CN111491089A - Method for monitoring target object on background object by using image acquisition device - Google Patents
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- CN111491089A CN111491089A CN202010333011.7A CN202010333011A CN111491089A CN 111491089 A CN111491089 A CN 111491089A CN 202010333011 A CN202010333011 A CN 202010333011A CN 111491089 A CN111491089 A CN 111491089A
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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
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
- G06V10/267—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion by performing operations on regions, e.g. growing, shrinking or watersheds
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Abstract
The application discloses a method for monitoring a target object on a background object by using an image acquisition device, which comprises the steps of preparing the image acquisition device to make the image acquisition device sensitive to a wave band with higher spectral reflectivity of the target object; installing an image acquisition device; acquiring images at intervals of a period set manually; and carrying out binarization processing on the image by using a waveband ratio method according to the spectral response characteristics of the target object aiming at the gray values of all color channels in the acquired image. By adopting the method, the target objects on the background scene can be distinguished more accurately.
Description
Technical Field
The invention relates to the field of target object monitoring, in particular to a method for monitoring a target object on a background object by using an image acquisition device.
Background
Gulfweed is a brown macroalgae, is abundantly present in the gulf of mexico and the atlantic, and is also frequently found in the sea areas of the southern province and the Qingdao province of China. Gulfweed, as one of the important components of the marine ecosystem, provides food and habitat for fish, shrimp, crab, turtle and other marine organisms, and also plays an important role in marine primary productivity, nutrient remineralization, colored dissolved organic matter dynamics and bacterial activity. On the other hand, if the gulfweed floats on the sea surface due to wind driving or massive root removal caused by human factors, the gulfweed is a not small burden and threat to human beings, especially in the sea area near the nuclear power station, the water inlet of the nuclear power station can be blocked, the economic loss and the adverse effect of the ecological environment are caused, and the gulfweed on too many beaches is a burden for local coastal managers. Therefore, monitoring and positioning of macroalgae floating on the sea surface, such as gulfweed, is necessary to enable timely early warning.
Disclosure of Invention
It is an object of the present invention to overcome the above-mentioned drawbacks and problems of the prior art and to provide a method for monitoring an object on a background scene using an image acquisition device, which can more accurately distinguish the object on the background scene.
In order to achieve the purpose, the following technical scheme is adopted:
the first technical scheme relates to a method for monitoring a target object on a background object by using an image acquisition device, which comprises the following steps: preparing an image acquisition device which is sensitive to a waveband with higher spectral reflectivity of a target object; installing an image acquisition device to enable a monitoring target area to be located in a view field of the image acquisition device; acquiring images at intervals of a period set manually; aiming at the gray value of each color channel in the obtained image, the image is subjected to binarization processing by using a waveband ratio method according to the spectral response characteristics of the target object, so that each pixel in the image is divided into pixels which accord with the characteristics of the target object or pixels which do not accord with the characteristics of the target object.
The second technical scheme is based on the first technical scheme, wherein when the image acquisition device is prepared, an optical filter is additionally arranged to filter out at least part of background object reflected light.
A third technical solution is based on the first technical solution, wherein the method further includes obtaining coordinates of the target object based on the position of the image acquisition device based on optical parameters, the position and the wanting state of the image acquisition device after the image is subjected to binarization processing.
The fourth technical solution is based on the third technical solution, wherein the optical parameters of the image acquisition device include a distance from an imaging center to an imaging sensor and an actual size of each pixel; the position comprises the height of the image acquisition device relative to the plane of the background object; the pose includes a vertical tilt angle of the image capture device.
The fifth technical solution is based on the fourth technical solution, wherein according to the optical parameters, the location and the habit of the image acquisition device, the coordinates of the target object based on the location of the image acquisition device are obtained by using an imaging geometry method according to the location of the pixels in the image that meet the characteristics of the target object.
A sixth technical solution is based on the first technical solution, wherein the background scene comprises a sea surface; the target object is a sargassum floating object; the image capture device is prepared by retrofitting a commercial video camera or a camera, the retrofitting including removing an infrared filter of the commercial video camera or the camera.
A seventh technical solution is based on the sixth technical solution, wherein the retrofitting further comprises adding a polarizer for eliminating sea surface reflections.
An eighth technical means is based on the sixth technical means, wherein the binarization processing method is that if each pixel in the image meets the following formula, the image is in accordance with the target object feature, otherwise, the image is not in accordance with the target object feature:
0.25<(RED-GREEN)/(RED+GREEN)<0.35
wherein RED is the pixel RED channel gray scale value, and GREEN is the pixel GREEN channel gray scale value.
