CN115628648A - Target paper for laser simulated shooting and method for processing target surface image by using target paper - Google Patents
Target paper for laser simulated shooting and method for processing target surface image by using target paper Download PDFInfo
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- CN115628648A CN115628648A CN202211167347.6A CN202211167347A CN115628648A CN 115628648 A CN115628648 A CN 115628648A CN 202211167347 A CN202211167347 A CN 202211167347A CN 115628648 A CN115628648 A CN 115628648A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000012545 processing Methods 0.000 title claims abstract description 23
- 230000009466 transformation Effects 0.000 claims description 16
- 238000004088 simulation Methods 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000001914 filtration Methods 0.000 claims description 5
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- 238000007781 pre-processing Methods 0.000 claims description 5
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- 238000004364 calculation method Methods 0.000 description 8
- 238000012549 training Methods 0.000 description 5
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- 239000012466 permeate Substances 0.000 description 3
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J1/00—Targets; Target stands; Target holders
- F41J1/01—Target discs characterised by their material, structure or surface, e.g. clay pigeon targets characterised by their material
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
- F41J5/10—Cinematographic hit-indicating systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/80—Geometric correction
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- 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
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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Abstract
The invention discloses a target paper for laser simulated shooting and a method for processing a target surface image by using the target paper. The invention can eliminate the distortion of the camera lens and the deformation of the target surface image caused by the shooting angle, and accurately calculate the coordinates of the laser spot on the actual target paper, and the actual measurement shows that the spot center positioning precision can reach 0.1mm level, and the hit ring number can reach 0.1 ring level.
Description
Technical Field
The invention relates to the technical field of laser simulation design, in particular to target paper for laser simulation shooting and a method for processing a target surface image by using the target paper.
Background
The laser simulated shooting has the advantages of low cost, high safety and high shooting reduction degree, and is widely applied to shooting training, competitive shooting sports training and simulation shooting entertainment projects. The laser simulated shooting adopts the laser emitted by the laser to replace the live ammunition shooting, so that no bullet loss exists, no trace is left on the target after shooting training is targeted, the target can be reused, and the shooting training cost is greatly reduced; the laser transmitter emits laser which is safe to people, so that the safety problem in live firing cannot exist, and the training safety can be ensured; laser straightness is good, can simulate bullet flight path well, combines other devices can possess very real shooting experience.
The laser simulated shooting processing based on image processing has low requirements on system hardware, only a common high-definition camera is needed to collect target surface images, the target surface and laser spots are identified through software controls, the system hardware is low in cost, convenient to install and maintain and capable of running stably under a complex light environment. However, when laser simulation shooting is performed based on image processing, the camera may deform the acquired target surface image due to the distortion of the lens and the problem of shooting angle, and the accuracy of target scoring may be affected by improper processing. Therefore, how to improve the target scoring precision of image processing becomes a problem which needs to be solved urgently at present.
Disclosure of Invention
The invention provides an anomaly detection method of a heterogeneous data set and a computer readable storage medium, which aim to solve the problem of low target scoring precision of image processing in the prior art.
In a first aspect, the present invention provides a target paper for laser simulated shooting, comprising:
be equipped with a plurality of light transmission areas on target paper for laser simulation shooting as the setpoint, the light transmission area is the region of permeable indoor ambient light, and the central equipartition in all light transmission areas is on one predetermines the square outer fringe, just predetermine the central point of square with the central point of target paper for laser simulation shooting coincides mutually, wherein, predetermine the square and be the edge the square that the outline equidistance of target paper for laser simulation shooting set up.
Optionally, the light-transmitting area is disposed at a vertex of the preset square and a midpoint of four sides of the preset square.
Optionally, the light-transmitting area is circular or square, when the light-transmitting area is circular, the radius of the light-transmitting area is less than 10mm, and when the light-transmitting area is square, the side length of the light-transmitting area is less than 10mm.
