CN113554699A - Light spot image positioning method and system based on peak value - Google Patents
Light spot image positioning method and system based on peak value Download PDFInfo
- Publication number
- CN113554699A CN113554699A CN202110838064.9A CN202110838064A CN113554699A CN 113554699 A CN113554699 A CN 113554699A CN 202110838064 A CN202110838064 A CN 202110838064A CN 113554699 A CN113554699 A CN 113554699A
- Authority
- CN
- China
- Prior art keywords
- light spot
- image
- module
- data
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/66—Analysis of geometric attributes of image moments or centre of gravity
-
- 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
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30242—Counting objects in image
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Geometry (AREA)
- Image Analysis (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Image Processing (AREA)
Abstract
The invention belongs to the technical field of image processing, and particularly relates to a light spot image positioning method and a light spot image positioning system based on a peak value, wherein the method comprises the following steps: acquiring image data and storing the image data in a cache region; counting rows and columns of each pixel in the image data storage process to obtain the pixels with the maximum gray values except the defects, and recording the coordinates of the pixels; taking the pixel coordinate of the maximum gray value as a central point, taking twice of the diameter of the light spot as the side length of a new light spot position calculation window, and carrying out binarization processing on data in the light spot position calculation window; taking the first bright spot as a central starting point, and acquiring a spot pattern outline according to an image edge continuity principle; calculating the rough coordinates of the light spots according to the outline of the light spot graph; calculating the precise coordinates of the light spots according to the obtained light spot rough coordinates; the method reduces the search range by taking the first coordinate of the peak value and windowing for the second time, finds the rough coordinate and the size of the light spot, and finds the fine coordinate and the fine size of the light spot by subdividing for the second time, thereby obtaining the positioning of the light spot.
Description
Technical Field
The invention belongs to the technical field of image processing, and particularly relates to a light spot image positioning method and a light spot image positioning system based on a peak value.
Background
In an aiming, capturing and tracking subsystem of space laser communication, a light spot formed by beacon light or signal light on a photosensitive surface of an optical position sensor is generally used as a tracking target, and a fine aiming device and a coarse aiming device are controlled to enable the position of the light spot to be always kept at the center of the photosensitive surface of the sensor. Since the accuracy of the spot position affects the tracking accuracy of the whole tracking subsystem, and finally affects the efficiency of space laser communication, a high-accuracy image spot positioning and acquiring method is needed in space laser communication. The current commonly used method for positioning and acquiring the light spots is a centroid method, and the method is suitable for light spot images with uniform light intensity distribution and good symmetry and is greatly influenced by the non-uniformity of an optical position sensor, the interference of defects and the interference of other noise light sources.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a light spot image positioning method based on a peak value, which comprises the following steps: acquiring image data in real time, and storing the acquired image data into a cache region; performing row-column counting on each pixel of the image data in the process of caching the image data to obtain pixels with the maximum gray value except for the defects, and recording the coordinates of the pixels;
taking the pixel coordinate of the maximum gray value as a central point, taking twice of the diameter of the light spot as the side length of a new light spot position calculation window, and carrying out binarization processing on data in the light spot position calculation window;
according to the spot image after binarization processing, a first bright spot is taken as a central starting point, and a spot pattern profile is obtained according to an image edge continuity principle;
calculating the rough coordinates of the light spots according to the outline of the light spot graph; and calculating the precise coordinates of the light spots according to the obtained rough coordinates of the light spots.
Preferably, the calculation of each line of picture elements of the image data comprises a line count based on a clock signal received by the image data.
Preferably, the process of performing binarization processing on the data in the spot position calculation window includes: dividing the calculation window of the light spot position into an M-dimension and N-dimension image, and marking the pixel coordinate of the mth row and the nth column in the image as (x)m，yn) The gray value of the pixel of the mth row and the nth column is I (x)m，yn) (ii) a And setting a threshold T, comparing the gray value of each pixel with the set threshold, if the gray value of the pixel is greater than or equal to the set threshold, setting the amplitude of the pixel signal to be 1, and if the gray value of the pixel is less than the set threshold, setting the amplitude of the pixel signal to be 0.
