CN204013883U - A kind of bimodulus bi-feedback adaptive Target Tracking System and control circuit - Google Patents
A kind of bimodulus bi-feedback adaptive Target Tracking System and control circuit Download PDFInfo
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Abstract
The utility model relates to technical field of image processing, and what be specifically related to is a kind of bimodulus bi-feedback adaptive Target Tracking System and control circuit.A kind of bimodulus bi-feedback adaptive Target Tracking System and control circuit that the utility model provides comprise: front-end collection unit, target recognition unit and output unit and front-end collection unit control circuit, target recognition unit control circuit and output unit control circuit, can reach the requirement to target detail signature analysis high accurancy and precision, the high robust tracking scheme of target under a kind of bimodal is provided, can gather simultaneously and process the video of visible ray and two kinds of mode of near-infrared, by picture quality self-evaluating, controlling the self adaptation of bimodal hypograph acquisition parameter adjusts, automatic acquisition target high quality graphic, according to target area under bimodal, cut apart the result with bimodal fusion recognition, under the prerequisite changing in environmental condition, still there is higher target following success rate and precision, thereby improve the robustness of target following.
Description
Technical field
The utility model relates to technical field of image processing, and what be specifically related to is a kind of bimodulus bi-feedback adaptive Target Tracking System and control circuit.
Background technology
In prior art, it is a kind of high speed image treatment technology that target video is followed the tracks of, and is widely used at present the fields such as public safety, industrial detection, intelligent transportation, man-machine interaction and military affairs, and in different application field, presents different technical characterstics.For example, at public safety field, target video is followed the tracks of the visible ray or the near-infrared video that are mostly rendered as for human body target and is followed the tracks of, object is as the follow-up identification work to target aspectual character or biological characteristic provides material and clue, and the high-quality image that obtains target is an important focus in this field.
In public safety field, traditional target following comprises in single wavelength band that mainly with one camera the mode of visible ray or near infrared imaging realizes, this kind of single mode imaging mode had relatively high expectations to the robustness of video processnig algorithms, the quality of target following is unstable, and imaging system to picture quality without self-control, this make the image that sometimes gets because of the inadaptable photoenvironment total quality changing of collected by camera parameter not good, or the target image sometimes getting is because out of focus is fuzzy, cannot meet the requirement of subsequent characteristics identification.
Utility model content
In order to overcome defect of the prior art, the utility model provides a kind of bimodulus bi-feedback adaptive Target Tracking System and control circuit, to target detail signature analysis, there is the application of high accurancy and precision requirement that the high robust tracking scheme of target under a kind of bimodal is provided, can gather simultaneously and process the video under two kinds of mode of visible ray and near-infrared, take the mode of two feedbacks to carry out the adjustment of image brightness and definition, can adjust by the self adaptation of picture quality self-evaluating control bimodal hypograph acquisition parameter, with automatic acquisition target high quality graphic, according to target area under bimodal, cut apart the result with bimodal fusion recognition again, reach under the prerequisite changing in environmental condition, still there is higher target following success rate and precision, thereby improve the robustness of target following.
