KR20200009667A - Apparatus and Method for Synthesizing Image - Google Patents

Abstract

The present invention relates to an image synthesizing apparatus and an image synthesizing method thereof. According to the present invention, the image synthesizing method comprises the following steps: acquiring a thermal image and a real image from a thermal imaging camera and a real imaging camera, respectively, installed at a first position and at a second position facing a thermal detection target; correcting at least one of the thermal image and the real image using location information of the thermal imaging camera and location information of the real imaging camera so that the acquired thermal image and real image become images photographed from the same camera angle; and synthesizing the corrected thermal image and real image. According to the present invention, a thermal image and a real image of a thermal detection target photographed at different positions are corrected to become images photographed from the same camera angle, after which the images are synthetized, and thus, a monitoring area of the thermal detection target can be expanded and temperature distribution of the thermal detection target can be more clearly and accurately identified.

Description

Apparatus and Method for Synthesizing Image

The present invention relates to an image synthesizing apparatus and an image synthesizing method thereof, and more particularly, to an image synthesizing apparatus and an image synthesizing method capable of synthesizing a thermal image and a real image of a thermal sensing target.

In general, thermal imaging technology detects radiant energy on a surface of a sensing object and converts it into a temperature to provide an image in real time. Since a change in surface temperature of the sensing object can be measured in a non-contact, non-destructive and real-time manner, It is used in various fields such as thermal characterization, deterioration diagnosis, defect inspection, medical diagnosis through body temperature measurement, fire or gas leak monitoring, or security zone intrusion monitoring.

This thermal imaging camera is a device that converts an electric signal output by receiving infrared wavelengths from the unique radiant energy of all objects and converts it into a human-readable still image or video. As a result, it is possible to measure a motor, a large part or an electric panel at a time, and there is an advantage that it can be easily found no matter how small the overheating or other dangerous parts. In other words, the effect of using several thousand infrared thermometers at the same time, infrared thermometers can measure the temperature of only one point, while thermal imaging cameras can measure the temperature of the entire object at the same time.

In addition, there are two types of infrared sensors that convert infrared wavelengths into electrical signals in thermal imaging cameras. The thermal room temperature method and the photon-type low temperature method are used. Among them, the low temperature method is excellent in performance but requires a liquid nitrogen cooler and the price is low. On the other hand, the room temperature method is a method of detecting the radiant energy as a change in resistance, current or electromotive force, and the performance is lower than that of the low temperature method, but it is generally used because it does not require a cooler and is inexpensive.

However, the infrared sensor of the room temperature method has a problem that the separation performance of the object is very insufficient because of the lower resolution than the low temperature method. However, there is a problem in that it takes a lot of money to use a high-resolution thermal imaging camera, resulting in an economic burden.

In order to solve the above problems, the resolution can be improved by synthesizing the real image image photographed by a general camera and the thermal image photographed by a thermal imager. For example, a small device has been developed that integrates the functions of a thermal imaging camera with the functions of a real image camera so that a user can take a picture while carrying it, but the device has only a portion of a sensing target corresponding to the direction in which the user is shooting. If you want to monitor, and if you want to shoot the target from a different location, the user has to move every time.

Accordingly, there is a problem in that the monitoring area of the sensing target is limited.

Korean Patent Publication No. 10-0984679 (Registration date 2010. 10. 01.)

Therefore, the technical problem to be solved by the present invention is to shoot the thermal sensing target in each of the thermal imaging camera and the real image camera installed in different positions, and the thermal image and the real image image taken by the image taken at the same camera angle The present invention provides an image synthesizing apparatus and an image synthesizing method capable of expanding the monitoring area of a heat sensing object and more clearly and accurately grasping a temperature distribution of a heat sensing object by correcting the composition after the correction.

In addition to the objects explicitly stated, the present invention also includes other objects that can be achieved from the configurations of the present invention described below.

According to an embodiment of the present invention for solving the above technical problem, a thermal image and a real image image are obtained from a thermal image camera and a real image camera respectively installed at a first position and a second position facing a thermal sensing object. Acquiring each of the thermal image and the thermal image by using the position information of the thermal image camera and the position information of the real image camera such that the obtained thermal image and the real image are taken at the same camera angle. Correcting at least one of the real image images and synthesizing the corrected thermal image and the real image image.