Further, the set threshold T is the maximum value of the background noise under the image without bright spots.
Preferably, the process of acquiring the image contour according to the edge continuity principle includes: acquiring a first edge point of the light spot image, and determining the coordinate of the first edge point; the scanning direction of the first edge point is specified to be right, if the right side point of the first edge point is a bright point, the edge point is recorded, and contour scanning is continued; if the right side point of the first edge point is a dark point, judging whether the right side point is a bright point, and if the right side point is the bright point, continuing the contour scanning; if the edge points are dark points, sequentially judging in the clockwise direction until the next edge point is found; taking the found edge point as a second edge point, and acquiring the coordinate of the second edge point; and if the direction point is not the edge point, judging according to the anticlockwise direction until the finally found edge point coordinate is superposed with the first edge point coordinate.
Preferably, the process of calculating the coarse coordinates of the light spot comprises: acquiring coordinates of all the bright spots by taking the closed light spot image outline as a boundary, and calculating the nearest distance Rmin (x, y) from each bright spot to the boundary according to the acquired coordinates; and screening out the maximum value of all the closest distances, recording the maximum value and the coordinate corresponding to the maximum value, and taking the coordinate as a rough coordinate of the light spot positioning, wherein the maximum closest distance value is the rough size of the light spot size, namely the rough radius of the light spot positioning.
Preferably, the process of calculating the fine coordinates of the light spot includes: the rough coordinate is a central point, the sizes of the two pixels are side lengths, each pixel is subdivided into n units, the coordinates of all points closest to the image contour and the point with the largest distance are found in each unit, the coordinates of the points are the precise coordinates of light spot positioning, and the distance is the precise size of the light spot size.
A peak-based spot image locating system, the system comprising: the device comprises a data acquisition module, a data receiving module, a data caching module, a peak position module, a row and column counting module, a data shearing and binarization module, a light spot position calculating module and an output module;
the data acquisition module is used for acquiring image data and sending the acquired image data to the data receiving module;
the data receiving module receives the image data and then sends the image data to the data buffer, the peak position module and the row and column counting module respectively;
the data caching module is used for storing image data;
the peak position module is used for calculating the gray value of the image, recording the gray values of all pixels, comparing the gray values of all pixels pairwise to obtain the maximum gray value except the defect, and recording the coordinate of the pixel;
the line and column counting module is used for counting lines and columns according to the clock signal received by the image data to obtain a line and column counting result;
the data shearing and binarization module acquires image data in the data cache module, shears the image data according to pixel coordinates of maximum gray values except defects and a row-column counting result obtained by the peak position module to obtain a light spot position calculation window, and performs binarization processing on the data in the light spot position window;
the light spot position calculating module calculates the precise coordinate and the precise size of the light spot according to the processing result of the data shearing and binarization module;
and the output module is used for outputting the calculation result of the light spot position calculation module.
The method reduces the search range by taking the first coordinate of the peak value and windowing for the second time, finds the boundary outline of the light spot image, finds the rough coordinate and the size of the light spot, and finds the fine coordinate and the fine size of the light spot by subdivision for the second time, thereby obtaining the positioning of the light spot. On the premise of ensuring high calculation real-time performance, compared with the traditional centroid calculation, the method improves the position stability of the light spot, reduces the influence of the defects and the nonuniformity of the optical position sensor on the position calculation, and can obviously reduce the position precision error caused by the irregularity of the light spot image.
Drawings
FIG. 1 is a schematic diagram of a light spot positioning and obtaining method according to the present invention;
fig. 2 is a schematic diagram of an example of the spot location acquisition principle of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A spot image positioning method based on peak value includes: acquiring image data in real time, and storing the acquired image data into a cache region; performing row-column counting on each pixel of the image data in the process of caching the image data to obtain pixels with the maximum gray value except for the defects, and recording the coordinates of the pixels;
taking the pixel coordinate of the maximum gray value as a central point, taking twice of the diameter of the light spot as the side length of a new light spot position calculation window, and carrying out binarization processing on data in the light spot position calculation window;
according to the spot image after binarization processing, a first bright spot is taken as a central starting point, and a spot pattern profile is obtained according to an image edge continuity principle;
calculating the rough coordinates of the light spots according to the outline of the light spot graph; and calculating the precise coordinates of the light spots according to the obtained rough coordinates of the light spots.
