JP2002168600A - Image guiding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that, when a target is remotely imaged, there is possibility of tracking an IR flare without identifying a ship as the target from the IR flare. SOLUTION: When the target cannot be identified by remotely imaging, respective target candidates are guided toward a point of a center of gravity of a shape at the candidate as a vertex. After approaching to a distance capable of specifying the target, the target and that except the target such as the IR flare or the like are identified, and the target is selectively tracked to enable a final guidance toward the target.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image guidance device for a flying object guided by an image guidance system.

[0002]

2. Description of the Related Art A conventional image guiding apparatus measures the degree of correlation between an image signal output from an image sensor and a previously stored target shape signal, and determines a position having the highest degree of correlation as a tracking target position. Induce.

FIG. 6 is a block diagram of a conventional image guiding apparatus. In FIG. 6, 1 is an image sensor and 2 is an image sensor 1.
The input image signal 3 is a target shape storage unit for storing a target shape, 4 is a target shape image signal output from the target shape storage unit 3, and 5 is a combination of the input image signal 2 and the target shape image signal 4. A shape correlation value calculator for calculating a correlation value, 6 is a correlation value output by the shape correlation value calculator 5, 7 is a correlation value maximum point calculator that outputs the maximum point of the correlation value 6 as a tracking target position,
Reference numeral 8 denotes a tracking target position output by the maximum correlation value calculation unit 7;
Is a tracking error calculator for calculating the deviation of the tracking target position 8 from the center position of the image sensor 1, and 10 is a tracking error output.

FIG. 7 is a diagram showing the relationship between the image obtained from the image sensor 1 and the position of the maximum value of the correlation value. A captured image 11 as shown in FIG. 7A is input from the image sensor 1 as an input image signal 2. In FIG. 7A, reference numeral 12 denotes a target ship, and reference numeral 13 denotes an IR (infrared) flare emitted from the ship.

[0005] The target shape storage unit 3 outputs a target shape 14 shown in FIG. The shape correlation calculator 5 calculates a correlation value between the input image signal 2 and the target shape image signal 4, and obtains a correlation value 6 shown in FIG. The maximum correlation value calculation unit 7 outputs the position T1 which is the maximum correlation value point in FIG.

[0006]

FIG. 8A is a diagram showing the relationship between the image obtained by the image sensor 1 and the position of the maximum value of the correlation value when the target ship and the IR flare are photographed from a distance. . In FIG. 8A, reference numeral 12 denotes a target ship,
13 is an IR flare. When an image as shown in FIG. 8A is input as the input image signal 2, the correlation value 6 output from the shape correlation value calculation unit 5 is as shown in FIG. 8B. In FIG. 8B, reference numeral 15 denotes a correlation value with respect to the target ship 12, and reference numeral 16 denotes a correlation value with respect to the IR flare 13.

[0007] In the case of photographing from a distance, the correlation value 15 for the target ship 12 and the correlation value 16 for the IR flare 13 are substantially the same because the characteristics of the target shape do not appear in the photographed image. For this reason, the correlation value maximum point calculation unit 7 may output the position Q1 or Q2 of the IR flare as the tracking target position.

Since the conventional image guiding apparatus is configured as described above, when a target is photographed from a distance, there is a possibility that the target ship and the IR flare cannot be identified and the IR flare may be tracked. was there.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems. Even when the target ship and the IR flare cannot be distinguished from the image obtained by the image sensor by photographing from a distance, the target is finally determined. It is an object of the present invention to obtain an image guiding device that can guide the user to the image.

[0010]

According to a first aspect of the present invention, there is provided an image guiding apparatus, comprising: an image sensor for acquiring a target image; a target shape storage unit for storing a target shape; an image obtained from the image sensor; A shape correlation value calculation unit that calculates a correlation value of the target shape output from the target shape storage unit, and a target specification determination unit that determines whether a target can be specified from the correlation value output by the shape correlation value calculation unit, A target center position calculation unit that outputs the maximum point of the correlation value as a tracking target position when the target specification determination unit determines that the target can be specified; a tracking target position output by the target center position calculation unit; and a center of the image sensor. A tracking error calculator for calculating an error with respect to the position.