The correcting of the at least one image may correct pixel positions of at least one of the thermal image and the real image image according to an image warping algorithm.

The method may further include performing image processing on the obtained thermal image and the real image.

The performing of the image processing may perform image preprocessing to remove noise in the thermal image and the real image and to increase the resolution to a predetermined resolution.

In the performing of the image processing, the size may be adjusted based on a smaller size of the thermal image and the real image.

The synthesizing of the corrected thermal image and the real image may include synthesizing the contour region of the thermal sensing object in the thermal image and the real image.

The contour region of the thermal sensing object may be a color complementary to the color of the thermal image.

The positional information of the thermal imaging camera includes distance information between the thermal sensing object and the first position and angle information between the thermal sensing object and the thermal imaging camera, and the positional information of the actual image camera is the thermal sensing. Distance information between an object and the second location, and angle information between the heat sensing object and the real image camera.

On the other hand, the image synthesizing apparatus according to the embodiment of the present invention is an image acquisition unit for acquiring the thermal image and the real image from the thermal imaging camera and the real image camera respectively installed at the first position and the second position facing the thermal sensing target From among the thermal image and the real image using the position information of the thermal image camera and the position information of the real image camera such that the obtained thermal image and the real image are captured at the same camera angle. And an image compensator for compensating at least one image and an image composer for synthesizing the corrected thermal image and the real image.

The image corrector may correct pixel positions of at least one of the thermal image and the real image image according to an image warping algorithm.

The method may further include an image processor configured to perform image processing on the obtained thermal image and the real image.

The image processor may perform image preprocessing to remove noise in the thermal image and the real image and to increase the resolution to a predetermined resolution.

The image processor may adjust the size of the thermal image and the real image based on a smaller image.

The image synthesizing unit may synthesize the contour region of the thermal sensing object in the thermal image and the real image.

The contour region of the thermal sensing object may be a color complementary to the color of the thermal image.

The positional information of the thermal imaging camera includes distance information between the thermal sensing object and the first position and angle information between the thermal sensing object and the thermal imaging camera, and the positional information of the actual image camera is the thermal sensing. Distance information between an object and the second location, and angle information between the heat sensing object and the real image camera.

As described above, according to the image synthesizing apparatus and the image synthesizing method according to the embodiment of the present invention, after correcting such that the thermal image and the real image of the thermal sensing target photographed at different positions are captured at the same camera angle, Since it can be synthesized, there is an advantage in that the monitoring area of the thermal sensing target can be extended in response to the position of the camera. In particular, when the camera is installed to be movable in the left and right or up and down direction, there is an advantage that can further expand the monitoring area of the thermal sensing target.

In addition, since the sharpness of the contour in the thermal image may be improved by synthesizing the contour region and the thermal image in the real image, the temperature distribution of the thermal sensing object may be more accurately understood.

This creates an effect that can improve the quality of the synthesized image.

On the other hand, the effects of the present invention are not limited to those described above, and other effects that can be derived from the configuration of the present invention described below are also included in the effects of the present invention.

1 is a view schematically showing a configuration for monitoring a heat sensing target according to an embodiment of the present invention.
FIG. 2 is a detailed configuration diagram of the image synthesizing apparatus shown in FIG. 1.
3 shows an exemplary view for explaining a camera angle.
4 is an operation flowchart showing a process of synthesizing an image according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention.

1 is a view schematically showing a configuration for monitoring a heat sensing target according to an embodiment of the present invention.

As shown in FIG. 1, the system for monitoring the thermal sensing object 10 includes a thermal imaging camera 100, a real image camera 200, and an image synthesizing apparatus 300. The heat sensing object 10 is any object that needs to be monitored to confirm the temperature distribution, for example, a processing and production workshop, a data center, a power plant and a stool / distribution facility, a transportation and public transportation facility, a freezing warehouse, and various storage facilities. Can be an important electrical / mechanical component or facility.

The thermal imaging camera 100 may be installed at a first position facing the thermal sensing object 10 to photograph the thermal sensing object 10. That is, the thermal imaging camera 100 may photograph the thermal sensing target 10 to generate a thermal image, and transmit the generated thermal image to the image synthesizing apparatus 300.