Acquiring image data in real time by adopting an optical position sensor; the acquired data is not stored in a buffer.
When the image sensor transmits image data, the image data are output according to the sequence of a first row and a first column, a first row and a second column. And counting the rows and columns of each pixel of the image data according to the output rule of the image data.
The process of carrying out binarization processing on the data in the light spot position calculation window comprises the following steps: dividing the calculation window of the light spot position into an M multiplied by N dimensional image, and marking the pixel coordinate of the mth row and the nth column in the image as (x)m，yn) The gray value of the pixel of the mth row and the nth column is I (x)m，yn) (ii) a And setting a threshold T, comparing the gray value of each pixel with the set threshold, if the gray value of the pixel is greater than or equal to the set threshold, setting the amplitude of the pixel signal to be 1, and if the gray value of the pixel is less than the set threshold, setting the amplitude of the pixel signal to be 0.
Preferably, the threshold T is set to be a maximum value of background noise in the image without bright spots.
The process of acquiring the outline of the image according to the edge continuity principle of the image comprises the following steps: acquiring a first edge point of the light spot image, and determining the coordinate of the first edge point; the scanning direction of the first edge point is specified to be right, if the right side point of the first edge point is a bright point, the edge point is recorded, and contour scanning is continued; if the right side point of the first edge point is a dark point, judging whether the right side point is a bright point, and if the right side point is the bright point, continuing the contour scanning; if the edge points are dark points, sequentially judging in the clockwise direction until the next edge point is found; taking the found edge point as a second edge point, and acquiring the coordinate of the second edge point; and if the direction point is not the edge point, judging according to the anticlockwise direction until the finally found edge point coordinate is superposed with the first edge point coordinate.
The process of calculating the coarse coordinates of the spot includes: acquiring coordinates of all the bright spots by taking the closed light spot image outline as a boundary, and calculating the nearest distance Rmin (x, y) from each bright spot to the boundary according to the acquired coordinates; and screening out the maximum value of all the closest distances, recording the maximum value and the coordinate corresponding to the maximum value, and taking the coordinate as a rough coordinate of the light spot positioning, wherein the maximum closest distance value is the rough size of the light spot size, namely the rough radius of the light spot positioning.
The process of calculating the fine coordinates of the light spot comprises the following steps: the rough coordinate is a central point, the sizes of the two pixels are side lengths, each pixel is subdivided into n units, the coordinates of all points closest to the image contour and the point with the largest distance are found in each unit, the coordinates of the points are the precise coordinates of light spot positioning, and the distance is the precise size of the light spot size. The resulting spot location is obtained as a result of the graph shown in figure 2.
A peak-based spot image locating system, as shown in fig. 1, comprising: the device comprises a data acquisition module, a data receiving module, a data caching module, a peak position module, a row and column counting module, a data shearing and binarization module, a light spot position calculating module and an output module;
the data acquisition module is used for acquiring image data and sending the acquired image data to the data receiving module;
the data receiving module receives the image data and then sends the image data to the data buffer, the peak position module and the row and column counting module respectively;
the data caching module is used for storing image data;
the peak position module is used for calculating the gray value of the image, recording the gray values of all pixels, comparing the gray values of all pixels pairwise to obtain the maximum gray value except the defect, and recording the coordinate of the pixel;
the line and column counting module is used for counting lines and columns according to the clock signal received by the image data to obtain a line and column counting result;
the data shearing and binarization module acquires image data in the data cache module, shears the image data according to pixel coordinates of maximum gray values except defects and a row-column counting result obtained by the peak position module to obtain a light spot position calculation window, and performs binarization processing on the data in the light spot position window;
the light spot position calculating module calculates the precise coordinate and the precise size of the light spot according to the processing result of the data shearing and binarization module;
and the output module is used for outputting the calculation result of the light spot position calculation module.