Compared with the prior art, the scheme has the following beneficial effects:
in the first technical scheme, the image acquisition device is prepared to be sensitive to the wave band with higher spectral reflectivity of the target object, so that good conditions are provided for subsequent image binarization processing, and the image classification precision can be effectively improved. According to the spectral response characteristics of the target object, the band ratio method is used for binarization processing, so that the target object and the background object can be distinguished more accurately.
In the second technical scheme, the filter is additionally arranged to filter part of the reflected light of the background object, so that the subsequent image binarization processing is facilitated.
In the third to fifth technical solutions, an effective method is provided for calculating coordinates of the target object based on the position of the image acquisition device.
In the sixth technical scheme, based on the characteristic that the gulfweed floater has high response in the near infrared band, the commercial camera or camera can be modified at low cost by removing the infrared filter of the commercial camera or camera, so that the gulfweed floater is more sensitive to the infrared band with high reflectivity of the gulfweed.
In the seventh technical scheme, the polarizer is additionally arranged, so that sea surface reflection can be eliminated, and the subsequent image binarization processing is facilitated.
In the eighth technical scheme, the binarization method based on the spectral characteristic setting of the gulfweed can effectively improve the identification precision, improve the detection capability of the floating objects, and facilitate the timely early warning of the disaster-causing organisms in the sea area near the nuclear power station.
Drawings
In order to more clearly illustrate the technical solution of the embodiments, the drawings needed to be used are briefly described as follows:
FIG. 1 shows the spectral sensitivity of the blue, green and red channels and the spectral reflectance of gulfweed in a commercial camera;
FIG. 2 shows the spectral sensitivities of the blue, green, and red channels and the spectral reflectivities of gulfweed in the image capture device of an embodiment;
FIG. 3 is a sea surface image taken by a commercial camera with the infrared filter removed;
FIG. 4 is a sea surface image captured by the image capturing device in the embodiment;
FIGS. 5a, 5b and 5c are the sea surface gulfweed images shot by the commercial camera and the binarized images;
fig. 6a, 6b and 6c are images of sea gulfweed captured by the image acquisition device and binarized images in the embodiment;
FIG. 7 is a schematic diagram of the positions of pixels in an image that conform to the characteristics of a target object;
FIG. 8 is a schematic perspective view of an imaging geometry;
FIG. 9 is a schematic diagram of how to obtain the ordinate of the target object based on the position of the image capturing device;
fig. 10 is a schematic diagram of how to find the abscissa of the target object based on the position of the image capturing device.
Detailed Description
In the claims and specification, unless otherwise defined, the terms "comprising", "having" and variations thereof mean "including but not limited to".
The technical solution in the embodiments will be clearly and completely described below with reference to the accompanying drawings.
The embodiment provides a method for monitoring a target object on a background object by using an image acquisition device, and particularly discloses a method for monitoring sargassum floating objects on the sea by using an image acquisition device.
Referring to fig. 1, fig. 1 shows the spectral sensitivity of the blue, green and red channels and the spectral reflectance of gulfweed of a commercial camera. As shown in fig. 1, for a commercial video camera or a camera, in order to match the image taken by the camera with the result obtained by the human eye, a near infrared filter is usually added in the camera to completely cut off the near infrared light after 700nm, so that the common commercial camera cannot receive the signal in the near infrared band. However, as shown in fig. 1, the reflectance of the gulfweed near infrared band spectrum after 700nm is high.
In this embodiment, the method for monitoring the gulfweed floating objects on the sea by using the image acquisition device specifically includes:
1. an image acquisition device is prepared.
Therefore, in this embodiment, when preparing the image capturing device, a commercial camera or a camera (in this embodiment, a camera, which is fully equivalent to the camera in the technical solution of the present application) needs to be modified, and the modification includes removing an infrared filter on the commercial camera and adding a polarizer for eliminating sea surface reflection. The commercial camera after the modification is the image acquisition device in this embodiment. The spectral sensitivity of the blue, green and red channels and the spectral reflectivity of gulfweed of the image acquisition device are shown in fig. 2. As can be seen from fig. 2, the spectral sensitivity of the modified image capturing device after 700nm is significantly improved.
Fig. 3 and 4 show images taken before and after attaching a polarizer. Comparing fig. 3 and fig. 4, it can be known that the polarizer whose angle forms 90 ° with the angle of the sea surface reflected light entering the lens is added. Sea surface reflections are effectively suppressed on the image. Therefore, by adding an appropriate filter (polarizer in the present embodiment) to the light reflected from the background object, the reflected light from the background object can be further effectively suppressed. Of course, the addition of the optical filter is not necessary for monitoring the object, but only for better results.
2. And installing the image acquisition device to enable the monitoring target area to be positioned in the view field of the image acquisition device.
