CN112686106A - Method for converting video image into maritime radar image - Google Patents
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Abstract
The invention provides a method for converting video images into marine radar images, which comprises the following steps of S1, looking down the water surface by a camera to shoot the pictures of ships passing through the water surface; step S2, the radar image processing server acquires a frame of video image data shot by the camera through the communication network at regular time, and carries out target identification on the ship according to the video image; step S3, extracting the contour of the ship target through image processing after the ship target is identified, and extracting the radar irradiation surface contour of the ship target; step S4, generating a bridge area radar image according to the radar irradiation surface profile of the ship target; step S5, the radar image processing server acquires a frame of radar image from the marine radar at regular time through the communication network, and then replaces the generated bridge area radar image with the radar image of the corresponding bridge area in the radar image of the marine radar; and finally, generating the marine radar image without the bridge echo covering. The invention improves the accuracy of the marine radar target tracking in the bridge area and improves the marine supervision level in key areas.
Description
Technical Field
The invention relates to the technical field of ship navigation, in particular to a method for converting a video image into a maritime radar image.
Background
The vts (vessel traffic service) is a system for performing traffic control on a ship and providing advisory services for the ship, which is set by a director and a government organization, in order to ensure the safety of ship traffic, improve the efficiency of ship traffic and protect the environment of a water area.
In the VTS area, such services should be able to interact with traffic and react to changes in traffic situation. China is generally called a ship traffic management system. The VTS is a system for monitoring ships sailing in a bay and in and out of ports using communication facilities such as AIS base stations, radars, CCTVs, wireless phones, and shipboard terminals, and providing the ships with security information required for sailing. The system can monitor whether the ship is separated from the navigation path, the advancing direction, the speed, the mutual intersection of the ship and the like so as to rapidly provide the safe navigation information required by the ship when the ship enters and exits the port.
In a VTS ship transportation service system, there are many key monitoring water areas of bridges. In this region, when boats and ships pass through from the bridge below, the radar echo image of boats and ships has been covered to the radar echo image of bridge for can't acquire the boats and ships target on the radar image, lead to the boats and ships target to lose, the condition of radar monitoring disappearance.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for converting video images into marine radar images, aiming at the problem that radar echo images of ships are covered by radar echo images of bridges in a VTS ship traffic service system in the prior art, and the accuracy of target tracking of marine radar in bridge areas can be improved.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a method for converting a video image into a marine radar image adopts a ship image acquisition system, wherein the ship image acquisition system comprises a camera, a marine radar and a radar image processing server, the camera is installed on a bridge, the marine radar is a marine radar in a VTS system, the marine radar and the radar image processing server are installed on the shore near the bridge together, and the camera and the marine radar are connected with the radar image processing server through a communication network;
the method comprises the following steps:
step S1, shooting pictures of ships passing through the water surface by looking down the water surface through the camera;
step S2, the radar image processing server acquires a frame of video image data shot by the camera through the communication network at regular time, and carries out target identification on the ship according to the video image;
step S3, extracting the contour of the ship target through image processing after the ship target is identified, converting the coordinates of the contour of the ship target from a rectangular coordinate system taking a camera as an origin into a polar coordinate system taking a marine radar as the origin, and extracting the radar irradiation surface contour of the ship target;
step S4, generating a bridge area radar image according to the radar irradiation surface profile of the ship target;
step S5, the radar image processing server acquires a frame of radar image from the marine radar at regular time through the communication network, and then replaces the radar image of the corresponding bridge area in the radar image of the marine radar with the generated bridge area radar image; and finally, generating the marine radar image without the bridge echo covering.
In the above scheme, in step S1, the camera is a starlight-level ultra-low illumination high-definition web camera, and the camera can recognize a ship image in both day and night; the camera is installed in the bridge bottom, and camera and water face parallel arrangement.
