CN115334298B - Visual navigation system imaging equipment testing method - Google Patents
Visual navigation system imaging equipment testing method Download PDFInfo
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- CN115334298B CN115334298B CN202210782909.1A CN202210782909A CN115334298B CN 115334298 B CN115334298 B CN 115334298B CN 202210782909 A CN202210782909 A CN 202210782909A CN 115334298 B CN115334298 B CN 115334298B
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- 238000003384 imaging method Methods 0.000 title claims abstract description 105
- 238000012360 testing method Methods 0.000 title claims abstract description 36
- 230000000007 visual effect Effects 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 claims abstract description 15
- 230000004044 response Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 7
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- 239000004973 liquid crystal related substance Substances 0.000 description 2
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N17/00—Diagnosis, testing or measuring for television systems or their details
- H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
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Abstract
The invention provides a visual navigation system imaging equipment testing method, which comprises the steps of shielding a visual field of imaging equipment and calculating imaging non-uniformity; canceling the shielding of the view field of the imaging equipment, and calculating imaging non-uniformity again; judging whether the non-uniformity of the imaging equipment when the view field is blocked is lower than a first threshold value; judging whether the non-uniformity ratio of the normal working state and the shielding state is lower than a second threshold value; if the above-mentioned judgement is true, then the imaging equipment works normally. The method is based on the technical indexes of non-uniformity of the imaging equipment in the visual field shielding and normal working states, objectively judges the imaging performance, does not need to introduce external equipment, and has the advantages of high reliability, simplicity in operation and low cost.
Description
Technical Field
The invention belongs to the technical field of visual navigation, and particularly relates to a visual navigation system imaging equipment testing method.
Background
Computer vision, also known as machine vision, is a subject that studies the visual function of a human simulated by a computer, extracts valuable information from images of objective things, processes and recognizes them, and is ultimately used for actual detection, testing, navigation or control, and relates to the fields of image processing, computer science, psychophysiology, photogrammetry, and the like.
The visual navigation takes the visual image of the objective world obtained by the image sensor as a navigation information source, simulates the visual function of human beings, recognizes and understands the image, further obtains the navigation information of the carrier, has the characteristics of strong autonomy, abundant information, high intelligent level and the like, and can meet the high-precision relative navigation requirement. As an emerging navigation system in development, a visual navigation system is getting more and more attention due to its intelligent and autonomous characteristics.
When the visual navigation system is applied to the fields of unmanned aerial vehicles and the like, the imaging equipment test before flying currently faces the following two problems:
(1) The method has the advantages that the method has higher dependence on the display equipment, certain application occasions cannot be connected with the display equipment, whether the imaging equipment works normally cannot be determined through subjective judgment, and the reliability is poor;
(2) The imaging device images the combined target, the edge angle of the combined target pattern is clear, the resolution ratio is high, the contrast ratio is high, the whole manufacturing cost is high, the combined target is required to be installed and debugged, the operation is complex, and the operation complexity and the economic cost are increased.
Disclosure of Invention
Aiming at the technical problems that the existing visual navigation system imaging equipment testing method depends on testing equipment such as display equipment, cooperative targets and the like, the testing method is poor in reliability, complex in operation, high in cost and the like, the invention provides the visual navigation system imaging equipment testing method which is used for objectively judging imaging performance based on non-uniformity technical indexes of the imaging equipment in a shielding view field and normal working state, external equipment is not required to be introduced, the reliability is high, the operation is simple, the cost is low, and the imaging function testing problem in the use process of the visual navigation system is solved.
The technical scheme adopted for solving the technical problems is as follows:
a visual navigation system imaging equipment testing method comprises the following steps of
Shielding the field of view of the imaging equipment, and calculating imaging non-uniformity;
canceling the shielding of the view field of the imaging equipment, and calculating imaging non-uniformity again;
judging whether the non-uniformity of the imaging equipment when the view field is blocked is lower than a first threshold value;
judging whether the non-uniformity ratio of the normal working state and the shielding state is lower than a second threshold value;
if the above-mentioned judgement is true, then the imaging equipment works normally.
Further, the field of view of the imaging equipment is shielded, specifically, a full field of view of the imaging equipment is shielded by an object with uniform material, and gray response of the full target surface of the imaging equipment is obtained;
the method comprises the steps of canceling the shielding of the field of view of the imaging equipment, specifically removing the shielding of the field of view of the imaging equipment, and acquiring the gray response of the whole target surface of the imaging equipment in the normal working state of the imaging equipment.