During specific installation, the height value of the image acquisition device to the plane (sea level) where the background object is located and the vertical inclination angle of the image acquisition device can be acquired in the installation process.
3. Images were acquired every artificially set period.
In this embodiment, the image capturing device operates continuously for 24 hours, and outputs one image every 15 minutes. Of course, the images may be output at other time intervals as deemed appropriate, as desired.
4. And (6) carrying out binarization processing.
After the image is output every time, aiming at the gray value of each color channel in the obtained image, the image is subjected to binarization processing by using a waveband ratio method according to the spectral response characteristics of the target object, so that each pixel in the image is divided into pixels which accord with the characteristics of the target object or pixels which do not accord with the characteristics of the target object. Specifically, in the embodiment, the gulfweed is detected by using a red-green band ratio method according to the response characteristics of the floating gulfweed and the gray values of the images of the red, green and blue channels, that is, if the gray values of the red and green channels of a certain pixel meet the following formula, the gulfweed is judged to meet the target characteristics, and if the gray values of the red and green channels of the certain pixel do not meet the following formula, the gulfweed is judged to not meet the target characteristics. In this embodiment, pixels that match the target feature are binarized to white and pixels that do not match the target feature are binarized to black. The formula is: 0.25< (RED-GREEN)/(RED + GREEN) < 0.35; wherein RED is the pixel RED channel gray scale value, and GREEN is the pixel GREEN channel gray scale value.
The image of the marine gulfweed shot by the commercial camera is processed by the binarization processing method to obtain the binarized image, as shown in fig. 5a, fig. 5b and fig. 5 c.
The image of the marine gulfweed captured by the image capturing device in the embodiment is processed by the binarization processing method to obtain a binarized image, as shown in fig. 6a, 6b and 6 c.
We measure the classification accuracy by using the Kappa coefficient, and it can be seen that the Kappa coefficient in fig. 5a is 0.76, the Kappa coefficient in fig. 5b is 0.57, the Kappa coefficient in fig. 5c is 0.54, and the mean value is 0.62; the Kappa coefficient in fig. 6a is 0.91, the Kappa coefficient in fig. 6b is 0.90, the Kappa coefficient in fig. 6c is 0.89, and the mean value is 0.90. Therefore, the image acquisition device in the embodiment is adopted to acquire the image, and the binarization processing method in the embodiment is utilized to effectively distinguish the target object from the background object.
5. Measuring coordinates of a target object relative to a position of an image capturing device
In this embodiment, according to the optical parameters, the position and the condition of the image capturing device, the coordinates of the target object based on the position of the image capturing device are obtained by using an imaging geometry method and the position of the pixel in the image that matches the features of the target object.
The optical parameters of the image acquisition device comprise the distance from an imaging center to an imaging sensor, namely a focal length f, and the actual size of each pixel; the position of the image acquisition device comprises the height of the image acquisition device relative to the plane of the background object; the pose of the image capture device includes a vertical tilt angle of the image capture device. The height of the image acquisition device relative to the plane where the background object is located and the vertical inclination angle of the image acquisition device are acquired when the image acquisition device is installed. The actual size of each pixel of the image capturing device is an intrinsic parameter of the image capturing device.
Specifically, the method for obtaining the coordinates of the target relative to the position of the image capturing device according to the position of the pixel in the image that matches the feature of the target is shown in fig. 7 to 10.
Referring to fig. 7, as shown in fig. 7, coordinates of a pixel L corresponding to the feature of the target object in the image ACIG relative to an intersection E of the optical axis and the imaging sensor are (a, b), where BH is an intersection of a vertical plane passing through E and the imaging sensor, FD is an intersection of a horizontal plane passing through E and the imaging sensor, L has a projection on BH of K, a is L K, b is KE. generally, E is a center point of the image, if the actual size of each pixel is X, a is X L K, and b is X KE.
Referring to fig. 8, fig. 8 shows the imaging geometry perspective principle, where m is the sea level, i.e. the plane of the background object, n is the vertical plane passing through the optical axis and perpendicular to m, O is the imaging center of the image acquisition device, O is the perpendicular line of the imaging sensor CAGI, and the imaging sensors ACIG are respectively crossed to E, m is the optical axis of the image acquisition device, EE 'is the perpendicular line passing through O is the sea level m, O' is the sea level, OO 'is the height of the image acquisition device relative to the sea level (the plane of the background object), the vertical tilt angle of the imaging sensors ACIG is ∠α, the intersection point of the straight line of L O with the sea level m is L', n is the perpendicular line passing through L ', and K' is the coordinate (a ') of L' relative to O 'corresponding to the position of the image acquisition device corresponding to the pixel L corresponding to the characteristic of the object, where a' is L 'K' and b 'is O'.