Specifically, the optical position sensor generates image data, and the data receiving module is configured to receive the image data and buffer the received image data in a data buffer. When the data is cached, the row and column counting module counts the row and column data, records the row number and the column number of the current cached data, and the peak position module records the coordinate of the maximum gray value of the current frame image and sends the coordinate to the data shearing and binarization module. And the data shearing and binarization module shears a small-area image with the light spot to carry out binarization processing, and sends the processed data to the light spot position calculation module which can be used for calculating the coordinates of the light spot.
Based on the above structure, this embodiment provides a specific implementation of a peak-based image spot positioning method, where the method includes:
s1: the image data in the optical position sensor is stored in a data buffer area through a data receiving module, a row and column counting module counts rows and columns according to a clock signal received by the image data when the data is stored, a peak position module compares every two gray values, and records the coordinate (x) of a first point in an image output sequencef，yf) Maximum gray values except for defects, and recordingCoordinates (x) of the pixelp，yp)；
S2: the data shearing and binarization module uses the pixel coordinate (x) of the maximum gray valuep，yp) Taking twice of the diameter d of the light spot as the side length of the light spot position calculation window as the center of the light spot position calculation window, extracting data of the light spot position calculation window from a data cache region, and carrying out binarization processing on the data in the light spot position calculation window;
the binarization processing process comprises the following steps: setting the size of the image as M × N dimension, the coordinate of the pixel in the mth row and the nth column is marked as (x)m，yn) The gray value of the pixel of the mth row and the nth column is I (x)m，yn) The pixel signal amplitude value with the gray value larger than or equal to the threshold value T is 1; the amplitude of the pixel signal with the gray value smaller than the threshold value T is 0. As shown in the following formula:
s3: in the binarized image, the coordinates (x) are usedf，yf) The spot image profile is found starting for the first point. Since the image data is output in lines, the first dot scanning direction is defined as the right. If the right side point is a bright point, recording the edge point and continuing to scan the outline; if the right side point is a dark point, judging whether the right side point is a bright point or not, and sequentially judging according to the clockwise direction until the next edge point is found. And at the second edge point, rotating the second point by 90 degrees anticlockwise relative to the first point direction to be used as the direction of the first judgment, and if the direction point is not the edge point, judging in the anticlockwise direction. And so on until the last found edge point coordinate is the first edge point coordinate (x)f，yf) Overlapping;
s4: taking the image contour of the closed light spot as a boundary, recording the closest distance Rmin (x, y) of all the bright spots from the boundary, recording the maximum value in the Rmin and the corresponding coordinate (x)c，yc) With the coordinates (x)c，yc) The distance Rmin (x) as a coarse coordinate of the spot locationc，yc) Is a light spotThe coarse size of the dimension, i.e., the coarse radius;
s5: in coarse coordinates (x)c，yc) And taking the size of two pixels as the side length as a central point, and subdividing each pixel into n units, wherein n depends on the required light spot positioning precision. Taking n as an example and 10, the subdivided point is (x)c-1，yc-1)、(xc-0.9，yc-1)、(xc-0.8，yc-1)...(xc+1，yc-1)、(xc-1，yc-0.9)、(xc-0.9，yc-0.9)...(xc+1，yc+1). Then (2n +1)2Recording the closest distance RFmin (x, y) of all bright spots from the boundary in a spot, recording the maximum value in RFmin, and the corresponding coordinate (xf，yf) With the coordinates (x)f，yf) The distance Rmin (x) is used as the precise coordinate for positioning the light spotf，yf) Is the fine dimension of the spot size, i.e. the exact radius.
According to the invention, the rough position of the light spot position is quickly found through the peak value, accurate light spot position calculation is carried out by utilizing light spot calculation of secondary windowing, and the stability and the anti-interference capability of image light spot positioning are improved on the premise of ensuring high real-time performance in the image light spot positioning and acquiring process.