In a second aspect, the present invention further provides a target surface image processing method based on any one of the above laser simulated shooting target papers, the method comprising:
collecting a target surface image on target paper for laser simulated shooting;
after the target surface image is preprocessed, the coordinates of each positioning point on the target surface image are respectively corrected based on the position relation between the positioning points to obtain the coordinates of each positioning point on the undistorted target surface image, and the actual position of the laser spot is determined based on the coordinates of each positioning point on the undistorted target surface image.
Optionally, the target surface image is preprocessed, including: and carrying out filtering and noise reduction on the target surface image so as to eliminate noise in the target surface image.
Optionally, after preprocessing the target surface image, the method further comprises: and extracting positioning point areas and laser spots on the target surface image, judging whether the laser spots are in a preset hit judgment area, if not, judging that the shot is off target, and if so, respectively correcting the coordinates of each positioning point on the target surface image based on the position relationship between the positioning points.
Optionally, the method for extracting the positioning point region and the laser spot on the target surface image includes: separating the positioning point area and the laser spot from a background area by threshold segmentation, and extracting the positioning point area and the laser spot.
Optionally, based on the position relationship between the positioning points, respectively correcting the coordinates of each positioning point on the target surface image to obtain the coordinates of each positioning point on the undistorted target surface image, and determining the actual position of the laser spot based on the coordinates of each positioning point on the undistorted target surface image, including:
and calculating the transformation relation between the target surface image and the undistorted target surface image according to the position relation between the positioning points on the target paper for laser simulated shooting and the coordinates of the positioning points on the target surface image, and calculating the center coordinates of the laser spots in the undistorted target surface image according to the transformation relation.
Optionally, after the laser spot center coordinate in the undistorted target surface image is calculated according to the transformation relation, the method further includes: and determining the actual position of the center of the target ring of the undistorted target surface image according to the transformation relation, determining the distance between the center of the laser spot and the center of the target ring and the position of the target paper where the center of the laser spot is located by combining the actual position of the laser spot, and determining the number and the position of the target rings of the laser spots.
Optionally, before acquiring the target surface image on the target paper for laser simulated shooting, the method further comprises:
will target paper for laser simulated shooting is arranged in the opening part of predetermineeing the predetermineeing of predetermineeing the closed chamber, predetermine the closed intracavity and be equipped with the camera, the camera optical axis is aimed at the target ring center and the perpendicular to of target paper for laser simulated shooting target paper surface for laser simulated shooting, just target paper for laser simulated shooting is just in time full of the camera field of view.
The invention has the following beneficial effects:
the method corrects the target surface image by using the preset positioning points to obtain the coordinates of each positioning point on the undistorted target surface image, and then determines the actual position of the laser spot based on the coordinates of each positioning point on the undistorted target surface image. The invention can eliminate the distortion of the camera lens and the deformation of the target surface image caused by the shooting angle, and accurately calculate the coordinates of the laser spot on the actual target paper, and the actual measurement shows that the spot center positioning precision can reach 0.1mm level, and the hit ring number can reach 0.1 ring level.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
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Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic illustration of a target paper provided by an embodiment of the present invention;
FIG. 2 is a schematic view of the installation positions of the target paper and the camera provided by the embodiment of the invention;
FIG. 3 is a schematic flow chart of a target surface image processing method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a target surface image captured by a camera according to an embodiment of the present invention.
Wherein, 1 is a closed cavity, 2 is target paper, 3 is a camera and 4 is a host.
Detailed Description
Aiming at the problem that the target surface precision of the existing laser simulated shooting processing for image processing is low, the embodiment of the invention corrects the target surface image by utilizing the preset positioning points to obtain the coordinates of each positioning point on the undistorted target surface image, and then determines the actual position of the laser spot based on the coordinates of each positioning point on the undistorted target surface image so as to obtain the accurate shooting position. The present invention will be described in further detail below with reference to the drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The first embodiment of the present invention provides a target paper for laser simulated shooting, and referring to fig. 1, the target paper specifically includes:
be equipped with a plurality of light transmission areas on target paper for laser simulation shooting as the setpoint promptly figure 1 in the position of mark on the inside square corner, this light transmission area is the region of permeable indoor ambient light, the central equipartition in all light transmission areas is on one predetermines the square outer edge, just predetermine the central point of square with the central point of target paper for laser simulation shooting coincides mutually, wherein, predetermine the square and be the edge the square that the outline equidistance set up of target paper for laser simulation shooting.