The thermal imaging camera 100 may be fixedly installed at the first position or may be rotatably installed at the first position. In more detail, the thermal imaging camera 100 is fixedly installed so as not to move so as to photograph any one direction of the thermal sensing object 10, or installed to be rotatable vertically or horizontally in a state fixed to the first position. Can be. Alternatively, the thermal imaging camera 100 may be configured to evenly measure the surface temperature of the thermal sensing object 10 by rotating in the vertical direction or left and right directions while moving along a predetermined copper line.

The real image camera 200 may be installed at a second position facing the heat sensing object 10 to photograph the heat sensing object 10. That is, the real image camera 200 may photograph the thermal sensing target 10 to generate a real image, and transmit the generated real image image to the image synthesizing apparatus 300.

The real image camera 200 may be fixedly installed at the second position or may be rotatably installed at the second position. In more detail, the real image camera 200 is fixedly installed so as not to move so as to photograph any one direction of the thermal sensing object 10, or installed to be rotatable vertically or horizontally in a state fixed to the second position. Can be. Alternatively, the real image camera 200 may be configured to evenly photograph the thermal sensing target 10 by rotating in a vertical direction or left and right directions while moving along a predetermined copper line.

The real image camera 200 may generate a real image image, which is general image data having a predetermined pixel value according to the color of the thermal sensing object 10, and capture an image using a CCD device such as a charge coupled device (CCD) camera. Or an imaging device using a CMOS image sensor, such as a complementary metal oxide semiconductor (CMOS) camera.

In the embodiment of the present invention, the thermal imaging camera 100 and the real image camera 200 are installed symmetrically with respect to the thermal sensing target 10, but this is an embodiment of the thermal imaging camera 100 according to the present invention. And the real image camera 200 may be installed at various locations that can shoot the thermal sensing target 10.

The thermal imaging camera 100 and the actual imaging camera 200 may each be provided with a communication module (not shown) to transmit the generated thermal image and the actual image to the image synthesizing apparatus 300. Here, the communication module may be made of a wired communication module or a wireless communication module such as a USB cable. When the communication module is formed of a wireless communication module, the thermal imaging camera 100 and the real image camera 200 may easily integrate the thermal image and the actual image image regardless of the distance from the image synthesizing apparatus 300. ) Can be sent.

Hereinafter, a detailed configuration of the image synthesizing apparatus shown in FIG. 1 will be described with reference to FIG. 2.

FIG. 2 is a detailed configuration diagram of the image synthesizing apparatus shown in FIG. 1.

Referring to FIG. 2, the image synthesizing apparatus 300 includes an image acquirer 310, an image processor 320, an image corrector 330, and an image synthesizer 340.

The image acquirer 310 may acquire a thermal image having a pixel value of a predetermined color according to the temperature of the thermal sensing object 10 from the thermal imager 100 and transmit the thermal image to the image processor 320. The image acquirer 310 may acquire a real image image having a predetermined pixel value according to the color of the thermal sensing object 10 from the real image camera 200 and transmit it to the image processor 320.

The image processor 320 may perform image processing on the thermal image and the real image.

In more detail, the image processor 320 may perform image preprocessing to remove noise in the thermal image and the real image and to increase the resolution to a predetermined resolution. For example, the image processor 320 may reduce noise in the image as a whole by using an algorithm for removing motion blur and an algorithm for sharpening the edge of the image. Image processing that can increase the resolution of the image image as a whole can be performed.

In addition, the image processor 320 may adjust the size based on the smaller image among the thermal image and the real image. The image processor 320 may perform a process of reducing the size of the thermal image and the real image based on the smaller image for image synthesis, which will be described later. For example, when the thermal image is smaller than the real image, processing of adjusting the size of the two images may be performed by adjusting the size of the real image to match the size of the thermal image.

The image corrector 330 may include the positional information of the thermal imaging camera 100 and the real image camera 200 so that the thermal image processed by the image processor 320 and the real image are taken at the same camera angle. At least one of the thermal image and the real image may be corrected using the location information. If a thermal image or a real image is acquired using visible and infrared rays incident through the same lens, no correction is necessary, but the image is acquired using a thermal imager and a real image camera installed at different camera angles. In one case, it is necessary to adjust the camera angle so that the acquired image falls within the tolerance range.