Further, the non-uniformity calculation method is as follows
Wherein M and N are the number of rows and columns of the image element of the imaging device, V ij The gray value of the pixel corresponding to the ith row and the jth column on the imaging device, wherein V avg Is the average value of the gray response of all pixels on the imaging device.
Further, the first threshold calculation method is as follows
T NU ＝1.2NU max
Wherein NU max Is the maximum value of non-uniformity of a plurality of sets of actual measurement standard imaging devices when a field of view is blocked.
Further, the non-uniformity ratio of the normal working state and the shielding state is that
The second threshold calculation method is as follows
T q ＝1.2Q max
Wherein NU' is the non-uniformity of the normal working state of the imaging device; NU is the state of occlusion of the imaging deviceNon-uniformity; q (Q) max The method is the maximum value of the non-uniformity ratio of a plurality of sets of actual measurement standard imaging devices before and after shielding the view field.
Further, the first threshold value is 0.3, and the second threshold value is 2.
Compared with the prior art, the invention has the beneficial effects that:
according to the method for testing the imaging equipment of the visual navigation system, on one hand, according to the non-uniformity of the imaging equipment when the field of view is blocked, the response difference of each pixel when the imaging equipment is uniform in input is inspected; on the other hand, according to the non-uniformity contrast of the imaging device when the field of view is blocked, the gray scale response of the imaging device in a conventional scene is inspected, and whether the imaging device passes the test is comprehensively determined.
According to the method, on the premise of ensuring the test accuracy, an objective evaluation result can be obtained without subjective intervention of display equipment and testers, whether the imaging equipment of the visual navigation system works normally or not is judged, and the test convenience is improved. The method realizes the test of the imaging equipment based on the non-uniformity technical index, does not depend on expensive testing equipment, and has stronger economy.
Detailed Description
Specific embodiments of the present invention are described in detail below. In the following description, for purposes of explanation and not limitation, specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details.
Aiming at the problems that a visual navigation system in the prior art cannot be tested by connecting display equipment in certain application scenes, the reliability of subjective intervention test of testers is poor, high-cost test equipment is needed and the like, the invention provides a visual navigation system imaging equipment testing method, which comprises the following steps:
(1) Shielding an imaging view field, and calculating imaging non-uniformity;
(2) Canceling the shielding of the view field, and calculating imaging non-uniformity again;
(3) Judging whether the imaging equipment works normally or not according to whether the non-uniformity of the shielding of the view field is lower than a first threshold value or not;
(4) Judging whether the imaging equipment works normally or not according to whether the non-uniformity ratio of the normal working state and the shielding state is lower than a second threshold value;
(5) And combining the judgment results to determine whether the imaging equipment test passes.
Further, the technical scheme is realized through the following specific steps:
step one: occlusion of imaging field of view, calculation of imaging inhomogeneity
The full view field of the imaging equipment of the visual navigation system is shielded by a uniform material object, the gray scale response of the full target surface of the imaging equipment is obtained, and the non-uniformity NU is calculated
Wherein M and N are the number of rows and columns of the image element of the imaging device, V ij The gray value of the pixel corresponding to the ith row and the jth column on the imaging device, wherein V avg Is the average value of the gray response of all pixels on the imaging device.
Step two: removing the shielding of the field of view and recalculating the imaging non-uniformity
Removing the view field shielding of the imaging equipment, enabling the imaging equipment to work normally, acquiring the gray scale response of the whole target surface of the imaging equipment, and calculating the non-uniformity NU' by adopting the formula (1).
Step three: judging whether the imaging equipment works normally or not according to the non-uniformity of the shielding of the view field
When the non-uniformity in the blocked field of view meets a first threshold requirement, the imaging device is considered to be working properly.
NU≤T NU (2)
Wherein, the liquid crystal display device comprises a liquid crystal display device,first threshold T NU The reference value is set to 0.3 according to the imaging characteristics and noise level of the imaging apparatus.
First threshold T NU The setting of (2) may also be calculated using the following formula:
T NU ＝1.2NU max (3)
wherein NU max Is the maximum value of non-uniformity of a plurality of sets of actual measurement standard imaging devices when a field of view is blocked.
Step four: judging whether the imaging equipment works normally or not according to the non-uniformity ratio
Calculating the non-uniformity ratio Q before and after shielding the view field
If the value Q is greater than the second threshold T q The imaging device is considered to be functioning properly.
Second threshold T q The reference value may be taken as 2.
Second threshold T q The setting of (2) may also be calculated using the following formula:
T q ＝1.2Q max (5)
wherein Q is max The method is the maximum value of the non-uniformity ratio of a plurality of sets of actual measurement standard imaging devices before and after shielding the view field.