In the above scheme, the step S2 of identifying the target of the ship according to the video image includes the specific steps of:
s2.1, preprocessing a video image to delete useless image areas of a shoreline and a pier;
and S2.2, performing difference operation on the preprocessed current frame image and the preprocessed background frame image, determining the area where the ship target is located by using morphological filtering and median filtering, and finally obtaining the ship target in the image.
In the above scheme, the step S3 of extracting the contour of the ship target by image processing specifically includes the steps of:
s3.1, after the ship target is identified, extracting the contour of a local image of the area where the ship target is located by adopting an eight-neighborhood edge tracking algorithm; graying a local image of a region where a ship target is located and carrying out edge detection;
s3.2, performing edge tracking according to a preset tracking direction;
s3.3, the termination condition of tracking is that no contour exists in all eight neighborhoods;
and S3.4, finally, obtaining the ship target contour.
In the above scheme, in step S3, the rectangular coordinate system with the camera as the origin of the coordinates of the ship target profile is converted into the polar coordinate system with the marine radar as the origin, and the specific steps are as follows:
s3.5, obtaining the installation positions of the camera and the marine radar base station in advance through GPS measurement, wherein the longitude of the GPS of the camera is Lo1, the latitude of the GPS of the camera is La1, and the longitude of the GPS of the marine radar base station is Lo2, and the latitude of the GPS of the marine radar base station is La 2;
s3.6, calculating a polar coordinate system with the position of the camera using the marine radar as an origin from the GPS data to represent S (D, θ), where D represents a distance between the camera and a radar base station, D ═ arccos ((sin La1 × sin La2) + (cos La1 × cos La2 × cos (Lo1-Lo2))) × 6371004, and θ represents a polar angle;
s3.7, if the coordinate of an arbitrary point A in the camera image in a rectangular coordinate system with the camera as the origin S is (x, y), the coordinate in a polar coordinate system with the marine radar as the origin O is A
In the above scheme, the step S3 of extracting the radar irradiation surface profile of the ship target specifically includes the following steps:
s3.8, changing the polar angle theta from 0 to 360 degrees in a polar coordinate system with the marine radar as an origin;
s3.9, finding out the minimum polar diameter d of the contour of the ship target at the same polar angle thetamin；dminThe set of (1) is the radar irradiation surface profile of the ship target.
In the above scheme, the specific steps of step S4 are:
s4.1, performing image expansion and corrosion treatment on the radar irradiation surface profile of the ship target for multiple times;
s4.2, carrying out image expansion on the obtained outline image of the irradiation surface, wherein the image expansion comprises two aspects, namely expansion along the polar diameter direction on one hand, and clockwise and anticlockwise expansion along the polar angle direction according to the horizontal angle of the marine radar on the other hand;
s4.3, performing image expansion and corrosion treatment on the image;
and S4.4, performing median filtering processing on the image to finally generate a bridge area radar image obtained through the video image.
In the above scheme, the step S5 is to replace the radar image of the bridge area corresponding to the radar image of the marine radar with the generated bridge area radar image, and the specific steps are as follows:
s5.1, scaling the bridge area radar image according to the horizontal and vertical distances represented by the single pixel points of the original radar image of the marine radar because the horizontal and vertical distances represented by the single pixel points of the generated bridge area radar image and the original radar image of the marine radar are inconsistent;
s5.2, erasing the partial image of the bridge area corresponding to the original radar image of the marine radar;
and S5.3, superposing the zoomed bridge area radar image on the radar image of the erased marine radar under a coordinate system with the marine radar as an origin, and finally generating the marine radar image without the influence of bridge covering.