Here, the positional information of the thermal imaging camera 100 includes distance information between the thermal sensing object 10 and the first position and angle information between the thermal sensing object 10 and the thermal imaging camera 100. The location information of the camera 200 may include distance information between the thermal sensing object 10 and the second position and angle information between the thermal sensing object 10 and the real image camera 200.

In FIG. 1, the distance between the thermal sensing object 10 and the first position is d1, and the angle formed by the thermal sensing object 10 and the thermal imaging camera 100 is θ1, and the thermal sensing object 10 is connected to the second position. When the distance between the distance d2 and the thermal sensing object 10 and the real image camera 200 is θ2, the image corrector 330 may determine a distance between the real image and the distance of d1 of the same location information as that of the thermal image camera 100. The image may be corrected to be an image photographed at an angle of θ1, or the thermal image may be corrected to be an image photographed at an angle of θ2 and a distance of d2, which is the same position information as the real image camera 200.

3 shows an exemplary view for explaining a camera angle.

For example, referring to FIG. 3, image (1) is a thermal image photographed by a thermal imaging camera at a first camera angle, and image (3) is a real image photographed by a real image camera at a second camera angle. The image (2) is an image taken from the front of the heat sensing target 10.

The image corrector 330 may perform correction to match both images by adjusting the pixels of the images (1) and (3) photographed at different camera angles. That is, the image corrector 330 may adjust the thermal image as if the thermal image was captured at the second camera angle without directly moving the position or angle of the thermal imager 100. Alternatively, the image corrector 330 may adjust the real image as if the real image was captured at the first camera angle without directly moving the position or angle of the real image camera 200. In addition, the image corrector 330 corrects the thermal image to be the image photographed at the third camera angle and corrects the real image to be the image photographed at the third camera angle, thereby removing both the thermal image and the real image image. 3 You can adjust the camera as if it were shot at an angle. Here, the third camera angle is, for example, the position and angle of the camera for photographing the thermal sensing target 10 from the front side, and when the position and angle for photographing the thermal sensing target 10 from the front are known in advance, It is also possible to correct both the thermal image and the real image. That is, the image corrector 330 may correct the camera angle of the thermal image to correspond to the real image, or vice versa, or correct both images to correspond to the front angle.

The image corrector 330 may correct the position and pixel value of the pixel with respect to at least one of the thermal image and the real image image according to an image warping algorithm. Image warping algorithm is a geometric processing technique that changes the shape of an image by shifting the position of the image pixel, it is possible to obtain a desired image by varying the degree of movement for each pixel of the image. To this end, the image correction unit 330 generates a position conversion function corresponding to the position information of the thermal imaging camera 100 and the position information of the real image camera 200 according to an image warping algorithm, and then generates the generated position conversion function. At least one of the thermal image and the real image may be corrected by moving the position of the pixel with respect to the image to be corrected or adjusting the pixel value. That is, the image corrector 330 may correct the pixel position or the pixel value of the image by describing a correspondence relationship between the thermal image image and the real image image based on an image warping algorithm based on a control line, a control point, a mesh, or a polygon.

As described above, the image corrector 330 may correct the thermal image and the real image so that the image is captured at the same camera angle by using an image warping algorithm.

The image corrector 330 may directly receive the positional information of the thermal imager 100 and the positional information of the real image camera 200 from a user through a user interface, or the thermal imager 100 and the real image camera ( The location information of the thermal imaging camera 100 and the location information of the actual imaging camera 200 measured by the thermal imaging camera 100 and the sensors of the actual imaging camera 200 may be input through the communication module of the 200. For example, the distance between the thermal sensing object 10 and the thermal imaging camera 100 and the distance between the thermal sensing object 10 and the thermal imaging camera through the ultrasonic sensors installed in the thermal imaging camera 100 and the actual imaging camera 200, respectively. Distance to the camera 200, and when the thermal imaging camera 100 and the real image camera 200 are installed in the pan tilt unit, respectively, the sensors installed in the pan tilt unit By detecting the tilting angle and the panning angle, the angle between the thermal sensing object 10 and the thermal imaging camera 100 and the angle between the thermal sensing object 10 and the real image camera 200 may be obtained.