The preset square in the embodiment of the present invention is a square that is a preset distance away from the outer frame of the target paper, and specifically, the size of the square may be set by a person skilled in the art according to actual needs, which is not specifically limited in the present invention.
In practical implementation, the light-transmitting area in the embodiment of the present invention is disposed at the vertex of the preset square and the midpoint of the four sides of the preset square, specifically referring to fig. 1.
Specifically, the target paper in the embodiment of the invention is printed by adopting a semi-transparent material, 8 light-transmitting areas which can transmit normal indoor ambient light are arranged on the periphery of the target paper, the central point of each light-transmitting area is used as a positioning point, the positioning points are the vertex of a square and the central points of four sides, the central point of the square is superposed with the central point of a target ring, the rest areas including the target ring part cannot transmit the normal indoor ambient light, and laser emitted by a laser can transmit the light. The target paper is arranged at the opening of the front side of the lightproof closed cavity, the camera is arranged inside the lightproof closed cavity and right behind the target paper, the optical axis of the camera is aligned with the center of the target ring and is vertical to the surface of the target paper, so that the target paper is just filled in the field of view of the camera, 8 positioning point areas are bright parts in the acquired image of the target surface, the middle part of the image is provided with laser bright spots, and the rest areas are black or dark areas; the camera is connected with the computer host, and transmits the target surface image to the computer host for subsequent processing after acquiring the target surface image.
It should be noted that, in order to improve the accuracy of the correction, the embodiment of the present invention may set a plurality of positioning points, the positions of the positioning points need to be uniformly distributed on the preset square on the target paper, and further more positioning points may be set to better improve the accuracy of the correction. However, the more anchor points, the larger the calculation amount of the subsequent correction calculation, so that the number of anchor points needs to be determined by considering balance between calculation accuracy and calculation amount, but in order to ensure the accuracy of the final calculation of the position of the target point, at least one anchor point needs to be set at the vertex of the preset square and the middle position of each side of the square, and other setting manners may be to set two or more anchor points uniformly at the vertex of the preset square and each side of the square.
In specific implementation, the light-transmitting area in the embodiment of the present invention is in various shapes such as a circle and a square, but the present invention is not limited to this specifically, when the light-transmitting area is in a circle, the radius of the light-transmitting area may be set to be less than 10mm, and when the light-transmitting area is in a square, the side length of the light-transmitting area may be set to be less than 10mm. That is, the shape and specific size of the light-transmitting region may be arbitrarily set by those skilled in the art according to actual needs, as long as the use requirements of the target surface can be satisfied.
Generally speaking, the embodiment of the invention sets the positioning points on the target paper, and then corrects the target surface image by utilizing the positioning points to eliminate the target surface image deformation caused by the lens distortion of the camera and the shooting angle, and accurately calculates the coordinates of the laser spot on the actual target paper, and the actual measurement shows that the light spot center positioning precision of the invention can reach 0.1mm level, and the hit ring number can reach 0.1 ring level.
In specific implementation, referring to fig. 2, in the embodiment of the present invention, the target paper for laser simulated shooting is placed at a preset opening of a preset closed cavity, a camera is disposed in the preset closed cavity, an optical axis of the camera is aligned with a center of a target ring of the target paper for laser simulated shooting and perpendicular to a surface of the target paper for laser simulated shooting, and the target paper for laser simulated shooting just fills a field of view of the camera. That is, the embodiment of the invention finally realizes the use requirement of laser simulated shooting through the matching of the target paper and each device.