[0011] The image guiding apparatus according to the second aspect of the present invention includes:
An image sensor for acquiring a target image, a target shape storage unit for storing a target shape, and a shape correlation value calculation for calculating a correlation value between the image obtained by the image sensor and a target shape output from the target shape storage unit Unit, a target specification determination unit that determines whether a target can be specified from the correlation value output from the shape correlation value calculation unit, and each of the correlation values when the target specification determination unit determines that the target cannot be specified. A target center position calculation unit that outputs the center of gravity of the shape having the maximum point as a vertex as the tracking target position, and a tracking error that calculates an error between the tracking target position output by the target center position calculation unit and the center position of the image sensor. And a calculation unit.

According to a third aspect of the present invention, in the image guiding apparatus according to the second aspect, the target center position calculating unit outputs the maximum point of the correlation value as the tracking target position when the target specifying determining unit determines that the target can be specified. It is something to do.

[0013] The image guiding apparatus according to a fourth aspect of the present invention includes:
An image sensor that acquires a target image; a target shape storage unit that stores a target shape; and a shape correlation value calculation unit that calculates a correlation value between the image obtained by the image sensor and the target shape output from the target shape storage unit. A target specification determining unit that determines whether a target can be specified from the correlation value output from the shape correlation value calculation unit; and a local maximum of the correlation value when the target specification determining unit determines that the target cannot be specified. A selection target position calculation unit that calculates the position of the center of gravity of the shape having the point as the vertex and outputs the position of the local maximum point closest to the position as the tracking target position; a tracking target position output by the selection target position calculation unit; and an image sensor And a tracking error calculation unit that calculates an error with respect to the center position of the image.

According to a fifth aspect of the present invention, in the image guiding apparatus according to the fourth aspect, when the selected target position calculating section determines that the target specification determining section can specify the target, the maximum point of the correlation value is set as the tracking target position. This is to output.

[0015] Further, an image guiding apparatus according to a sixth aspect of the present invention includes:
In the second and third inventions, a visual field center moving unit is provided for moving the center position of the image sensor so that each target candidate falls within the visual field range of the image sensor when the target specification determining unit determines that the target cannot be specified. It is a thing.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a configuration diagram showing Embodiment 1 of an image guiding apparatus according to the present invention.
In FIG. 1, reference numeral 17 denotes a target specification determination unit that determines whether a target can be specified from the correlation value 6 output from the shape correlation value calculation unit 5, reference numeral 18 denotes a target specification determination result output by the target specification determination unit 17, and reference numeral 19 denotes a target specification determination result. If the target specification determination result 18 is identifiable, the maximum point of the correlation value is output as the tracking target position. Is a target center position calculation unit that outputs the target center position.

In the first embodiment shown in FIG. 1, the operation until the correlation value 6 with the target shape is calculated is the same as that of the conventional embodiment.

FIG. 2 is a diagram showing the relationship between the image obtained by the image sensor 1 and the position of the correlation value maximum point and the correlation value threshold. An image taken from a short distance as shown in FIG. 2A or an image taken from a long distance as shown in FIG. 2B is input as an input image signal 2 from the image sensor 1. 2A and 2B, reference numeral 12 denotes a target ship, and reference numeral 13 denotes an IR flare emitted from the ship.

A shape correlation calculator 5 calculates a correlation value between the input image signal 2 and the target shape image signal 4, and calculates a correlation value between an image captured from a short distance and an image captured from a long distance in FIG. The correlation value 6 shown in FIG. Target identification determination unit 1
7 is provided with a correlation value threshold 22 shown in FIGS. 2C and 2D, and a target can be specified when there is one or more correlation values exceeding the correlation value threshold 22 as shown in FIG. 2C. If there is no correlation value exceeding the correlation value threshold 22 as shown in FIG. 2D, the target cannot be specified.

The target center position calculating section 19 outputs the position P1 having the maximum correlation value in FIG. 2C as the tracking target position 8 when the target specifying determining section 17 determines that the target can be specified. When the specific determination unit 17 determines that it is impossible to specify, the position Pa that is the center of gravity of the shape having the maximum value of each correlation value in FIG. 2D as a vertex is calculated and output as the tracking target position 8. The operation of detecting the tracking error is the same as in the above-described conventional example.