The image synthesizing unit 340 may synthesize the corrected thermal image and the real image.

In more detail, the image synthesizing unit 340 synthesizes the thermal image image and the contour region of the thermal sensing object 10 in the real image image to more clearly distinguish the contour of the thermal sensing object 10. That is, the image synthesizing unit 340 may generate a high resolution thermal image by performing image matching based on a temperature distribution region of the thermal image and a contour feature of the thermal sensing object 10 of the real image. . To this end, the image synthesizing unit 340 extracts the contour region of the thermal sensing object 10 from the real image image, and extracts a temperature distribution image excluding the contour of the thermal sensing object 10 from the thermal image image and then synthesizes it. have.

Here, the contour area of the thermal sensing object may be formed of a color complementary to the color of the thermal image. In more detail, the image synthesizing unit 340 extracts a color of a region in contact with or adjacent to the contour region of the thermal sensing target 10 in the thermal image, and then the thermal sensing target with a color contrasted with the extracted color when the images are synthesized. You can adjust the contour area of. Accordingly, it is possible to more accurately grasp the temperature distribution of the thermal sensing object 10 while improving the sharpness of the contour area in the synthesized image.

Hereinafter, an image synthesis method according to an embodiment of the present invention will be described.

4 is an operation flowchart showing an image synthesis process according to an embodiment of the present invention.

Referring to FIG. 4, a thermal image and a real image are respectively obtained from a thermal image camera and a real image camera respectively installed at a first position and a second position facing a thermal sensing object (S400).

More specifically, a thermal image having a pixel value of a predetermined color according to the temperature of the thermal sensing object may be obtained from a thermal imager, and a real image image having a predetermined pixel value according to the color of the thermal sensing object may be implemented. Can be obtained from an image camera.

Next, image processing is performed on the obtained thermal image and the real image image (S410).

More specifically, image preprocessing may be performed to remove noise in the thermal image and the real image and to increase the resolution to a predetermined resolution. For example, by using an algorithm that removes motion blur and an algorithm that sharpens the edges of an image, it is possible to reduce noise in the image as needed in general and to reduce the resolution of thermal images and real images. You can perform image processing to increase.

The size of the image may be adjusted based on a smaller image among the thermal image and the real image. That is, processing for reducing the size may be performed based on a smaller image among the thermal image and the real image image for image synthesis to be described below. For example, when the thermal image is smaller than the real image, processing of adjusting the size of the two images may be performed by adjusting the size of the real image to match the size of the thermal image. In addition, processing may be performed to equally adjust the size of the thermal sensing object in the thermal image and the size of the thermal sensing object in the real image.

Then, at least one of the thermal image and the real image image is corrected using the position information of the thermal image camera and the position information of the real image camera such that the thermal image and the real image are captured at the same camera angle. (S420). If a thermal image or a real image is acquired using visible and infrared rays incident through the same lens, no correction is necessary, but the image is acquired using a thermal imager and a real image camera installed at different camera angles. In one case, it is necessary to adjust the camera angle so that the acquired image falls within the tolerance range. As described above, the adjustment of the image angle may correct the camera angle of the thermal image to correspond to the real image, or vice versa, or correct both images to correspond to the front camera angle.

The pixel position or pixel value of at least one of the thermal image and the real image may be corrected according to an image warping algorithm. Image warping algorithm is a geometric processing technique that changes the shape of an image by shifting the position of the image pixel, it is possible to obtain a desired image by varying the degree of movement for each pixel of the image. To this end, after generating a position conversion function corresponding to the positional information of the thermal imaging camera and the positional information of the real image camera according to the image warping algorithm, the position of the pixel with respect to the image to be corrected is moved by using the generated position conversion function. Or at least one of the thermal image and the real image by adjusting the pixel value. That is, the pixel position or pixel value of an image may be corrected by describing a correspondence relationship between a thermal image and a real image based on an image warping algorithm based on a control line, a control point, a mesh, or a polygon.

Thereafter, the corrected thermal image and the real image are synthesized (S430).