The utility model is achieved by the following technical solution: the utility model provides a kind of bimodulus bi-feedback adaptive Target Tracking System, comprise, video camera is carried out to the front-end collection unit of image acquisition and processing, the target recognition unit of the Image Segmentation Using identifying processing that described front-end collection unit is collected, the operation result of described target recognition unit is carried out to the output unit of self calibration Output rusults, described front-end collection unit, comprises with bimodulus and gathers near-infrared image acquisition system and the visible images acquisition system that coordinating control module is connected, described near-infrared image acquisition system, comprise the near-infrared video camera connecting according to setting signal transmission sequence, the first image real-time acquisition module, the first image brightness evaluation module and the first image definition evaluation module, between described the first image brightness evaluation module and described near-infrared video camera, there is feedback link, between the first feedback interface of described the first image definition evaluation module and described bimodulus collection coordinating control module, there is feedback link, described bimodulus gathers coordinating control module and is connected with the first image auto-focusing control module, the first lens focus drive unit of described the first image auto-focusing control module and described near-infrared video camera is connected, described visible images acquisition system, comprise the visible light camera connecting according to setting signal transmission sequence, the second image real-time acquisition module, the second image brightness evaluation module and the second image definition evaluation module, between described the second image brightness evaluation module and described visible light camera, there is feedback link, between the second feedback interface of described the second image definition evaluation module and described bimodulus collection coordinating control module, there is feedback link, described bimodulus gathers coordinating control module and is connected with the second image auto-focusing control module, described the second image auto-focusing control module is connected with the second lens focus drive unit on described visible light camera, described target recognition unit, comprises the first image dividing processing module and the first image recognition processing module that according to setting, are linked in sequence with described the first image definition evaluation module, also comprise the second image dividing processing module and the second image recognition processing module that are linked in sequence with described the second image definition evaluation module, described output unit, comprises the first result output module and the second result output module that carry out respectively signal transmission with target recognition result self calibration module, described target recognition result self calibration module and first object recognition processing module carry out the first calibration feedback and the second target identification processing module is carried out the second calibration feedback, described first object recognition processing module is connected with described target recognition result self calibration module, described the second target identification processing module is connected with described recognition result self calibration module.
Further, the focal length drive unit of the first camera lens on the focal length drive unit of the second camera lens on described visible light camera and described near-infrared video camera is that motor drives.
Further, the utility model also provides a kind of control circuit of bimodulus bi-feedback adaptive Target Tracking System, comprise the front-end collection unit control circuit of series connection in order, target recognition unit control circuit and output unit control circuit, it is characterized in that, described front-end collection unit control circuit, comprise, the first interface being connected in series with near-infrared video camera, described first interface respectively with the first Low Voltage Differential Signal receiver, the first camera control transmitter is controlled transceiver with first serial and is connected, described the first Low Voltage Differential Signal receiver, described the first camera control transmitter is connected with field-programmable journey gate array after controlling transceiver parallel connection with described first serial, the second interface being connected in series with visible image capturing circuit, (control transceiver with second serial and be connected, described the second Low Voltage Differential Signal receiver, described the second camera control transmitter are connected with described field-programmable journey gate array after controlling transceiver parallel connection with described second serial for described the second interface respectively with the second Low Voltage Differential Signal receiver, the second camera control transmitter, described field-programmable journey gate array respectively and level shifting circuit, drive circuit, video analog-digital chip, series arrangement chip, switch input and indicator light circuit, the first data acquisition memory and the transmission of the second data acquisition memory signals, described level shifting circuit and serial communication interface are connected in series, described drive circuit is connected with the second lens circuit with the first lens circuit respectively after being connected in series with camera lens motor interface again, described video analog-digital chip and video interface are connected in series, described field-programmable journey gate array and the transmission of the first jtag interface two-way signaling, described target recognition unit control circuit comprises, the first digital signal processor and the second digital signal processor that are connected with described field-programmable journey gate array, described the first digital signal processor the respectively with one FLASH memory, the first data processing memory is connected with the first ethernet PHY transceiver, described the second digital signal processor the respectively with two FLASH memory, the second data processing memory is connected with the second ethernet PHY transceiver, described the first digital signal processor and described the second digital signal processor and the transmission of the second jtag interface two-way signaling, described output unit control circuit, comprises, and the first Ethernet interface of being connected in series of described the first ethernet PHY transceiver, the second Ethernet interface being connected in series with described the second ethernet PHY transceiver.
Compared with prior art, superior effect is: the utlity model has the feature of the parallel processing of the two feedback of bimodulus state information, self adaptation collection coordination control, identifying fusion decision-making, the synchronous output of tracking results, have higher target following robustness.