Correspondingly, an embodiment of the present invention further provides a method for processing a target surface image based on any one of the above laser simulated shooting target papers, referring to fig. 3, including:
s301, collecting a target surface image on target paper for laser simulated shooting;
s302, after the target surface image is preprocessed, the coordinates of each positioning point on the target surface image are respectively corrected based on the position relation between the positioning points, the coordinates of each positioning point on the undistorted target surface image are obtained, and the actual position of the laser spot is determined based on the coordinates of each positioning point on the undistorted target surface image.
That is to say, the embodiment of the invention corrects the target surface image based on the positions between the positioning points on the target surface, so as to finally obtain the accurate position of the laser spot, thereby effectively solving the problem of low target scoring precision of the existing image processing.
In specific implementation, the preprocessing the target surface image according to the embodiment of the present invention specifically includes performing operations such as filtering and denoising on the target surface image to eliminate noise in the target surface image, so that the target surface image meets the requirement of subsequent correction calculation.
Further, after the preprocessing the target surface image, the method further includes: and extracting positioning point areas and laser spots on the target surface image, specifically referring to fig. 4, then judging whether the laser spots are in a preset hit judgment area, if not, judging that the target is shot off, and if so, respectively correcting the coordinates of each positioning point on the target surface image based on the position relationship between the positioning points.
Specifically, the positioning point region and the laser spot are separated from the background region through threshold segmentation to extract the positioning point region and the laser spot, then the transformation relationship between the target surface image and the undistorted target surface image is solved according to the position relationship between the positioning points on the target paper for laser simulated shooting and the coordinates of the positioning points on the target surface image, and then the center coordinates of the laser spot in the undistorted target surface image are calculated according to the transformation relationship. And finally, determining the actual position of the center of the target ring of the undistorted target surface image according to the transformation relation, determining the distance between the center of the laser spot and the center of the target ring and the position of the target paper where the center of the laser spot is located by combining the actual position of the laser spot, and determining the number and the position of the target paper where the center of the laser spot is located.
In specific implementation, after a target surface image is acquired, filtering and denoising are firstly carried out on the image to eliminate the influence of noise, then a positioning point area and a laser spot are separated from a background area through threshold segmentation, the positioning point area and the laser spot are extracted, a hit judgment area is arranged in the target surface image, the laser spot is detected in the hit judgment area, and if the spot cannot be detected, shooting miss is judged. If the facula is detected, performing subsequent processing: respectively calculating the coordinates of a positioning point and the coordinates of the center of a light spot in the target surface image through an algorithm; respectively correcting coordinates of each positioning point on the target surface image according to the position relation of each positioning point on the known actual target paper to obtain the coordinates of each positioning point on the undistorted target surface image, solving the transformation relation between the target surface image and the undistorted target surface image, calculating the coordinates of the center point of the target ring, and calculating the coordinates of the center point of the light spot in the undistorted target surface image through the transformation relation; calculating the coordinates of the center of the target ring and the center of the light spot on the actual target paper according to the corresponding relation between the pixels of the undistorted target surface image and the actual target paper, and further calculating the distance between the center of the light spot and the center of the target ring and the position of the target paper where the center of the light spot is located; and finally, calculating the accurate number and the accurate hit position of the hit ring according to the hit ring number calculation rule.
In addition, in the implementation, a person skilled in the art may also use other image capturing devices to capture the target surface image, and the method in the embodiment of the present invention is described by taking a camera as an example, but in the implementation, any other image capturing device may also be used to capture the target surface image, and the present invention is not limited to this.
The actual measurement shows that the light spot center positioning precision can reach 0.1mm level by using the method provided by the embodiment of the invention, and the hit ring number can reach 0.1 ring level by using the method provided by the embodiment of the invention, so that the method provided by the embodiment of the invention can effectively improve the target surface precision of laser simulated shooting processing of image processing.