Step five: comprehensively judging whether the imaging equipment test passes or not
And when the third step and the fourth step judge that the imaging equipment works normally, the visual navigation system test is considered to pass, otherwise, the test is considered not to pass.
The invention provides a visual navigation system imaging equipment testing method, which adopts non-uniformity index evaluation when a view field is blocked, ensures that the comprehensive performance of imaging equipment is normal, and comprises a photoelectric detector reading circuit, an output video format and the like; and the non-uniformity ratio index evaluation before and after shielding is adopted, so that the normal operation of an optical system of the imaging equipment is ensured. According to the testing method, on the premise of ensuring the testing accuracy, objective evaluation results can be obtained without subjective intervention of display equipment and testers, whether the imaging equipment of the visual navigation system works normally or not is judged, and the testing convenience is improved; meanwhile, the imaging equipment is tested based on the non-uniformity technical index, expensive testing equipment is not relied on, and the imaging equipment has high economical efficiency.
Features that are described and/or illustrated above with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.
The many features and advantages of the embodiments are apparent from the detailed specification, and thus, it is intended by the appended claims to cover all such features and advantages of the embodiments which fall within the true spirit and scope thereof. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the embodiments of the invention to the exact construction and operation illustrated and described, and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope thereof.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
The invention is not described in detail in a manner known to those skilled in the art.
Claims (6)
1. The method for testing the imaging equipment of the visual navigation system is characterized by comprising the following steps of:
shielding the field of view of the imaging equipment, and calculating imaging non-uniformity;
canceling the shielding of the field of view of the imaging equipment, and calculating imaging non-uniformity again in the normal working state of the imaging equipment;
judging whether the non-uniformity of the imaging equipment when the view field is blocked is lower than a first threshold value;
judging whether the non-uniformity ratio of the normal working state of the non-shielding and the shielding state is lower than a second threshold value;
if the above-mentioned judgement is true, then the imaging equipment works normally.
2. The method for testing the imaging device of the visual navigation system according to claim 1, wherein the shielding of the field of view of the imaging device is particularly realized by shielding the full field of view of the imaging device by using an object with uniform material;
the method comprises the steps of canceling the shielding of the view field of the imaging equipment, and particularly removing the shielding of the view field of the imaging equipment.
3. The visual navigation system imaging apparatus testing method of claim 1, wherein the non-uniformity NU calculation method is as follows:
wherein M and N are the number of rows and columns of the image element of the imaging device, V ij For the gray value of the pixel corresponding to the ith row and the jth column on the imaging equipment, V avg Is the average value of the gray response of all pixels on the imaging device.
4. The visual navigation system imaging apparatus testing method of claim 1, wherein the first threshold T NU The calculation method comprises the following steps:
T NU ＝1.2NU max
wherein NU max Imaging device for multiple sets of actual measurement standardsMaximum of non-uniformity when the field of view is occluded.
5. The visual navigation system imaging apparatus testing method of claim 1, wherein the second threshold T q The calculation method comprises the following steps:
T q ＝1.2Q max
wherein Q is max The method is the maximum value of the non-uniformity ratio of a plurality of sets of actual measurement standard imaging devices before and after shielding the view field.
6. The visual navigation system imaging apparatus testing method of claim 1, wherein the first threshold value is 0.3 and the second threshold value is 2.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6522355B1 (en) * | 1997-04-10 | 2003-02-18 | Texas Instruments Incorporated | Digital nonuniformity correction for image sensors |
| CN108088845A (en) * | 2017-12-07 | 2018-05-29 | 武汉精测电子集团股份有限公司 | A kind of image-forming correction method and device retained based on Weak Information |
| US10635844B1 (en) * | 2018-02-27 | 2020-04-28 | The Mathworks, Inc. | Methods and systems for simulating vision sensor detection at medium fidelity |
| CN111983710A (en) * | 2020-08-14 | 2020-11-24 | 西安应用光学研究所 | Non-uniformity correction method for scanning type infrared search system |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6522355B1 (en) * | 1997-04-10 | 2003-02-18 | Texas Instruments Incorporated | Digital nonuniformity correction for image sensors |
| CN108088845A (en) * | 2017-12-07 | 2018-05-29 | 武汉精测电子集团股份有限公司 | A kind of image-forming correction method and device retained based on Weak Information |
| US10635844B1 (en) * | 2018-02-27 | 2020-04-28 | The Mathworks, Inc. | Methods and systems for simulating vision sensor detection at medium fidelity |
| CN111983710A (en) * | 2020-08-14 | 2020-11-24 | 西安应用光学研究所 | Non-uniformity correction method for scanning type infrared search system |
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