Accompanying drawing explanation
Fig. 1 is a kind of bimodulus bi-feedback adaptive of the utility model Target Tracking System module map;
Fig. 2 is the control circuit figure of a kind of bimodulus bi-feedback adaptive of the utility model Target Tracking System.
Reference numeral is as follows:
100-front-end collection unit, 200-target recognition unit, 300-output unit, 400-(FPGA) field programmable gate array, 500-first (DSP) digital signal processor, 600-second (DSP) digital signal processor, 700-(DSP-JTAG) the second jtag interface; 111-the first camera lens, 112-near-infrared video camera, 116-the first feedback interface; 121-the second camera lens, 122-visible light camera, 126-the second feedback interface; 411-first (CameraLink) interface, 412-first (LVDS) Low Voltage Differential Signal receiver, 413-the first camera control transmitter, 414-first serial is controlled transceiver; 421-second (CameraLink) interface, 422-second (LVDS) Low Voltage Differential Signal receiver, 423-the second camera control transmitter, 424-second serial is controlled transceiver; The input of 431-(LED & SWT) switch and indicator light circuit, 432-the first data acquisition memory, 433-the second data acquisition memory, 434-level shifting circuit, 435-(RS232) serial communication interface, 436-drive circuit, 437-camera lens motor interface, 438-(Video DA) video analog-digital chip, 439-(VGA) video interface, 440-(EPCS) series arrangement chip, 441-(FPGA-JTAG) the first jtag interface; 501-the first data processing memory, 502-the one FLASH memory, 503-first (PHY) ethernet PHY transceiver, 504-first (ENET) Ethernet interface; 601-the second data processing memory, 602-the 2nd FLASH memory, 603 second (PHY) ethernet PHY transceiver, 604-second (ENET) Ethernet interface.
In figure the direction of arrow be side signal transmission to.
Embodiment
Below in conjunction with Figure of description, the utility model embodiment is described in further detail.
Embodiment 1
As Figure of description 1 and Fig. 2, illustrate the utility model, the utility model provides a kind of bimodulus bi-feedback adaptive Target Tracking System, comprise, video camera is carried out to the front-end collection unit 100 of image acquisition and processing, the target recognition unit 200 of the Image Segmentation Using identifying processing that described front-end collection unit 100 is collected, the operation result of described target recognition unit 200 is carried out to the output unit 300 of self calibration Output rusults, described front-end collection unit 100, comprise with bimodulus and gather near-infrared image acquisition system and the visible images acquisition system that coordinating control module is connected, described near-infrared image acquisition system, comprise the near-infrared video camera connecting according to setting signal transmission sequence, the first image real-time acquisition module, the first image brightness evaluation module and the first image definition evaluation module, between described the first image brightness evaluation module and described near-infrared video camera, there is feedback link, between the first feedback interface of described the first image definition evaluation module and described bimodulus collection coordinating control module, there is feedback link, described bimodulus gathers coordinating control module and is connected with described the first image auto-focusing control module, the first lens focus drive unit of described the first image auto-focusing control module and described near-infrared video camera is connected, described visible images acquisition system, comprise the visible light camera connecting according to setting signal transmission sequence, the second image real-time acquisition module, the second image brightness evaluation module and the second image definition evaluation module, between described the second image brightness evaluation module and described visible light camera, there is feedback link, between the second feedback interface of described the second image definition evaluation module and described bimodulus collection coordinating control module, there is feedback link, described bimodulus gathers coordinating control module and is connected with described the second image auto-focusing control module, described the second image auto-focusing control module is connected with the second lens focus drive unit on described visible light camera, described target recognition unit 200, comprises the first image dividing processing module and the first image recognition processing module that according to setting, are linked in sequence with described the first image definition evaluation module, also comprise the second image dividing processing module and the second image recognition processing module that are linked in sequence with described the second image definition evaluation module, described output unit 300, comprises the first result output module and the second result output module that carry out respectively signal transmission with target recognition result self calibration module, described target recognition result self calibration module and first object recognition processing module carry out the first calibration feedback and the second target identification processing module is carried out the second calibration feedback, described first object recognition processing module is connected with described target recognition result self calibration module, described the second target identification processing module is connected with described recognition result self calibration module, and the focal length drive unit of the first camera lens on the focal length drive unit of the second camera lens on described visible light camera and described near-infrared video camera is that motor drives.