In more detail, the contour of the thermal sensing object can be distinguished more clearly by combining the thermal image with the contour region of the thermal sensing object in the real image. That is, high resolution thermal images may be generated by performing image matching on the basis of the temperature distribution region in the thermal image and the contour characteristics of the thermal sensing object in the real image. To this end, the contour region of the thermal sensing object may be extracted from the real image, and the temperature distribution image excluding the contour of the thermal sensing object may be extracted and then synthesized.

Here, the contour area of the thermal sensing object may be formed of a color complementary to the color of the thermal image. In more detail, after extracting the color of the region contacting or adjacent to the contour region of the thermal sensing object in the thermal image, it is possible to adjust the contour region of the thermal sensing object to be a color contrasted with the extracted color when the images are synthesized. Accordingly, it is possible to more accurately grasp the temperature distribution of the thermal sensing object while improving the sharpness of the contour area in the synthesized image.

Embodiments of the invention include a computer readable medium containing program instructions for performing various computer-implemented operations. This medium records a program for executing the above-described image synthesizing method. The media may include, alone or in combination with the program instructions, data files, data structures, and the like. Examples of such media include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CDs and DVDs, floppy disks and program commands such as magnetic-optical media, ROM, RAM, flash memory, and the like. Hardware devices configured to store and perform such operations. Examples of program instructions include not only machine code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like.

Although the preferred embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concepts of the present invention defined in the following claims are also provided. It belongs to the scope of rights.

100: thermal imaging camera
200: visual camera
300: video synthesis device
310: image acquisition unit
320: image processing unit
330: image correction unit
340: image synthesis unit

Claims (16)

Acquiring a thermal image and a virtual image from a thermal imaging camera and a virtual imaging camera respectively installed at a first position and a second position facing a thermal sensing object;
At least one of the thermal image and the real image using the position information of the thermal image camera and the position information of the real image camera such that the obtained thermal image and the real image are captured at the same camera angle. Correcting one image, and
Synthesizing the corrected thermal image and the real image
Image synthesis method comprising a. In claim 1,
Compensating the at least one image,
And a pixel position and pixel value of at least one of the thermal image and the real image image according to an image warping algorithm. In claim 1,
And performing image processing on the obtained thermal image and the real image. In claim 3,
Performing the image processing,
And image preprocessing to remove noise in the thermal image and the real image and to increase the resolution to a predetermined resolution. In claim 3,
Performing the image processing,
And adjusting the size of the thermal image and the real image based on a smaller image. In claim 1,
Synthesizing the corrected thermal image and the real image image,
And a contour region of the thermal sensing object in the thermal image and the real image. In claim 6,
The contour area of the heat sensing target is
And a color complementary to the color of the thermal image. In claim 1,
Position information of the thermal imaging camera,
Distance information between the thermal sensing object and the first position and angle information between the thermal sensing object and the thermal imaging camera;
Position information of the real image camera,
And distance information between the heat sensing object and the second position and angle information between the heat sensing object and the real image camera. An image acquisition unit for acquiring a thermal image and a real image from a thermal imaging camera and a virtual imaging camera respectively installed at a first position and a second position facing a thermal sensing object;
At least one of the thermal image and the real image using the position information of the thermal image camera and the position information of the real image camera such that the obtained thermal image and the real image are captured at the same camera angle. An image corrector for correcting one image, and
An image synthesizer configured to synthesize the corrected thermal image and the real image;
Image synthesizing apparatus comprising a. In claim 9,
The image correction unit,
And a pixel position and pixel value of the at least one of the thermal image and the real image image according to an image warping algorithm. In claim 9,
And an image processor configured to perform image processing on the obtained thermal image and the real image. In claim 11,
The image processing unit,
And performing image preprocessing to remove noise in the thermal image and the real image and to increase the resolution to a predetermined resolution. In claim 11,
The image processing unit,
An image synthesizing apparatus for adjusting the size of the thermal image and the real image based on a smaller image. In claim 9,
The image synthesis unit,
And a contour region of the thermal sensing object in the real image image. The method of claim 14,
The contour area of the heat sensing target is
And a color complementary to the color of the thermal image. In claim 9,
Position information of the thermal imaging camera,
Distance information between the thermal sensing object and the first position and angle information between the thermal sensing object and the thermal imaging camera;
Position information of the real image camera,
And distance information between the heat sensing object and the second position and angle information between the heat sensing object and the real image camera.

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