CN114004762A - Laser detection method and system based on cat eye effect - Google Patents
Laser detection method and system based on cat eye effect Download PDFInfo
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Abstract
The invention provides a laser detection method and a laser detection system based on a cat eye effect, wherein the laser detection method comprises the following steps: step S1, acquiring an image of the target area to obtain a background image; step S2, acquiring an image containing laser information of a laser source in a target area under the action of the laser source to obtain an initial cat eye image, and adjusting the initial cat eye image according to a background image to obtain an adjusted cat eye image; and step S3, processing the background image and the adjusted cat eye image to obtain a target identifier, and overlapping the target identifier as a reflection target on the background image for displaying. The method has the advantages of detecting the reflection target in the target area and improving the accuracy of identifying the reflection target in the target area.
Description
Technical Field
The invention relates to the technical field of laser detection, in particular to a laser detection method and system based on a cat eye effect.
Background
The optical sighting device commonly used in military at present, such as a telescope, a sniper mirror and the like, has a characteristic that an optical window has strong backward reflection characteristic according to an original optical path for parallel incident beams, and is usually stronger than echo reflected by a surrounding diffuse reflection background. This is similar to the ability of the cat's eye to reflect incident light more strongly during the night and is therefore referred to as the "cat eye effect". The laser source is used for irradiating a target area needing to be detected, the camera is used for shooting the target area, when a reflector with stronger reflection capacity exists in the target area, the reflector is displayed in an image shot by the camera in a light spot mode, whether optical sighting equipment exists in the target area can be judged by analyzing the light spot, and then military intentions of an enemy are analyzed, and the enemy can be responded in time.
In the actual shooting process, due to the fact that the target area has interference of a reflector of the non-optical sighting device, the light spot displayed in the shot image is not the optical sighting device, and the method for judging whether the optical sighting device exists in the target area or not through the light spot in the image shot by the camera is not high in accuracy.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a laser detection method based on cat eye effect, which is used for detecting a reflection target in a target area, and the laser detection method comprises the following steps:
step S1, acquiring the image of the target area to obtain a background image;
step S2, acquiring an image of the target area under the action of a laser source, wherein the image contains laser information of the laser source, to obtain an initial cat eye image, and adjusting the initial cat eye image according to the background image to obtain an adjusted cat eye image;
and step S3, processing the background image and the adjusted cat eye image to obtain a target identifier, and overlapping the target identifier as the reflection target on the background image for displaying.
Preferably, the step S2 includes:
step S21, under the action of the laser source, acquiring the initial cat eye image;
step S22, respectively processing to obtain a second gray average value corresponding to the initial cat eye image and a first gray average value corresponding to the background image, and judging whether the initial cat eye image meets a preset image standard according to the first gray average value and the second gray average value;
if so, outputting the initial cat-eye image as the adjusted cat-eye image, and then going to the step S3;
if not, generating an adjustment signal, and then executing step S23;
step S23, adjusting the output power of the laser source according to the adjusting signal, and then returning to the step S21.
Preferably, the step S22 includes:
step S221, the first gray average value is obtained according to the background image processing, and the second gray average value is obtained according to the initial cat eye image processing;
step S222, determining whether the second gray level mean value is greater than the first gray level mean value:
if yes, go to step S223;
if not, generating the adjustment signal indicating that the initial cat-eye image does not meet the image standard, and then turning to step S23;
step S223, determining whether an absolute value of a difference between the second gray level mean value and the first gray level mean value is greater than a preset threshold;
if so, outputting the initial cat-eye image as the adjusted cat-eye image, and then going to the step S3;
if not, the adjustment signal indicating that the initial cat-eye image does not meet the image standard is generated, and then the process goes to step S23.
Preferably, in step S23, the output power of the laser light source is adjusted by a dichotomy method.
Preferably, the step S3 includes:
step S31, carrying out image difference processing on the background image and the adjusted cat eye image to obtain a binary image;
step S32, carrying out connected domain marking on the binary image to identify and obtain at least one spot in the binary image;
and step S33, screening each spot to obtain a target spot, processing according to the target spot to obtain the target identifier, and overlapping the target identifier as the reflection target on the background image for display.
Preferably, the step S31 includes:
step S311, carrying out image difference processing on the background image and the adjusted cat eye image to obtain a difference image;
and step S312, processing the difference image by adopting an adaptive threshold value binarization mode to obtain the binarization image.
Preferably, the step S33 includes:
step S331, screening each spot according to at least one preset limiting threshold value to obtain the target spot;
step S332, calculating the center of mass and the radius of the target spot, and outputting a circle with the center of mass as the center of circle and the radius as the target identifier.