The present embodiment also provides a kind of control circuit of bimodulus bi-feedback adaptive Target Tracking System, comprise the front-end collection unit control circuit of series connection in order, target recognition unit control circuit and output unit control circuit, described front-end collection unit control circuit, comprise, first (CameraLink) interface 411 being connected in series with near-infrared video camera 112, described first (CameraLink) interface 411 respectively with the first (LVDS) Low Voltage Differential Signal receiver 412, the first camera control transmitter 413 is controlled transceiver 414 with first serial and is connected, first (LVDS) Low Voltage Differential Signal receiver 412, the first camera control transmitter 413 is connected with (FPGA) field-programmable journey gate array 400 after controlling transceiver 414 parallel connections with first serial, second (CameraLink) interface 421 being connected in series with visible light camera 122 circuit, described second (CameraLink) interface 421 respectively with the second (LVDS) Low Voltage Differential Signal receiver 422, the second camera control transmitter 423 and second serial are controlled transceiver 424 and are connected, and second (LVDS) Low Voltage Differential Signal receiver 422, the second camera control transmitter 423 and first serial are connected with (FPGA) field-programmable journey gate array 400 after controlling transceiver 424 parallel connections, described (FPGA) field-programmable journey gate array 400 respectively with level shifting circuit 434, drive circuit 436, (Video DA) video analog-digital chip 438, (EPCS) series arrangement chip 440, the input of (LED & SWT) switch and indicator light circuit 431, the first data acquisition memory 432 is connected with the second data acquisition memory 433, described level shifting circuit 434 and (RS232) serial communication interface 435 are connected in series, described drive circuit 436 is connected with the second lens circuit with the first lens circuit respectively after being connected in series with camera lens motor interface 437 again, described (Video DA) video analog-digital chip 438 and (VGA) video interface 439 are connected in series, described (FPGA) field-programmable journey gate array 400 and the first jtag interface 441 are connected in series, described target recognition unit control circuit comprises, first (DSP) digital signal processor 500 and second (DSP) digital signal processor 600 of being connected with described (FPGA) field-programmable journey gate array 400, described first (DSP) digital signal processor 500 the respectively with one FLASH memories 502, the first data processing memory 501 is connected with first (PHY) ethernet PHY transceiver 503, described second (DSP) digital signal processor 600 the respectively with two FLASH memories 602, the second data processing memory 601 is connected with second (PHY) ethernet PHY transceiver 603, described first (DSP) digital signal processor 500 and second (DSP) digital signal processor 600 and the second jtag interface 700 are connected in series, described output unit control circuit, comprises, and first (ENET) Ethernet interface 504 of being connected in series of described first (PHY) ethernet PHY transceiver 503, second (ENET) Ethernet interface 604 being connected in series with described second (PHY) ethernet PHY transceiver 603.The method of a kind of bimodulus bi-feedback adaptive target following that the utility model provides, comprise: front-end collection step, target identification step and result output step, described front-end collection step, comprise and use visible light camera and near-infrared video camera to obtain respectively the step of the visible ray mode image of scene and the step of near-infrared mode image at that time simultaneously, and respectively the overall brightness of two mode images and definition are carried out from the step of assessing according to established standards value parameter, the step of corresponding acquisition parameter is adjusted in the feedback of then carrying out respectively according to self-evaluating result and control, described target identification step, is included in brightness and articulation index and all on the image of two qualified mode, carries out respectively the step of Region Segmentation, then carry out bimodal image relevance and identify same target step according to the visual field difference of two mode, described result output step, comprise that the target location coordinate or the export target that identify cut out out the step of picture rich in detail under bimodal, described front-end collection step, also comprise, the first image real-time acquisition step, also comprise for the frame to near-infrared video camera and catching, Real-time Obtaining near-infrared mode image, and image is sent into the first image brightness according to established standards value appraisal procedure, described the first image brightness appraisal procedure, for near-infrared mode image is carried out to overall brightness assessment, if brightness reaches established standards value, qualified, send into the first image definition appraisal procedure, if brightness does not reach established standards value, defective, by first, gather the exposure parameter that feeds back I regulating near-infrared video camera, until brightness is qualified, the first image definition is according to established standards value appraisal procedure, for near-infrared mode image is carried out to intelligibility evaluation, if definition reaches established standards value, qualified, send into the first image dividing processing step, if definition is too low, do not reach established standards value, defective, by the first collection feedback II, through the first feedback interface, send into bimodulus collection and coordinate to control step, carry out definition adjustment, and by the first image auto-focusing control module, adjust the first lens parameters of near-infrared video camera, until definition reaches the standard value of setting, the second image real-time