A specific method for determining the ordinate b' of the position of the target object based on the image capturing device is shown in fig. 9.
Fig. 9 shows the imaging principle on plane n. As shown in fig. 9, K ' in fig. 8 is an intersection of the line OK and O ' H ' (intersection of m and n). As described above, b ═ KE is known, and b ', that is, K ' O ', is obtained.
In fig. 9, the distance from the imaging center to the imaging sensor is known as OE, and given ke (b) and ∠ OEK 90 °, ∠ γ can be determined from the basic principle of the triangle ∠ K 'OO' 90 ° - ∠α - ∠ γ.
A specific method for determining the ordinate a' of the target object based on the position of the image capturing device is shown in fig. 10.
In fig. 9, for Δ K ' OO ', not only K ' O ' but also K ' O can be obtained.
As shown in fig. 10, both Δ O L 'K' and Δ OK L are right triangles and are similar triangles, and with the knowledge of K L, OK, K 'O, L' K 'can be found, from which a' can be found.
From the above description, under the condition that the focal length f, the actual size of each pixel, the height of the image acquisition device relative to the plane where the background object is located, and the vertical inclination angle of the image acquisition device are known, the coordinate of the position of the target object relative to the image acquisition device can be obtained through the position of the pixel which accords with the characteristics of the target object in the image.
In the above embodiment, the image capturing device is prepared to be sensitive to a wavelength band with a high spectral reflectance of the target object, specifically, an infrared filter of a commercial camera or a camera is removed, so that a good condition is provided for subsequent image binarization processing, and the image classification accuracy can be effectively improved. According to the spectral response characteristics of the target object, the band ratio method is used for binarization processing, so that the target object and the background object can be distinguished more accurately. A filter is additionally arranged to filter part of background object reflected light, specifically a polarizer is additionally arranged, and the subsequent image binarization processing is facilitated. The binary method based on the spectral characteristic setting of the gulfweed can effectively improve the identification precision, improve the detection capability of the floating objects, and facilitate the timely early warning of the disaster-causing organisms in the sea area near the nuclear power station. And the method disclosed by the application can also acquire the coordinates of the position of the target relative to the image acquisition device.
The description of the above specification and examples is intended to be illustrative of the scope of the present invention and is not intended to be limiting.
Claims (8)
1. A method for monitoring a target object on a background object by using an image acquisition device is characterized by comprising the following steps:
preparing an image acquisition device which is sensitive to a waveband with higher spectral reflectivity of a target object;
installing an image acquisition device to enable a monitoring target area to be located in a view field of the image acquisition device;
acquiring images at intervals of a period set manually;
aiming at the gray value of each color channel in the obtained image, the image is subjected to binarization processing by using a waveband ratio method according to the spectral response characteristics of the target object, so that each pixel in the image is divided into pixels which accord with the characteristics of the target object or pixels which do not accord with the characteristics of the target object.
2. The method of claim 1, wherein the image capture device is prepared by adding a filter to filter at least some of the background light.
3. A method of monitoring an object in a background scene using an image capture device as claimed in claim 1, wherein: the method further comprises the step of obtaining the coordinates of the target object based on the position of the image acquisition device based on the optical parameters, the position and the state of the image acquisition device after the image is subjected to binarization processing.
4. A method of monitoring an object in a background scene using an image capture device as claimed in claim 3 wherein the optical parameters of the image capture device include the distance from the imaging center to the imaging sensor and the physical size of each pixel; the position comprises the height of the image acquisition device relative to the plane of the background object; the pose includes a vertical tilt angle of the image capture device.
5. The method as claimed in claim 4, wherein the image capturing device is used to monitor the object on the background, and wherein the imaging geometry is used to obtain the coordinates of the object based on the position of the image capturing device according to the position and the wanting state of the object in the image.
6. A method of monitoring objects in a background scene using an image capture device as claimed in any one of claims 1 to 5, wherein: the background object comprises a sea surface; the target object is a sargassum floating object; the image capture device is prepared by retrofitting a commercial video camera or a camera, the retrofitting including removing an infrared filter of the commercial video camera or the camera.
7. The method of claim 6, wherein the monitoring of the object on the background using the image capture device comprises:
the retrofitting also includes adding a polarizer for eliminating sea surface reflections.
8. The method of claim 6, wherein the monitoring of the object on the background using the image capture device comprises:
the binarization processing method is that if each pixel in the image accords with the following formula, the image accords with the characteristics of the target object, otherwise, the image does not accord with the characteristics of the target object:
0.25<(RED-GREEN)/(RED+GREEN)<0.35
wherein RED is the pixel RED channel gray scale value, and GREEN is the pixel GREEN channel gray scale value.
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Application publication date: 20200804 |