Preferably, before the step S32 is executed, the method further includes filtering the binarized image by using a morphological method to obtain a preprocessed image;
in step S32, connected domain labeling is performed on the preprocessed image as the binarized image to identify the corresponding blob.
A laser detection system based on cat eye effect, which applies the laser detection method as described in any one of the above items, for detecting a reflective target in a target area, the laser detection system comprising:
the acquisition module is used for acquiring the image of the target area to obtain a background image;
the adjusting module is connected with the acquisition module and used for acquiring an image of the target area under the action of a laser source, wherein the image contains laser information of the laser source to obtain an initial cat eye image, and adjusting the initial cat eye image according to the background image to obtain an adjusted cat eye image;
and the processing module is connected with the adjusting module and used for processing the background image and the adjusted cat eye image to obtain a target identifier and superposing the target identifier as the reflection target on the background image for displaying.
Preferably, the adjusting module includes:
the processing unit is used for carrying out image difference processing on the background image and the adjusted cat eye image to obtain a binary image;
the identification unit is connected with the processing unit and used for carrying out connected domain marking on the binary image so as to identify and obtain at least one spot in the binary image;
and the screening unit is connected with the identification unit and used for screening each spot to obtain a target spot, processing the target spot to obtain the target identifier, and overlapping the target identifier as the reflection target on the background image for displaying.
The technical scheme has the following advantages or beneficial effects:
(1) processing according to the background image and the adjusted cat eye image to obtain a target identifier, and achieving the purpose of detecting a reflection target in a target area;
(2) carrying out image difference processing on the background image and the adjusted cat eye image so as to eliminate spots in the background image without the action of a laser source, reduce the probability of taking a reflection target inherent in a target area as a target mark, and improve the accuracy and reliability of laser detection;
(2) the target mark is a circle with the center of mass of the target spot as the center of a circle and the radius of the target spot as the radius, and when the target mark is superposed on the background image, the target mark is closer to the position and the size of the reflection target in a target area in the actual environment, so that the accuracy of laser detection is improved, and the threat of the reflection target can be further analyzed by a user conveniently.
Drawings
FIG. 1 is a flow chart of a laser inspection method according to a preferred embodiment of the present invention;
FIG. 2 is a flowchart illustrating a detailed process of step S2 in the laser inspection method according to the preferred embodiment of the present invention;
FIG. 3 is a flowchart illustrating a step S22 of the laser inspection method according to the preferred embodiment of the present invention;
FIG. 4 is a flowchart illustrating the detailed operation of step S3 in the laser inspection method according to the preferred embodiment of the present invention;
FIG. 5 is a flowchart illustrating the detailed operation of step S31 in the laser inspection method according to the preferred embodiment of the present invention;
FIG. 6 is a flowchart illustrating the detailed operation of step S33 in the laser inspection method according to the preferred embodiment of the present invention;
FIG. 7 is a schematic diagram of a laser inspection system according to a preferred embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present invention is not limited to the embodiment, and other embodiments may be included in the scope of the present invention as long as the gist of the present invention is satisfied.
In a preferred embodiment of the present invention, based on the above problems in the prior art, there is provided a laser detection method based on the cat-eye effect, as shown in fig. 1, for detecting a reflective target in a target area, the laser detection method includes:
step S1, acquiring an image of the target area to obtain a background image;
step S2, acquiring an image containing laser information of a laser source in a target area under the action of the laser source to obtain an initial cat eye image, and adjusting the initial cat eye image according to a background image to obtain an adjusted cat eye image;
and step S3, processing the background image and the adjusted cat eye image to obtain a target identifier, and overlapping the target identifier as a reflection target on the background image for displaying.
Specifically, in this embodiment, a background image and an initial cat eye image are acquired by the imaging device in an imaging manner.
When the target area is under the action of the laser source, the reflection target in the target area reflects the received laser source, laser information is generated and fed back to the camera shooting equipment, the camera shooting equipment generates an initial cat eye image with the laser information, and then target identification is obtained through gradual analysis of the background image and the initial cat eye image, so that the purpose of laser detection is achieved, military detection is completed, and military threats are eliminated.
Further, when the camera device captures an initial cat-eye image, the duration of the laser source covers the exposure time when the camera device captures the initial cat-eye image.
Before the camera device collects the initial cat eye image and starts exposure, the laser source starts to act on the target area, and after the camera device finishes the initial cat eye image and stops exposure, the laser source stops acting on the target area so as to guarantee the quality of the initial cat eye image shot by the camera device.