The method according to an embodiment of the invention will be explained and illustrated in detail below by means of a specific example:
aiming at the problem that the precision of target reporting is not high enough in the conventional image processing laser simulation shooting, the embodiment of the invention provides a method for acquiring and processing a laser simulation shooting target surface image.
The target paper in the embodiment of the invention is printed by adopting a semi-permeable material as shown in figure 1, 8 light-permeable areas which can permeate normal indoor environment light are arranged on the periphery of the target paper, the central point of each light-permeable area is used as a positioning point, as shown by a dotted square in figure 1, the positioning points are the top point of the square and the middle points of four sides, the central point of the square is superposed with the central point of a target ring, the target ring part in the rest areas including the middle part of the target paper cannot permeate normal indoor environment light, and laser emitted by a laser can permeate the target paper. As shown in fig. 2, in the embodiment of the present invention, a target paper 2 is placed at an opening on the front side of a light-tight closed cavity 1, a camera 3 is placed inside the light-tight closed cavity and right behind the target paper, and an optical axis of the camera is aligned with the center of a target ring and perpendicular to the surface of the target paper, so that the target paper just fills the field of view of the camera; the camera is connected with the computer host 4, and transmits the target surface image to the computer host for subsequent processing after acquiring the target surface image. The target surface image collected by the camera is shown in fig. 3, wherein 8 positioning point areas are bright parts, the middle part is provided with laser bright spots, and the rest areas are black or dark areas.
After the camera collects the target surface image, the target surface image is transmitted to a computer host, and the target surface image is processed in the computer host. Firstly, filtering and denoising an image to eliminate the influence of noise, then separating a positioning point region, a laser spot and a background region through threshold segmentation, and extracting the positioning point region and the laser spot; and then detecting laser spots in a hit judgment area of the target surface image, and judging that the shooting is off-target if no laser spot is detected.
If the facula is detected, performing subsequent processing:
(1) respectively calculating 8 positioning point coordinates in the target surface image in a mode of combining Hough transformation and a gray scale gravity center method in the target surface image, and calculating the light spot center coordinates by a curve fitting method;
(2) the positioning points on the known actual target paper are the centers of the top point and each side of the square, the center point of the square is superposed with the center point of the target ring, the coordinates of each positioning point on the target surface image are respectively corrected according to the position relation to obtain the coordinates of each positioning point on the undistorted target surface image, the transformation relation between the target surface image and the undistorted target surface image is solved according to the coordinates of the center point of the target ring, and the coordinates of the center point of the target ring are simultaneously calculated, and then the coordinates of the center of the light spot in the undistorted target surface image are calculated through the transformation relation;
(3) calculating the coordinates of the center of the target ring and the center of the light spot on the actual target paper according to the corresponding relation between the pixels of the undistorted target surface image and the actual target paper, and further calculating the distance between the center of the light spot and the center of the target ring and the position of the target paper where the center of the light spot is located;
(4) and finally, calculating the accurate number and the accurate hit position of the hit ring according to the hit ring number calculation rule.
Generally, in the embodiment of the invention, 8 points of 4 vertexes and four sides of a square are used as positioning points, the target surface image deformation caused by camera lens distortion and shooting angles can be eliminated, the coordinates of laser spots on actual target paper can be accurately calculated, the spot center positioning precision can reach 0.1mm level, and the number of hit rings can reach 0.1 ring level. In addition, the target paper in the embodiment of the invention is printed by adopting a semi-transparent material, the camera is arranged in the lightproof closed cavity, only the positioning point area and the laser facula in the shot image are bright parts, and the rest areas are dark parts, so that the influence of ambient light is small, and the image is simple and convenient to process.
Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, and that the scope of the present invention is not limited to the embodiments disclosed.
Claims (10)
1. A target paper for laser simulated shooting is characterized by comprising:
be equipped with a plurality of light transmission areas on target paper for laser simulation shooting as the setpoint, light transmission areas is the region of permeable indoor ambient light, and the central equipartition in all light transmission areas is on one predetermines the square outer edge, just predetermine the central point of square with the central point of target paper for laser simulation shooting coincides mutually, wherein, predetermine the square and be the edge the square that the outline equidistance of target paper for laser simulation shooting set up.