The invention has the beneficial effects that:
according to the method for converting the video image into the marine radar image, the bridge area radar image is superposed on the radar image of the marine radar after being erased, so that the problem that the radar echo image of the ship is covered by the radar echo image of the bridge in the VTS ship traffic service system is solved, the accuracy of the target tracking of the marine radar in the bridge area is improved, the marine supervision level of a key area is improved, and the navigation safety of the ship is ensured.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a schematic view of a marine vessel image acquisition system employed in the method of the present invention;
FIG. 3 is a schematic illustration of a target profile of a vessel in the method of the present invention;
FIG. 4 is a schematic diagram of the rectangular coordinate system with the camera as the origin of the coordinates of the ship target profile converted into the polar coordinate system with the marine radar as the origin in the method of the present invention;
FIG. 5 is a schematic diagram of a radar exposure surface profile of a ship target in the method of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
Referring to fig. 1, a method for converting a video image into a marine radar image according to the present invention is to provide a marine image capturing system, as shown in fig. 2, the marine image capturing system includes a camera, a marine radar and a radar image processing server, the camera is installed on a bridge, the marine radar is a marine radar in a VTS system and is installed on a shore near the bridge, the radar image processing server is installed together with the marine radar, and the camera and the marine radar are connected to the radar image processing server through a communication network.
With continued reference to fig. 1, the method of the present invention comprises the steps of:
and step S1, mounting the camera at the bottom of the bridge, and shooting pictures of ships passing through the water surface by looking down the water surface by the camera.
Specifically, the camera adopts a starlight-level ultralow-illumination high-definition network camera, and can identify ship images in the day or at night; the camera is installed in the bridge bottom, and camera and water face parallel arrangement.
And step S2, the radar image processing server acquires one frame of video image data shot by the camera at regular time through the communication network, stores the video image and identifies the target of the ship according to the video image.
Specifically, the method comprises the following steps of carrying out target identification on a ship according to a video image:
and S2.1, preprocessing the video image, and deleting useless image areas of a shoreline and a pier.
And S2.2, performing difference operation on the preprocessed current frame image and the preprocessed background frame image, determining the area where the ship target is located by using morphological filtering and median filtering, and finally obtaining the ship target in the image. The morphological filtering and median filtering processes are already known in the art and will not be described in detail here.
Step S3, after the ship target is recognized, extracting the contour of the ship target through image processing (as shown in fig. 3), converting the coordinates of the contour of the ship target from a rectangular coordinate system with the camera as the origin (S) into a polar coordinate system with the marine radar as the origin (O), and extracting the radar irradiation surface contour of the ship target.
Further, the contour of the ship target is extracted through image processing, and the method specifically comprises the following steps:
s3.1, after the ship target is identified, extracting the contour of the local image of the area where the ship target is located by adopting an eight-neighborhood edge tracking algorithm, namely performing graying on the local image of the area where the ship target is located and performing Canny edge detection. The eight-neighborhood edge tracking algorithm is characterized in that the eight-neighborhood information of points is utilized to select the next point as a boundary point, the algorithm needs to select a starting point, the target point on the image can be selected, the point on the uppermost point and the leftmost point is selected, then the point of the eight neighborhood of the target point is checked, the searching is started from the position of 45 degrees at the lower right, if the target point is, the clockwise 90 degrees is taken as the next searching direction, if the target point is not, the searching is continued by 45 degrees anticlockwise, and once the target point is found, the above processes are repeated.
And S3.2, performing edge tracking according to a preset tracking direction.
S3.3, the termination condition of tracking is that no contour exists in the eight neighborhoods.
And S3.4, finally, obtaining the ship target contour.
As shown in fig. 4, the coordinates of the ship target contour are converted from a rectangular coordinate system with the camera as the origin (S) to a polar coordinate system with the marine radar as the origin (O), and the specific steps are as follows:
s3.5, obtaining the installation positions of the camera and the marine radar base station in advance through GPS measurement, wherein the GPS longitude of the camera is Lo1, and the latitude is La 1; the longitude of the marine radar base station GPS is Lo2 and the latitude is La 2.
S3.6, a polar coordinate system with the position of the camera using the marine radar as the origin is calculated from the GPS data and expressed as S (D, θ), where D denotes a distance D between the camera and the radar base station as arccos ((sin La1 × sin La2) + (cos La1 × cos La2 × cos (Lo1-Lo2))) × 6371004, and θ denotes a polar angle.