In a preferred embodiment of the present invention, as shown in fig. 2, step S2 includes:
step S21, collecting an initial cat eye image under the action of a laser source;
step S22, respectively processing to obtain a second gray average value corresponding to the initial cat eye image and a first gray average value corresponding to the background image, and judging whether the initial cat eye image meets a preset image standard according to the first gray average value and the second gray average value;
if so, outputting the initial cat-eye image as an adjusted cat-eye image, and then turning to step S3;
if not, generating an adjustment signal, and then executing step S23;
in step S23, the output power of the laser source is adjusted according to the adjustment signal, and then the process returns to step S21.
Specifically, in this embodiment, in step S22, the initial cat eye image is screened, and if the initial cat eye image meets the image standard, the initial cat eye image is output as the adjusted cat eye image;
and if the initial cat eye image does not accord with the image standard, adjusting the power of the laser source, and controlling the camera equipment and the laser source to acquire the initial cat eye image again until the initial cat eye image accords with the image standard.
In a preferred embodiment of the present invention, as shown in fig. 3, step S22 includes:
step S221, a first gray average value is obtained according to background image processing, and a second gray average value is obtained according to initial cat eye image processing;
step S222, determining whether the second gray level mean value is greater than the first gray level mean value:
if yes, go to step S223;
if not, generating an adjusting signal indicating that the initial cat eye image does not meet the image standard, and then turning to step S23;
step S223, determining whether an absolute value of a difference between the second gray level mean value and the first gray level mean value is greater than a preset threshold;
if so, outputting the initial cat-eye image as an adjusted cat-eye image, and then turning to step S3;
if not, an adjustment signal indicating that the initial cat-eye image does not meet the image standard is generated, and then the process goes to step S23.
Specifically, in this embodiment, when the second gray level mean value is not greater than the first gray level mean value, an adjustment signal is generated to reacquire the initial cat eye image; and when the second gray level average value is larger than the first gray level average value, calculating the absolute value of the difference between the second gray level average value and the first gray level average value.
When the second gray mean value is larger than the first gray mean value and the absolute value of the difference value of the second gray mean value is larger than a preset threshold value, the initial cat eye image is expressed to accord with the image standard;
and when the second gray average value is not greater than the first gray average value or the absolute value of the difference value is not greater than a preset threshold value, the initial cat eye image does not accord with the image standard.
When the difference value between the first gray level mean value and the second gray level mean value is not larger than the threshold value, the image information obtained by shooting the target area by the background image and the initial cat eye image is similar, and further the fact that no reflection target with detection value exists in the initial cat eye image is further explained.
Preferably, in the present embodiment, the threshold is set to 4.
In the preferred embodiment of the present invention, in step S23, the output power of the laser source is adjusted by a dichotomy method.
In a preferred embodiment of the present invention, as shown in fig. 4, step S3 includes:
step S31, carrying out image difference processing on the background image and the adjusted cat eye image to obtain a binary image;
step S32, carrying out connected domain marking on the binary image to identify and obtain at least one spot in the binary image;
and step S33, screening each spot to obtain a target spot, processing according to the target spot to obtain a target identifier, and overlaying the target identifier as a reflection target on the background image for display.
Specifically, in the present embodiment, when the image pickup apparatus photographs a target area without the laser light source, there is a reflection target in which the target area has a reflection phenomenon that still exists under the influence of ambient light, and a bright spot is formed on the background image. Therefore, by performing image difference processing on the background image and the cat eye image, spots of both the background image and the cat eye image are eliminated, and interference of a reflection target without laser detection requirement in a target area on a laser detection result is reduced.
In a preferred embodiment of the present invention, as shown in fig. 5, step S31 includes:
step S311, carrying out image difference processing on the background image and the adjusted cat eye image to obtain a difference image;
and step S312, processing the difference image by adopting an adaptive threshold value binarization mode to obtain a binarization image.
Specifically, in this embodiment, for the background image and the cat eye image, the corresponding adaptive threshold is calculated by the tsui method;
then, carrying out binarization processing on the difference image according to the adaptive threshold, namely assigning the gray value of the pixel point in the difference image to be 0 if the gray value is smaller than the adaptive threshold, and assigning the gray value of the pixel point in the difference image to be 255 if the gray value is not smaller than the adaptive threshold;
and then, synthesizing a binary image according to each pixel point and the assigned gray value. After binarization processing, the difference image is converted from an image with different gray values into a black-and-white image with the gray value of 0 or 255, and then a plurality of pixel points which are mutually communicated and have the gray value of 0 are identified by a communication threshold mark to obtain and output spots, so that the efficiency of spot marking is improved.