acquisition step, catches for the frame to visible light camera, Real-time Obtaining visible ray mode image, and image is sent into the second image brightness according to established standards value assessment appraisal procedure, described the second image brightness appraisal procedure, also comprise for visible ray mode image is carried out to overall brightness assessment, if brightness reaches established standards value, qualified, send into the second image definition appraisal procedure, if brightness is too high or too low, do not reach the standard value of setting, defective, by second, gather the exposure parameter that feedback I regulates visible light camera, until brightness is qualified, described the second image definition assessment is according to established standards value appraisal procedure, for visible ray mode image is carried out to intelligibility evaluation, if definition reaches established standards value, qualified, send into the second image dividing processing step, if definition is too low, do not reach established standards value defective, by the second collection feedback II, through the second feedback interface, send into bimodulus collection and coordinate to control step, carry out definition adjustment, and adjust the second lens parameters on visible light camera by the second image auto-focusing control module, until reach established standards value, definition is qualified, described bimodulus collection coordinates to control step, for regulating feed back input amount according to the definition of near-infrared and two mode images of visible ray, according to the arbitration scheme of setting, the camera lens of two mode is coordinated to control, to described the first image control module and the second image control module of automatically focusing of automatically focusing, send control information respectively, to adjust the parameter of described the first camera lens and described the second camera lens, described the first image auto-focusing control module, for coordinating to control the given control information of step according to bimodulus collection, the motor of controlling described near-infrared camera lenses regulates the first camera lens back focal length, described the second image auto-focusing is controlled step, for coordinate to control the given control information of step according to bimodulus collection, the motor of controlling described visible light lens regulates the second rear lens focus distance, described target identification step also comprises, the first image dividing processing step and first object identifying processing step, the second image dividing processing step and the second target identification processing step, in described the first image dividing processing step, near-infrared mode image is carried out to image dividing processing, determine one or more Target Segmentations candidate region, in described first object identifying processing step, the near-infrared mode image obtaining is carried out to target identification after the first image dividing processing, determine that alternative tracking results is sent to target recognition result self calibration step, in described the second image dividing processing step, visible ray mode image is carried out to image dividing processing, determine one or more Target Segmentations candidate region, described the second target identification processing step, the visible ray mode image obtaining after the second image dividing processing is carried out to target identification, determine that alternative tracking results is sent to target recognition result self calibration step, described recognition result output step, also comprise: target recognition result self calibration step, the first result output step and the second result output step, in described target recognition result self calibration step, utilize bimodal information Fusion Policy to carry out space to the alternative target region of importing into the second target identification processing step in described first object identifying processing step and mate calculating, if meeting set threshold condition, calculated value is self calibration success, target position information under bimodal can be sent to respectively to described the first result output step and described the second result output step, if calculated value does not meet set threshold condition, to be self calibration unsuccessful, by the first calibration feedback, the alternative target area information importing in described the second target identification processing step is sent to described first object identifying processing step, by the second calibration feedback step, the alternative target area information importing in described first object identifying processing step is sent in described the second target identification processing step simultaneously, make two target identification processing results fresh target recognition result more on respectively with reference to the basis of the other side's information, and carry out new round self calibration, described the first result output step, comprises that external output cuts out the near-infrared mode image of rear target or the position coordinates of target, described the second result output step, comprises that external output cuts out the visible ray mode image of rear target or the position coordinates of target.The utility model can reach the requirement to target detail signature analysis high accurancy and precision, the high robust tracking scheme of target under a kind of bimodal is provided, can gather simultaneously and process the video of visible ray and two kinds of mode of near-infrared, by picture quality self-evaluating, controlling the self adaptation of bimodal hypograph acquisition parameter adjusts, automatic acquisition target high quality graphic, according to target area under bimodal, cut apart the result with bimodal fusion recognition, under the prerequisite changing in environmental condition, still there is higher target following success rate and precision, thereby improve the robustness of target following.