The above-mentioned embodiments, which further illustrate the objects, technical solutions and advantages of the present invention, should be understood that the above-mentioned embodiments are only preferred embodiments of the present invention, and should not be construed as limiting the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A spot image positioning method based on peak value is characterized by comprising the following steps: acquiring image data in real time, and storing the acquired image data into a cache region; performing row-column counting on each pixel of the image data in the process of caching the image data to obtain pixels with the maximum gray value except for the defects, and recording the coordinates of the pixels;
taking the pixel coordinate of the maximum gray value as a central point, taking twice of the diameter of the light spot as the side length of a new light spot position calculation window, and carrying out binarization processing on data in the light spot position calculation window;
according to the spot image after binarization processing, a first bright spot is taken as a central starting point, and a spot pattern profile is obtained according to an image edge continuity principle;
calculating the rough coordinates of the light spots according to the outline of the light spot graph; and calculating the precise coordinates of the light spots according to the obtained rough coordinates of the light spots.
2. A peak-based image localization method according to claim 1, wherein calculating the row/column for each pixel of the image data comprises counting the row/column based on a clock signal received by the image data.
3. The peak-based spot image positioning method according to claim 1, wherein the process of binarizing the data in the spot position calculation window comprises: dividing the calculation window of the light spot position into an M multiplied by N dimensional image, and marking the pixel coordinate of the mth row and the nth column in the image as (x)m,yn) The gray value of the pixel of the mth row and the nth column is I (x)m,yn) (ii) a And setting a threshold T, comparing the gray value of each pixel with the set threshold, if the gray value of the pixel is greater than or equal to the set threshold, setting the amplitude of the pixel signal to be 1, and if the gray value of the pixel is less than the set threshold, setting the amplitude of the pixel signal to be 0.
4. The peak-based spot image locating method according to claim 3, wherein the threshold T is set to be a maximum value of background noise in the image without the bright spots.
5. The peak-based spot image positioning method according to claim 1, wherein the process of obtaining the image profile according to the edge continuity principle comprises: acquiring a first edge point of the light spot image, and determining the coordinate of the first edge point; the scanning direction of the first edge point is specified to be right, if the right side point of the first edge point is a bright point, the edge point is recorded, and contour scanning is continued; if the right side point of the first edge point is a dark point, judging whether the right side point is a bright point, and if the right side point is the bright point, continuing the contour scanning; if the edge points are dark points, sequentially judging in the clockwise direction until the next edge point is found; taking the found edge point as a second edge point, and acquiring the coordinate of the second edge point; and if the direction point is not the edge point, judging according to the anticlockwise direction until the finally found edge point coordinate is superposed with the first edge point coordinate.
6. A peak-based spot image locating method according to claim 1, wherein the process of calculating the coarse coordinates of the spot comprises: acquiring coordinates of all the bright spots by taking the closed light spot image outline as a boundary, and calculating the nearest distance Rmin (x, y) from each bright spot to the boundary according to the acquired coordinates; and screening out the maximum value of all the closest distances, recording the maximum value and the coordinate corresponding to the maximum value, and taking the coordinate as a rough coordinate of the light spot positioning, wherein the maximum closest distance value is the rough size of the light spot size, namely the rough radius of the light spot positioning.
7. The peak-based spot image positioning method according to claim 1, wherein the step of calculating the fine coordinates of the spot comprises: the rough coordinate is a central point, the sizes of the two pixels are side lengths, each pixel is subdivided into n units, the coordinates of all points closest to the image contour and the point with the largest distance are found in each unit, the coordinates of the points are the precise coordinates of light spot positioning, and the distance is the precise size of the light spot size.
