long-wave infrared detector receives the infrared image information and transmits the information to the signal processing circuit board to form an infrared image I;
s3, laser ranging: the laser range finder emits laser, reflects the laser after touching a target, is received by the laser range finding module, and transmits the laser to the signal processing circuit board to obtain the distance information of the target;
s4, information fusion: the visible light image information, the infrared image information and the distance information are fused to obtain a clear target image;
the information fusion comprises the following steps:
s4-1, respectively carrying out N-layer decomposition on an original visible light image V and an infrared image I in a non-downsampled contourlet transform NSCT domain to respectively obtain low-frequency sub-bands of the visible light image VAnd bandpass direction subband->Low frequency sub-band of infrared image IAnd bandpass direction subband->
S4-2, for low frequency sub-bandsPerforming two-dimensional wavelet transform to obtain a low-frequency subband +.>And three bandpass direction subbandsFor low frequency sub-band->Performing two-dimensional wavelet transform to obtain a low-frequency subband +.>And three bandpass direction subbandsh j For three direction subbands j=1, 2,3, respectively representing the vertical direction, the horizontal direction, the diagonal direction;
s4-3, obtaining a fused low-frequency sub-band and a fused band-pass sub-band:
s4-3-1, the low frequency sub-band fusion step is:
A. obtaining the low-frequency subband fusion coefficient by the method (2)
In the formula (2), the amino acid sequence of the compound,for low frequency subband fusion coefficients, E I,0 (x, y) is the energy of the local area of the infrared image, E V,0 (x, y) is energy of a local area of the visible light image, and w1 is a weight coefficient;
B. obtaining three-directional band-pass subband fusion coefficients in the low-frequency subband fusion step through the method (5)
In the formula (5), the amino acid sequence of the compound,for three-direction band-pass subband fusion coefficients, < ->Band-pass direction subband in window for visible image V +.>Band-pass direction subbands in the window for the infrared image I;
C. fusing coefficients of low frequency subbandsAnd three-directional band-pass subband fusion coefficients +.>Performing wavelet reconstruction to obtain a low-frequency subband for non-downsampled contourlet transform (NSCT) reconstruction;
s4-3-2, the fusion step of the band-pass sub-band is as follows:
determining the fusion coefficient by adopting an absolute value maximization methodThe corresponding fused rule may be expressed as:
is the band-pass subband fusion coefficient in the band-pass subband fusion step,/->Band-pass directional subband for infrared image I, for example>Is a band-pass direction subband of the visible light image V;
fusing coefficients with subbandsPerforming wavelet reconstruction to obtain a band-pass subband for non-downsampled contourlet transform (NSCT) reconstruction;
s4-4, carrying out non-downsampled contourlet transform NSCT reconstruction on the obtained low-frequency sub-band and band-pass sub-band to obtain a final fusion image.
2. A method of photodetection according to claim 1, characterized in that for obtaining the weight coefficient w1, the threshold T1 and the threshold T2, the image local area energy is defined; wherein, the liquid crystal display device comprises a liquid crystal display device,
the local energy of the visible light image is as follows:
CW l V,N (i, j) represents the gray value of the low frequency image point (i, j) of the visible light image V, the local area window w V (x,y)＝[1,2,1；2,3,2；1,2,1]15, D is distance information of laser ranging;
the infrared image local energy is:
CW l I,N (I, j) represents the gray value of the low frequency image point (I, j) of the infrared image I, the local area window w I (x,y)＝[1,2,1；2,3,2；1,2,1]15, D is distance information of laser ranging;
the weight coefficient w1 is calculated by the following steps:
in the formula (3), H V,0 For the entropy of the visible light image information,H I,0 is the information entropy of the infrared image,m is the number of gray levels, p V,i ＝m V,i /m V The ratio of the number of pixels of the ith gray value of the visible light image to the total number of pixels is p I,i ＝m I,i /m I The number of pixels of the ith gray value of the infrared image is the proportion of the total number of the pixels; />Is the total number of visible light image pixels, < >>The total number of pixels of the infrared image; k1 is a weight coefficient;
the calculation method of the threshold T1 and the threshold T2 comprises the following steps:
in formula (4), k2 is a weight factor; e (E) I,0,Avg Is the average energy of the low-frequency infrared image, E I,0,MAX Maximum energy, E, of the low frequency IR image V,0,Avg Is the average energy of the low frequency visible light image.
3. The photoelectric detection device is characterized by comprising a compound lens, wherein the compound lens comprises a visible light detector, an infrared detector, a laser ranging module and a signal processing circuit board, the signal processing circuit board receives image information detected by the visible light detector, the infrared detector and the laser ranging module, and the signal processing circuit board is used for executing the photoelectric detection method according to any one of claims 1-2.
4. The device of claim 3, further comprising a communication module coupled to the signal processing circuit board for transmitting information.
5. The device of claim 3, wherein the visible light detector, the infrared detector, and the laser ranging module are further connected to a power circuit board, and a voltage conversion circuit is integrated in the power circuit board.
6. The device of claim 5, wherein the power circuit board external connection communication module transmits information.
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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101339653A (en) * 2008-01-30 2009-01-07 西安电子科技大学 Infrared and colorful visual light image fusion method based on color transfer and entropy information
CN104155006A (en) * 2014-08-27 2014-11-19 湖北久之洋红外系统股份有限公司 Handheld thermal infrared imager and method for same to carry out quick locking and ranging on small target

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9916655B2 (en) * 2013-06-07 2018-03-13 Paul Scherrer Institut Image fusion scheme for differential phase contrast imaging

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101339653A (en) * 2008-01-30 2009-01-07 西安电子科技大学 Infrared and colorful visual light image fusion method based on color transfer and entropy information
CN104155006A (en) * 2014-08-27 2014-11-19 湖北久之洋红外系统股份有限公司 Handheld thermal infrared imager and method for same to carry out quick locking and ranging on small target

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