In the first embodiment, since the configuration is as described above, when the target cannot be specified by photographing from a long distance, the target is guided toward the center of gravity of the shape having each target candidate as the vertex, and By approaching to a distance at which the target can be specified, the target and a target other than the target such as IR flare are identified and the target is selected and tracked, so that the target can be finally guided toward the target.

Embodiment 2 FIG. FIG. 3 is a configuration diagram showing a second embodiment of the present invention. The same components as those in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted.

In FIG. 3, reference numeral 20 denotes the image sensor 1 such that when the target specification determining section 17 determines that the target cannot be specified, the target candidate goes out of the visual field range of the image sensor 1 so that each target candidate enters the visual field range. Is a field-of-view center moving unit that sequentially moves the center position of the field of view.

In the embodiment shown in FIG. 3, the operation until the tracking error is output is the same as that of the first embodiment.

FIG. 4 is a diagram for explaining the operation of the visual field center moving section 20. When the target specification determination unit 17 determines that the target cannot be specified, the target specification determination unit 17 tracks the position of the center of gravity of the shape having each local maximum point of the correlation value 6 as a vertex. In FIG. 4, 11 is a photographed image,
12 is a target ship, and 13 is an IR flare.

In the case of an image taken from a long distance as shown in FIG. 4A, each target candidate does not protrude from the visual field range.
As the image guiding device approaches the target candidates, each target candidate goes out of the field of view as shown in FIG. If the target candidate protrudes from the visual field range, the correlation with the target shape cannot be calculated accurately, so that the visual field center moving unit 20 sequentially moves the center of the visual field so that each target candidate enters the visual field as shown in FIG. Let it.

In the present embodiment, since the configuration is as described above, when the target cannot be specified by photographing from a long distance, the target is guided toward the center of gravity of the shape having each target candidate as a vertex, and the target candidate is guided. The target can be photographed even if the target goes out of the field of view.
By identifying and tracking the target other than the target such as the R flare, the target can be finally guided to the target.

Embodiment 3 FIG. 5 is a configuration diagram showing a third embodiment of the present invention. 1 and 2 are denoted by the same reference numerals, and description thereof will be omitted.

In FIG. 5, the reference numeral 21 indicates that the maximum value of the correlation value is output as the tracking target position 8 when the target specification determining section 17 determines that the target can be specified, and when the target specification determining section 17 determines that the target cannot be specified. A selected target position calculation unit that calculates the position of the center of gravity of the shape having the correlation value at each local maximum point as the vertex, and outputs the position of the local maximum point closest to that position as the tracking target position 8.

In the third embodiment shown in FIG. 5, the operation up to the determination of whether to specify the target 18 is the same as in the first embodiment.

When the target specification determining section 17 determines that the target can be specified, the selected target position calculation section 21 outputs the position P1 at which the correlation value becomes the maximum point in FIG.
When the target specification determining unit 17 determines that the target cannot be specified, the center-of-gravity position Pa of the shape having the vertices at each local maximum point of the correlation value in FIG.
5 is output as the tracking target position 8. The operation of detecting the tracking error is the same as in the conventional embodiment. The movement of the center of the visual field is the same as in the second embodiment.

Since the third embodiment is configured as described above, if the target cannot be specified by photographing from a long distance, the target candidate is directed to the target candidate closest to the center of gravity of the shape having each target candidate as the vertex. The target can be photographed even if the target candidate goes out of the field of view, and after approaching a distance that can specify the target, the target and the target other than the target such as IR flare are identified and the target is selected and tracked. Can be guided toward the goal.

[0033]

According to the present invention, when it is determined that the target can be specified by the target specifying unit, the position having the maximum correlation value is output as the tracking target position, so that the target can be guided toward the target. .

According to the present invention, when a target cannot be specified by photographing from a long distance, the target is guided toward the center of gravity of a shape having each target candidate as a vertex, and after approaching the distance at which the target can be specified. Goals and non-goals can be identified and ultimately guided towards the goal.

According to the present invention, when the target cannot be specified by photographing from a long distance, the target is guided toward the center of gravity of the shape having each target candidate as a vertex, and the target is photographed even if the target candidate goes out of the field of view. It is possible, and after approaching a distance that can specify the target, it is possible to identify the target and something other than the target, and finally guide the target.