8. A peak-based spot image locating system, comprising: the device comprises a data acquisition module, a data receiving module, a data caching module, a peak position module, a row and column counting module, a data shearing and binarization module, a light spot position calculating module and an output module;
the data acquisition module is used for acquiring image data and sending the acquired image data to the data receiving module;
the data receiving module receives the image data and then sends the image data to the data buffer, the peak position module and the row and column counting module respectively;
the data caching module is used for storing image data;
the peak position module is used for calculating the gray value of the image, recording the gray values of all pixels, comparing the gray values of all pixels pairwise to obtain the maximum gray value except the defect, and recording the coordinate of the pixel;
the line and column counting module is used for counting lines and columns according to the clock signal received by the image data to obtain a line and column counting result;
the data shearing and binarization module acquires image data in the data cache module, shears the image data according to pixel coordinates of maximum gray values except defects and a row-column counting result obtained by the peak position module to obtain a light spot position calculation window, and performs binarization processing on the data in the light spot position window;
the light spot position calculating module calculates the precise coordinate and the precise size of the light spot according to the processing result of the data shearing and binarization module;
and the output module is used for outputting the calculation result of the light spot position calculation module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110838064.9A CN113554699B (en) | 2021-07-23 | 2021-07-23 | Light spot image positioning method and system based on peak value |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110838064.9A CN113554699B (en) | 2021-07-23 | 2021-07-23 | Light spot image positioning method and system based on peak value |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113554699A true CN113554699A (en) | 2021-10-26 |
| CN113554699B CN113554699B (en) | 2023-05-30 |
Family
ID=78132650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110838064.9A Active CN113554699B (en) | 2021-07-23 | 2021-07-23 | Light spot image positioning method and system based on peak value |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113554699B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103617611A (en) * | 2013-11-12 | 2014-03-05 | 清华大学 | Automatic threshold segmentation detection method for center and size of light spot |
| CN103679180A (en) * | 2012-09-19 | 2014-03-26 | 武汉元宝创意科技有限公司 | Sight tracking method based on single light source of single camera |
| CN105809128A (en) * | 2016-03-08 | 2016-07-27 | 厦门美图之家科技有限公司 | Eye pupil positioning method and system for eye part image and shooting terminal |
| US20160364886A1 (en) * | 2015-06-12 | 2016-12-15 | Shenzhen University | Method and system for calculating laser beam spot size |
| CN107317966A (en) * | 2017-07-20 | 2017-11-03 | 深圳中天银河科技有限公司 | Camera lens auto focusing method and device |
| CN109507796A (en) * | 2018-12-20 | 2019-03-22 | 中国工程物理研究院应用电子学研究所 | A kind of array mass center extracting method and distorting lens system based on dynamic grid |
| CN109976391A (en) * | 2019-04-11 | 2019-07-05 | 天津理工大学 | The focus photosensitive element three-dimensional space visual servo positioning system and method for optical focus camera lens |
| WO2020144217A1 (en) * | 2019-01-09 | 2020-07-16 | Trinamix Gmbh | Detector for determining a position of at least one object |
| CN111462225A (en) * | 2020-03-31 | 2020-07-28 | 电子科技大学 | Centroid identification and positioning method of infrared light spot image |
| CN111583171A (en) * | 2020-02-19 | 2020-08-25 | 西安工程大学 | Insulator defect detection method integrating foreground compact characteristic and multi-environment information |
| CN112614079A (en) * | 2020-12-31 | 2021-04-06 | 东方红卫星移动通信有限公司 | Light spot image processing method and system based on remainder system and computer storage medium |
-
2021
- 2021-07-23 CN CN202110838064.9A patent/CN113554699B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103679180A (en) * | 2012-09-19 | 2014-03-26 | 武汉元宝创意科技有限公司 | Sight tracking method based on single light source of single camera |
| CN103617611A (en) * | 2013-11-12 | 2014-03-05 | 清华大学 | Automatic threshold segmentation detection method for center and size of light spot |