The Otsu method divides the difference image into a background part and a foreground part by counting the histogram characteristic of the difference image, obtains the inter-class variance between the background part and the foreground part by calculation, traverses all pixel points in the binary image to obtain the inter-class variance with the maximum value, and outputs the inter-class variance as an adaptive threshold value.
In a preferred embodiment of the present invention, as shown in fig. 6, step S33 includes:
step S331, screening each spot according to at least one preset limit threshold to obtain a target spot;
step S332, calculating the center of mass and the radius of the target spot, and outputting a circle with the center of mass as the center of circle and the radius as the target identifier.
Specifically, in this embodiment, a binary image is subjected to a connectivity threshold marking to obtain at least one spot, and then the spots are screened according to a limit threshold, so that a target spot obtained after screening meets a spot standard, thereby reducing the probability of using an interfering object reflecting ambient light as a reflection target.
In calculating the centroid and radius of the target spot: calculating to obtain a spot area and a spot perimeter by using the image of the target spot, and then calculating to obtain a spot roundness through the spot area and the spot perimeter;
then, the corresponding speckle inertia rate is calculated according to the image of the target speckle, and the target mark is the target speckle with the speckle roundness and the speckle inertia rate both larger than 0.7.
After the target mark is superposed on the background image, the user observes the background image superposed with the target mark, and can analyze and obtain the position information of the target mark in the background image, so as to calculate and obtain the position information of the target mark in the target area, thereby improving the efficiency of positioning the reflection target in the target area.
In a preferred embodiment of the present invention, before the step S32, the method further includes filtering the binarized image by using a morphological method to obtain a preprocessed image;
in step S32, the preprocessed image is used as a binarized image to perform connected component labeling to identify corresponding blobs.
Specifically, in the present embodiment, the binary image is subjected to an opening operation process according to morphology to eliminate noise in the binary image.
The method comprises the steps of taking a pixel point with the gray value of 255 in a binary image as a background, taking a pixel point with the gray value of 0 in the binary image as a target, enabling partial pixel points with the same gray value to be communicated with each other to form a region, firstly putting a preset structural element into the binary image to perform corrosion operation, performing traversal processing on the whole binary image, then putting the structural element into the binary image to perform expansion operation, and performing traversal processing on the whole binary image to eliminate 'small points' formed by a small amount of isolated pixel point sets in the binary image, or 'bridges' formed by a small amount of pixel point sets between the two regions, and 'burrs' at the edge of the region, thereby realizing filtering.
In a preferred embodiment of the present invention, a laser detection system based on cat eye effect, which applies any one of the above-mentioned laser detection methods for detecting a reflective target in a target area, as shown in fig. 7, includes:
the acquisition module 1 is used for acquiring an image of a target area to obtain a background image;
the adjusting module 2 is connected with the collecting module 1 and used for collecting an image containing laser information of the laser source in a target area under the action of the laser source to obtain an initial cat eye image, and adjusting the initial cat eye image according to a background image to obtain an adjusted cat eye image;
and the processing module 3 is connected with the adjusting module 2 and is used for processing the background image and the adjusted cat eye image to obtain a target identifier and superposing the target identifier as a reflection target on the background image for displaying.
Specifically, in this embodiment, the adjusting module 2 includes:
the acquisition unit is used for acquiring an initial cat eye image under the action of the laser source;
the comparison unit is connected with the acquisition unit and used for respectively processing to obtain a second gray average value corresponding to the initial cat eye image and a first gray average value corresponding to the background image, wherein the first gray average value and the second gray average value represent that the initial cat eye image meets a preset image standard, and the initial cat eye image is used as an adjusted cat eye image and output to the processing module 3 to be processed to obtain a target identifier;
if the first gray average value and the second gray average value indicate that the initial cat eye image does not accord with a preset image standard, generating an adjusting signal and outputting the adjusting signal;
and the feedback unit is connected with the comparison unit and used for adjusting the output power of the laser source according to the adjustment signal, and the acquisition unit acts the adjusted laser source on the target area according to the adjustment signal so as to acquire the initial cat eye image.
In a preferred embodiment of the present invention, the adjusting module 2 includes:
the processing unit 21 is configured to perform image difference processing on the background image and the adjusted cat eye image to obtain a binarized image;
the identification unit 22 is connected with the processing unit 21 and is used for carrying out connected domain marking on the binary image so as to identify and obtain at least one spot in the binary image;
and the screening unit 23 is connected to the recognition unit 22, and is configured to screen each of the blobs to obtain a target blob, process the target blob to obtain a target identifier, and superimpose the target identifier as a reflection target on the background image for display.