S3.7, if the coordinate of an arbitrary point A in the camera image in a rectangular coordinate system with the camera as the origin S is (x, y), the coordinate in a polar coordinate system with the marine radar as the origin O is A
Further, extracting the radar irradiation surface profile of the ship target, which comprises the following specific steps:
s3.8, changing the polar angle theta from 0 to 360 degrees in a polar coordinate system with the marine radar as an origin;
s3.9, finding out the minimum polar diameter d of the contour of the ship target at the same polar angle thetamin；dminIs (i.e. the set is the minimum pole diameter d of the corresponding profile at different polar angles theta)minThe combination of) is the radar irradiation surface profile of the ship target. As shown in fig. 5, the black bold line is the outline of the radar irradiation surface.
And step S4, generating a bridge area radar image according to the radar irradiation surface profile of the ship target. The method comprises the following specific steps:
s4.1, performing image expansion and corrosion treatment on the radar irradiation surface profile of the ship target for multiple times;
s4.2, carrying out image expansion on the obtained outline image of the irradiation surface, wherein the image expansion comprises two aspects, namely expansion along the polar diameter direction on one hand, and clockwise and anticlockwise expansion along the polar angle direction according to the horizontal angle of the marine radar on the other hand;
s4.3, performing image expansion and corrosion treatment on the image again;
and S4.4, performing median filtering processing on the image to finally generate a bridge area radar image obtained through the video image.
Step S5, the radar image processing server acquires a frame of radar image from the marine radar at regular time through the communication network, and then replaces the radar image of the corresponding bridge area in the radar image of the marine radar with the generated bridge area radar image; and finally, generating the marine radar image without the bridge echo covering.
Further, the generated bridge area radar image is used for replacing the radar image of the corresponding bridge area in the radar image of the marine radar, and the method specifically comprises the following steps:
s5.1, scaling the bridge area radar image according to the horizontal and vertical distances represented by the single pixel points of the original radar image of the marine radar because the horizontal and vertical distances represented by the single pixel points of the generated bridge area radar image and the original radar image of the marine radar are inconsistent;
s5.2, erasing the partial image of the bridge area corresponding to the original radar image of the marine radar;
and S5.3, superposing the zoomed bridge area radar image on the radar image of the erased marine radar under a coordinate system with the marine radar as an origin, and finally generating the marine radar image without the influence of bridge covering.
In the invention, the method for converting the video image into the marine radar image is used, so that the problem that the radar echo image of the ship is covered by the radar echo image of the bridge in the VTS ship traffic service system is solved, the accuracy of the marine radar target tracking in the bridge area is improved, the marine supervision level in the key area is improved, and the navigation safety of the ship is ensured.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. A method for converting a video image into a marine radar image is characterized in that a ship image acquisition system is adopted, the ship image acquisition system comprises a camera, a marine radar and a radar image processing server, the camera is installed on a bridge, the marine radar is a marine radar in a VTS system, the marine radar and the radar image processing server are installed on the shore near the bridge together, and the camera and the marine radar are connected with the radar image processing server through a communication network;
the method comprises the following steps:
step S1, shooting pictures of ships passing through the water surface by looking down the water surface through the camera;
step S2, the radar image processing server acquires a frame of video image data shot by the camera through the communication network at regular time, and carries out target identification on the ship according to the video image;
step S3, extracting the contour of the ship target through image processing after the ship target is identified, converting the coordinates of the contour of the ship target from a rectangular coordinate system taking a camera as an origin into a polar coordinate system taking a marine radar as the origin, and extracting the radar irradiation surface contour of the ship target;
step S4, generating a bridge area radar image according to the radar irradiation surface profile of the ship target;
step S5, the radar image processing server acquires a frame of radar image from the marine radar at regular time through the communication network, and then replaces the radar image of the corresponding bridge area in the radar image of the marine radar with the generated bridge area radar image; and finally, generating the marine radar image without the bridge echo covering.
2. The method for converting video images into marine radar images according to claim 1, wherein in step S1, the camera is a starlight-level ultra-low illumination high-definition web camera, which can recognize the images of the ship in both day and night; the camera is installed in the bridge bottom, and camera and water face parallel arrangement.