The utility model is not limited to above-mentioned execution mode, and in the situation that not deviating from flesh and blood of the present utility model, any distortion it may occur to persons skilled in the art that, improvement, replacement all fall into scope of the present utility model.
Claims (3)
1. a bimodulus bi-feedback adaptive Target Tracking System, comprise, video camera is carried out to the front-end collection unit (100) of image acquisition and processing, the target recognition unit (200) of the Image Segmentation Using identifying processing that described front-end collection unit (100) is collected, the operation result of described target recognition unit (200) is carried out to the output unit (300) of self calibration Output rusults, it is characterized in that, described front-end collection unit (100), comprises with bimodulus and gathers near-infrared image acquisition system and the visible images acquisition system that coordinating control module is connected;
Described near-infrared image acquisition system, comprise the near-infrared video camera connecting according to setting signal transmission sequence, the first image real-time acquisition module, the first image brightness evaluation module and the first image definition evaluation module, between described the first image brightness evaluation module and described near-infrared video camera, there is feedback link, between the first feedback interface of described the first image definition evaluation module and described bimodulus collection coordinating control module, there is feedback link, described bimodulus gathers coordinating control module and is connected with the first image auto-focusing control module, the first lens focus drive unit of described the first image auto-focusing control module and described near-infrared video camera is connected,
Described visible images acquisition system, comprise the visible light camera connecting according to setting signal transmission sequence, the second image real-time acquisition module, the second image brightness evaluation module and the second image definition evaluation module, between described the second image brightness evaluation module and described visible light camera, there is feedback link, between the second feedback interface of described the second image definition evaluation module and described bimodulus collection coordinating control module, there is feedback link, described bimodulus gathers coordinating control module and is connected with the second image auto-focusing control module, described the second image auto-focusing control module is connected with the second lens focus drive unit on described visible light camera,
Described target recognition unit (200), comprises the first image dividing processing module and the first image recognition processing module that according to setting, are linked in sequence with described the first image definition evaluation module; Also comprise the second image dividing processing module and the second image recognition processing module that are linked in sequence with described the second image definition evaluation module;
Described output unit (300), comprises the first result output module and the second result output module that carry out respectively signal transmission with target recognition result self calibration module; Described target recognition result self calibration module and first object recognition processing module carry out the first calibration feedback and the second target identification processing module is carried out the second calibration feedback; Described first object recognition processing module is connected with described target recognition result self calibration module; Described the second target identification processing module is connected with described recognition result self calibration module.
2. bimodulus bi-feedback adaptive Target Tracking System according to claim 1, is characterized in that, the focal length drive unit of the first camera lens on the focal length drive unit of the second camera lens on described visible light camera and described near-infrared video camera is that motor drives.