In sum, the initial cat eye image is collected based on the cat eye effect, and the background image and the adjusted cat eye image are subjected to image difference processing, so that the probability that the interference object in the target area is imaged on the background image and/or the initial cat eye image is reduced, and the accuracy and reliability of laser detection are improved.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A laser detection method based on cat eye effect, for detecting a reflective target in a target area, the laser detection method comprising:
step S1, acquiring the image of the target area to obtain a background image;
step S2, acquiring an image of the target area under the action of a laser source, wherein the image contains laser information of the laser source, to obtain an initial cat eye image, and adjusting the initial cat eye image according to the background image to obtain an adjusted cat eye image;
and step S3, processing the background image and the adjusted cat eye image to obtain a target identifier, and overlapping the target identifier as the reflection target on the background image for displaying.
2. The laser detection method based on cat eye effect according to claim 1, wherein the step S2 includes:
step S21, under the action of the laser source, acquiring the initial cat eye image;
step S22, respectively processing to obtain a second gray average value corresponding to the initial cat eye image and a first gray average value corresponding to the background image, and judging whether the initial cat eye image meets a preset image standard according to the first gray average value and the second gray average value;
if so, outputting the initial cat-eye image as the adjusted cat-eye image, and then going to the step S3;
if not, generating an adjustment signal, and then executing step S23;
step S23, adjusting the output power of the laser source according to the adjusting signal, and then returning to the step S21.
3. The laser detection method based on cat eye effect according to claim 2, wherein the step S22 includes:
step S221, the first gray average value is obtained according to the background image processing, and the second gray average value is obtained according to the initial cat eye image processing;
step S222, determining whether the second gray level mean value is greater than the first gray level mean value:
if yes, go to step S223;
if not, generating the adjustment signal indicating that the initial cat-eye image does not meet the image standard, and then turning to step S23;
step S223, determining whether an absolute value of a difference between the second gray level mean value and the first gray level mean value is greater than a preset threshold;
if so, outputting the initial cat-eye image as the adjusted cat-eye image, and then going to the step S3;
if not, the adjustment signal indicating that the initial cat-eye image does not meet the image standard is generated, and then the process goes to step S23.
4. The laser detection method based on cat-eye effect according to claim 2, wherein in step S23, the output power of the laser source is adjusted by a dichotomy method.
5. The laser detection method based on cat eye effect according to claim 1, wherein the step S3 includes:
step S31, carrying out image difference processing on the background image and the adjusted cat eye image to obtain a binary image;
step S32, carrying out connected domain marking on the binary image to identify and obtain at least one spot in the binary image;
and step S33, screening each spot to obtain a target spot, processing according to the target spot to obtain the target identifier, and overlapping the target identifier as the reflection target on the background image for display.
6. The laser detection method based on cat eye effect according to claim 5, wherein the step S31 includes:
step S311, carrying out image difference processing on the background image and the adjusted cat eye image to obtain a difference image;
and step S312, processing the difference image by adopting an adaptive threshold value binarization mode to obtain the binarization image.
7. The laser detection method based on cat eye effect according to claim 5, wherein the step S33 includes:
step S331, screening each spot according to at least one preset limiting threshold value to obtain the target spot;
step S332, calculating the center of mass and the radius of the target spot, and outputting a circle with the center of mass as the center of circle and the radius as the target identifier.
8. The laser detection method based on the cat-eye effect according to claim 5, wherein before the step S32, the method further comprises filtering the binarized image by a morphological method to obtain a preprocessed image;
in step S32, connected domain labeling is performed on the preprocessed image as the binarized image to identify the corresponding blob.
9. A laser detection system based on cat eye effect, characterized in that the laser detection method of any one of claims 1-8 is applied for detecting a reflective target in a target area, the laser detection system comprises:
the acquisition module is used for acquiring the image of the target area to obtain a background image;
the adjusting module is connected with the acquisition module and used for acquiring an image of the target area under the action of a laser source, wherein the image contains laser information of the laser source to obtain an initial cat eye image, and adjusting the initial cat eye image according to the background image to obtain an adjusted cat eye image;
and the processing module is connected with the adjusting module and used for processing the background image and the adjusted cat eye image to obtain a target identifier and superposing the target identifier as the reflection target on the background image for displaying.
10. The laser detection system of claim 9, wherein the adjustment module comprises:
the processing unit is used for carrying out image difference processing on the background image and the adjusted cat eye image to obtain a binary image;
the identification unit is connected with the processing unit and used for carrying out connected domain marking on the binary image so as to identify and obtain at least one spot in the binary image;
and the screening unit is connected with the identification unit and used for screening each spot to obtain a target spot, processing the target spot to obtain the target identifier, and overlapping the target identifier as the reflection target on the background image for displaying.
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