| US20160364886A1 (en) * | 2015-06-12 | 2016-12-15 | Shenzhen University | Method and system for calculating laser beam spot size |
| CN105809128A (en) * | 2016-03-08 | 2016-07-27 | 厦门美图之家科技有限公司 | Eye pupil positioning method and system for eye part image and shooting terminal |
| CN107317966A (en) * | 2017-07-20 | 2017-11-03 | 深圳中天银河科技有限公司 | Camera lens auto focusing method and device |
| CN109507796A (en) * | 2018-12-20 | 2019-03-22 | 中国工程物理研究院应用电子学研究所 | A kind of array mass center extracting method and distorting lens system based on dynamic grid |
| WO2020144217A1 (en) * | 2019-01-09 | 2020-07-16 | Trinamix Gmbh | Detector for determining a position of at least one object |
| CN109976391A (en) * | 2019-04-11 | 2019-07-05 | 天津理工大学 | The focus photosensitive element three-dimensional space visual servo positioning system and method for optical focus camera lens |
| CN111583171A (en) * | 2020-02-19 | 2020-08-25 | 西安工程大学 | Insulator defect detection method integrating foreground compact characteristic and multi-environment information |
| CN111462225A (en) * | 2020-03-31 | 2020-07-28 | 电子科技大学 | Centroid identification and positioning method of infrared light spot image |
| CN112614079A (en) * | 2020-12-31 | 2021-04-06 | 东方红卫星移动通信有限公司 | Light spot image processing method and system based on remainder system and computer storage medium |
Non-Patent Citations (4)
| Title |
|---|
| RUIHONG GAO等: "High-precision laser spot center positioning method for weak light conditions", 《APPLIED OPTICS》 * |
| 向景睿等: "基于图像处理的手持终端光斑检测方法", 《测控技术》 * |
| 吴佳敏: "CCD中激光混合光斑的中心定位算法研究", 《中国优秀硕士学位论文全文数据库_工程科技Ⅱ辑》 * |
| 李旭旭: "低信噪比下点源目标哈特曼传感器的子光斑定位算法研究", 《中国博士学位论文全文数据库_工程科技Ⅱ辑》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113554699B (en) | 2023-05-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111855664B (en) | Adjustable three-dimensional tunnel defect detection system | |
| CN111462225B (en) | Centroid identification and positioning method of infrared light spot image | |
| CN111754583B (en) | Automatic method for vehicle-mounted three-dimensional laser radar and camera external parameter joint calibration | |
| US20200364849A1 (en) | Method and device for automatically drawing structural cracks and precisely measuring widths thereof | |
| CN111260615B (en) | Laser and machine vision fusion-based method for detecting apparent diseases of unmanned aerial vehicle bridge | |
| CN109543665B (en) | Image positioning method and device | |
| CN107392849B (en) | Target identification and positioning method based on image subdivision | |
| CN108470356B (en) | Target object rapid ranging method based on binocular vision | |
| CN108564621B (en) | Structured light strip center extraction method and device for track detection | |
| CN111354047B (en) | Computer vision-based camera module positioning method and system | |
| CN110969656A (en) | Airborne equipment-based laser beam spot size detection method | |
| CN113514054A (en) | Star sensor star point image spot detection method and system | |
| CN111724445B (en) | Method and system for identifying large-field small-size identification code | |
| CN111724354A (en) | Image processing-based method for measuring spike length and small spike number of multiple wheat | |
| CN109115127A (en) | A kind of sub-pix peak point extraction algorithm based on Bezier | |
| CN113554699A (en) | Light spot image positioning method and system based on peak value | |
| CN117095038A (en) | Point cloud filtering method and system for laser scanner | |
| CN116563298A (en) | Cross line center sub-pixel detection method based on Gaussian fitting | |
| JPH05189571A (en) | Method and device for pattern matching | |
| CN108871226B (en) | Method, device and system for measuring snow depth | |
| CN115035071A (en) | Visual detection method for black spot defect of PAD light guide plate | |
| CN114283081A (en) | Depth recovery method based on pyramid acceleration, electronic device and storage medium | |
| CN112509002A (en) | Target detection tracking method based on connected domain marker | |
| JP2961140B2 (en) | Image processing method | |
| CN110222549B (en) | Variable-step-length quick two-dimensional code positioning method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 401120 39-1, Building 1, No. 64, Middle Huangshan Avenue, Yubei District, Chongqing Patentee after: China Star Network Application Co.,Ltd. Address before: 618 Liangjiang Avenue, Longxing Town, Yubei District, Chongqing Patentee before: Dongfanghong Satellite Mobile Communication Co.,Ltd. |
|
| CP03 | Change of name, title or address |