3. The method for converting the video image into the marine radar image according to claim 1, wherein the step S2 of performing target recognition on the ship according to the video image comprises the following specific steps:
s2.1, preprocessing a video image to delete useless image areas of a shoreline and a pier;
and S2.2, performing difference operation on the preprocessed current frame image and the preprocessed background frame image, determining the area where the ship target is located by using morphological filtering and median filtering, and finally obtaining the ship target in the image.
4. The method for converting a video image into a marine radar image according to claim 1, wherein the step S3 of extracting the contour of the ship target by image processing comprises the following specific steps:
s3.1, after the ship target is identified, extracting the contour of a local image of the area where the ship target is located by adopting an eight-neighborhood edge tracking algorithm; graying a local image of a region where a ship target is located and carrying out edge detection;
s3.2, performing edge tracking according to a preset tracking direction;
s3.3, the termination condition of tracking is that no contour exists in all eight neighborhoods;
and S3.4, finally, obtaining the ship target contour.
5. The method for converting video images into marine radar images according to claim 1, wherein the step S3 is to convert the rectangular coordinate system with the camera as the origin of the ship target contour into a polar coordinate system with the marine radar as the origin, and comprises the following steps:
s3.5, obtaining the installation positions of the camera and the marine radar base station in advance through GPS measurement, wherein the longitude of the GPS of the camera is Lo1, the latitude of the GPS of the camera is La1, and the longitude of the GPS of the marine radar base station is Lo2, and the latitude of the GPS of the marine radar base station is La 2;
s3.6, calculating a polar coordinate system with the position of the camera using the marine radar as an origin from the GPS data to represent S (D, θ), where D represents a distance between the camera and a radar base station, D ═ arccos ((sinLa1 × sinLa2) + (cosLa1 × cosLa2 × cos (Lo1-Lo2))) × 6371004, and θ represents a polar angle;
s3.7, if the coordinate of an arbitrary point A in the camera image in a rectangular coordinate system with the camera as the origin S is (x, y), the coordinate in a polar coordinate system with the marine radar as the origin O is A
6. The method for converting the video image into the marine radar image according to claim 5, wherein the step S3 of extracting the radar irradiation surface profile of the ship target comprises the following specific steps:
s3.8, changing the polar angle theta from 0 to 360 degrees in a polar coordinate system with the marine radar as an origin;
s3.9, finding out the minimum polar diameter d of the contour of the ship target at the same polar angle thetamin；dminThe set of (1) is the radar irradiation surface profile of the ship target.
7. The method for converting video image into marine radar image according to claim 1, wherein the step S4 comprises the following steps:
s4.1, performing image expansion and corrosion treatment on the radar irradiation surface profile of the ship target for multiple times;
s4.2, carrying out image expansion on the obtained outline image of the irradiation surface, wherein the image expansion comprises two aspects, namely expansion along the polar diameter direction on one hand, and clockwise and anticlockwise expansion along the polar angle direction according to the horizontal angle of the marine radar on the other hand;
s4.3, performing image expansion and corrosion treatment on the image;
and S4.4, performing median filtering processing on the image to finally generate a bridge area radar image obtained through the video image.
8. The method for converting a video image into a marine radar image according to claim 1, wherein the step S5 replaces the radar image of the corresponding bridge area in the radar image of the marine radar with the generated bridge area radar image, and comprises the following specific steps:
s5.1, scaling the bridge area radar image according to the horizontal and vertical distances represented by the single pixel points of the original radar image of the marine radar because the horizontal and vertical distances represented by the single pixel points of the generated bridge area radar image and the original radar image of the marine radar are inconsistent;
s5.2, erasing the partial image of the bridge area corresponding to the original radar image of the marine radar;
and S5.3, superposing the zoomed bridge area radar image on the radar image of the erased marine radar under a coordinate system with the marine radar as an origin, and finally generating the marine radar image without the influence of bridge covering.
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