3. the control circuit of bimodulus bi-feedback adaptive Target Tracking System according to claim 1, the front-end collection unit control circuit, target recognition unit control circuit and the output unit control circuit that comprise series connection in order, it is characterized in that, described front-end collection unit control circuit, comprise
The first interface (411) being connected in series with near-infrared video camera (112), described first interface (411) respectively with the first Low Voltage Differential Signal receiver (412), the first camera control transmitter (413) and first serial are controlled transceiver (414) and are connected, and described the first Low Voltage Differential Signal receiver (412), described the first camera control transmitter (413) and described first serial are connected with field-programmable journey gate array (400) after controlling transceiver (414) parallel connection;
And the second interface (421) of being connected in series of visible light camera (122) circuit, described the second interface (421) respectively with the second Low Voltage Differential Signal receiver (422), the second camera control transmitter (423) and second serial are controlled transceiver (424) and are connected, and described the second Low Voltage Differential Signal receiver (422), described the second camera control transmitter (423) and described second serial are connected with described field-programmable journey gate array (400) after controlling transceiver (424) parallel connection;
Described field-programmable journey gate array (400) respectively and level shifting circuit (434), drive circuit (436), video analog-digital chip (438), series arrangement chip (440), switch input and indicator light circuit (431), the first data acquisition memory (432) and the transmission of the second data acquisition memory (433) signal, described level shifting circuit (434) and serial communication interface (435) are connected in series, described drive circuit (436) is connected with the second lens circuit with the first lens circuit respectively after being connected in series with camera lens motor interface (437) again, described video analog-digital chip (438) and video interface (439) are connected in series, described field-programmable journey gate array (400) and the transmission of the first jtag interface (441) two-way signaling,
Described target recognition unit control circuit comprises,
The first digital signal processor (500) being connected with described field-programmable journey gate array (400) and the second digital signal processor (600), described the first digital signal processor (500) the respectively with one FLASH memory (502), the first data processing memory (501) is connected with the first ethernet PHY transceiver (503), described the second digital signal processor (600) the respectively with two FLASH memory (602), the second data processing memory (601) is connected with the second ethernet PHY transceiver (603), described the first digital signal processor (500) and described the second digital signal processor (600) and the transmission of the second jtag interface (700) two-way signaling,
Described output unit control circuit, comprises,
The first Ethernet interface (504) being connected in series with described the first ethernet PHY transceiver (503);
The second Ethernet interface (604) being connected in series with described the second ethernet PHY transceiver (603).
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| CN104092987A (en) * | 2014-07-10 | 2014-10-08 | 公安部第一研究所 | Bimodal dual-feedback self-adaptation target tracking system and method and control circuit |
| CN106773712A (en) * | 2017-01-17 | 2017-05-31 | 东南大学 | Double feedback robust self-adaptation control methods and its Control system architecture |
| CN107323456A (en) * | 2017-06-09 | 2017-11-07 | 昆明理工大学 | A kind of longitudinal vehicle queue coordinated control system based on wheel speed feedforward compensation |
| CN110532858A (en) * | 2019-07-16 | 2019-12-03 | 武汉虹识技术有限公司 | Miniature binocular iris identification device |
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| CN104092987A (en) * | 2014-07-10 | 2014-10-08 | 公安部第一研究所 | Bimodal dual-feedback self-adaptation target tracking system and method and control circuit |
| CN104092987B (en) * | 2014-07-10 | 2017-06-09 | 公安部第一研究所 | A kind of bimodulus bi-feedback adaptive Target Tracking System, control circuit and method |
| CN106773712A (en) * | 2017-01-17 | 2017-05-31 | 东南大学 | Double feedback robust self-adaptation control methods and its Control system architecture |
| CN106773712B (en) * | 2017-01-17 | 2019-11-12 | 东南大学 | Double feedback robust self-adaptation control methods and its Control system architecture |
| CN107323456A (en) * | 2017-06-09 | 2017-11-07 | 昆明理工大学 | A kind of longitudinal vehicle queue coordinated control system based on wheel speed feedforward compensation |
| CN110532858A (en) * | 2019-07-16 | 2019-12-03 | 武汉虹识技术有限公司 | Miniature binocular iris identification device |
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