2. The target paper for laser simulated shooting as claimed in claim 1,
the light-transmitting area is arranged at the vertex of the preset square and the midpoint of the four sides of the preset square.
3. The target paper for laser simulated shooting according to claim 1 or 2,
the light transmission area is round or square, when the light transmission area is round, the radius of the light transmission area is smaller than 10mm, and when the light transmission area is square, the side length of the light transmission area is smaller than 10mm.
4. A method for processing a target surface image based on the laser simulated shooting target paper of any one of claims 1 to 3, comprising:
collecting a target surface image on target paper for laser simulated shooting;
after the target surface image is preprocessed, the coordinates of each positioning point on the target surface image are respectively corrected based on the position relation between the positioning points, the coordinates of each positioning point on the undistorted target surface image are obtained, and the actual position of the laser spot is determined based on the coordinates of each positioning point on the undistorted target surface image.
5. The method of claim 4, wherein preprocessing the target surface image comprises:
and carrying out filtering and noise reduction on the target surface image so as to eliminate noise in the target surface image.
6. The method of claim 4, wherein after preprocessing the target surface image, the method further comprises:
and extracting positioning point areas and laser spots on the target surface image, judging whether the laser spots are in a preset hit judgment area, if not, judging that the shot is off target, and if so, respectively correcting the coordinates of each positioning point on the target surface image based on the position relationship between the positioning points.
7. The method of claim 6, wherein extracting the location point region and the laser spot on the target surface image comprises:
separating the positioning point area and the laser spot from a background area by threshold segmentation, and extracting the positioning point area and the laser spot.
8. The method as claimed in any one of claims 4 to 7, wherein the step of respectively correcting the coordinates of each positioning point on the target surface image based on the position relationship between the positioning points to obtain the coordinates of each positioning point on the undistorted target surface image, and determining the actual position of the laser spot based on the coordinates of each positioning point on the undistorted target surface image comprises the steps of:
and calculating the transformation relation between the target surface image and the undistorted target surface image according to the position relation between the positioning points on the target paper for laser simulated shooting and the coordinates of the positioning points on the target surface image, and calculating the center coordinates of the laser spots in the undistorted target surface image according to the transformation relation.
9. The method of claim 8, wherein after calculating the center coordinates of the laser spot in the undistorted target surface image according to the transformation relationship, the method further comprises:
and determining the actual position of the center of the target ring of the undistorted target surface image according to the transformation relation, determining the distance between the center of the laser spot and the center of the target ring and the position of the target paper where the center of the laser spot is located by combining the actual position of the laser spot, and determining the number and the position of the target paper where the center of the laser spot is located.
10. The method according to any of claims 4-7, characterized in that before acquiring the target surface image on the target paper for laser simulated shooting, the method further comprises:
will target paper for laser simulated shooting is arranged in and is predetermine the opening part of predetermineeing the closed chamber, predetermine the closed intracavity and be equipped with the camera, the camera optical axis is aimed at the target ring center and the perpendicular to of target paper for laser simulated shooting target paper face for laser simulated shooting, just target paper is just in time full of for laser simulated shooting the camera field of view.
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| CN202211167347.6A CN115628648A (en) | 2022-09-23 | 2022-09-23 | Target paper for laser simulated shooting and method for processing target surface image by using target paper |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116678263A (en) * | 2023-07-28 | 2023-09-01 | 烟台欣飞智能系统有限公司 | Intelligent integrated target surface for simulating light weapon shooting |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116678263A (en) * | 2023-07-28 | 2023-09-01 | 烟台欣飞智能系统有限公司 | Intelligent integrated target surface for simulating light weapon shooting |
| CN116678263B (en) * | 2023-07-28 | 2023-10-27 | 烟台欣飞智能系统有限公司 | Intelligent integrated target surface for simulating light weapon shooting |
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