According to the present invention, when a target cannot be specified by photographing from a long distance, the target is guided toward the target candidate closest to the center of gravity of the shape having each target candidate as a vertex.
Even if the target candidate goes out of the field of view, it is possible to shoot the target,
After approaching the target to a specified distance, the target and the target other than the target can be identified, and finally the target can be guided.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an image guidance device according to a first embodiment of the present invention.

FIG. 2 is a diagram illustrating a relationship between an image obtained from an image sensor, a correlation value local maximum point position, and a correlation value threshold.

FIG. 3 is a configuration diagram of an image guidance device according to a second embodiment of the present invention.

FIG. 4 is a diagram illustrating the operation of a visual field center moving unit.

FIG. 5 is a configuration diagram of an image guidance device according to a third embodiment of the present invention.

FIG. 6 is a configuration diagram of a conventional image guiding device.

FIG. 7 is a diagram illustrating a relationship between an image obtained from an image sensor and a maximum value of a correlation value.

FIG. 8 is a diagram illustrating a relationship between an image obtained from an image sensor and a correlation value maximum point position when a target ship and an IR flare are imaged from a distance.

[Description of Signs] 1 image sensor, 3 target shape storage unit, 5 shape correlation value calculation unit, 7 maximum correlation value calculation unit, 9 tracking error calculation unit, 12 target ship, 13 IR flare, 17
A target specification determining unit, 19 a target center position calculating unit, 20 a visual field center moving unit, 21 a selected target position calculating unit.

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (reference) G06T 7/60 180 G06T 7/60 180B

Claims (6)

[Claims] An image guidance device mounted on a flying object, an image sensor for acquiring a target image, a target shape storage unit for storing a target shape, an image obtained from the image sensor, and the target shape. A shape correlation value calculation unit that calculates a correlation value of a target shape output from the storage unit, a target specification determination unit that determines whether or not a target can be specified from the correlation value output from the shape correlation value calculation unit; A target center position calculation unit that outputs the maximum point of the correlation value as the tracking target position when the specification determination unit determines that the identification is possible; a tracking target position output by the target center position calculation unit; and a center position of the image sensor. And a tracking error calculator for calculating the error of the image guidance. 2. An image guidance device mounted on a flying object, an image sensor for acquiring a target image, a target shape storage unit for storing a target shape, an image obtained from the image sensor, and the target shape. A shape correlation value calculation unit that calculates a correlation value of a target shape output from the storage unit, a target specification determination unit that determines whether or not a target can be specified from the correlation value output from the shape correlation value calculation unit; When the specific determination unit determines that the maximum value of the correlation value cannot be specified, the target center position calculation unit that outputs the center of gravity of the shape having the maximum point of the correlation value as the vertex as the tracking target position; An image guidance device, comprising: a tracking error calculation unit that calculates an error between a tracking target position and a center position of an image sensor. 3. The image according to claim 2, wherein the target center position calculation unit outputs the maximum point of the correlation value as the tracking target position when the target specification determination unit determines that the target can be specified. Guidance device. 4. An image guidance apparatus mounted on a flying object, a target shape storage unit for storing a target shape, and a correlation value between an image obtained from an image sensor and a target shape output from the target shape storage unit. A shape correlation value calculation unit to be calculated, a target specification determination unit that determines whether a target can be specified from the correlation value output by the shape correlation value calculation unit, and a case where the target specification determination unit determines that the target cannot be specified. A selected target position calculating unit that calculates the center of gravity of the shape having each local maximum point of the correlation value as the vertex and outputs the position of the local maximum point closest to that position as the tracking target position; and an output of the selected target position calculating unit. An image guidance device, comprising: a tracking error calculation unit that calculates an error between a tracking target position to be performed and a center position of the image sensor. 5. The image according to claim 4, wherein the selected target position calculation unit outputs a maximum point of the correlation value as a tracking target position when the target specification determination unit determines that the target can be specified. Guidance device. 6. A field-of-view center moving unit that moves a center position of the image sensor so that each target candidate falls within a field of view of the image sensor when the target specifying unit determines that the target cannot be specified. The image guidance device according to claim 2 or 4, wherein: