WO2011000226A1 - Target detecting method and device and used image collecting apparatus thereof - Google Patents

Target detecting method and device and used image collecting apparatus thereof Download PDF

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Publication number
WO2011000226A1
WO2011000226A1 PCT/CN2010/070881 CN2010070881W WO2011000226A1 WO 2011000226 A1 WO2011000226 A1 WO 2011000226A1 CN 2010070881 W CN2010070881 W CN 2010070881W WO 2011000226 A1 WO2011000226 A1 WO 2011000226A1
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WIPO (PCT)
Prior art keywords
image
light
target
light intensity
background
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PCT/CN2010/070881
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French (fr)
Chinese (zh)
Inventor
师丹玮
周琨
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深圳泰山在线科技有限公司
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Priority to CN2009101081679A priority Critical patent/CN101937505B/en
Priority to CN200910108167.9 priority
Application filed by 深圳泰山在线科技有限公司 filed Critical 深圳泰山在线科技有限公司
Publication of WO2011000226A1 publication Critical patent/WO2011000226A1/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/89Lidar systems specially adapted for specific applications for mapping or imaging
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/10Segmentation; Edge detection
    • G06T7/11Region-based segmentation
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/10Segmentation; Edge detection
    • G06T7/174Segmentation; Edge detection involving the use of two or more images

Abstract

A method for detecting a target is provided. The method includes the following steps: controlling a modulated light emitting device to emit a light-pulse signal with a first light intensity and a second light intensity to the target to be detected and a background(S1), wherein the first light intensity is not equal to the second light intensity, and the capabilities of reflecting the light-pulse signal of the target to be detected and the background are different; controlling an image sensor to perform image collecting for the target to be detected and the background, wherein the image sensor includes multiple image collecting areas, and to scan the above multiple image collecting areas in turn with the first light intensity and the second light intensity alternately to obtain an image containing a pattern unit alternated with light and shade(S2); identifying the image containing the pattern unit alternated with light and shade to distinguish the target to be detected from the background(S3). Also, a target detecting device and used image collecting apparatus thereof are provided. The target can be exactly detected under the intensive light through implementing the method and the device of the present invention, and the device is simple and its cost is low.

Description

Apparatus for detecting a target image pickup apparatus and method of use thereof FIELD

The present invention relates to object detection, and more particularly, relates to an apparatus for image acquisition target detection apparatus and method of use thereof.

Background technique

A typical imaging systems in general, the target is captured by a target detection, target recognition and target tracking precision functional modules. Wherein the object detection system as part of the distal end of the handle, is an important part of one of the key technical problems and difficulties of the imaging system. Only the timely detection of the target in the scene, in order to ensure the smooth development of a series of subsequent processing of target tracking and recognition.

Since the sunlight containing light of various wavelength bands, the influence of external target detection light is particularly susceptible to sunlight. The object detecting apparatus used outdoors, if the target to be detected with a large amount of background light, especially by the sunlight or direct sunlight, the accuracy of the measurement will be seriously affected.

How to solve the bottleneck problems and technical difficulties glare interference detection target has been to be solved problems and practical constraints imaging system performance. It has attracted great attention of domestic and foreign experts conducted in-depth and extensive research around this topic.

Prior art solutions target detection in sunlight interference There are two main.

A first method is to filter or occlusion by adding device adding sunlight, visible light filtered off, leaving only the optical signal of desired wavelength band. Chinese Patent Application No. No.200820052299 patent discloses a light curtain used in an outdoor sunlight, comprising a microcontroller; the microcontroller is respectively connected to the infrared receiver and the infrared emission head, the infrared receiver body n with the front shutter. The Chinese patent application No. infrared sensor provides an anti-sun interference of patent No.99238839. It comprises a housing, located at the top of the sheet filter housing, placed at the bottom of the housing the infrared emission barrier member between the tube and the infrared receiver and the infrared tubes, inclusive top housing, the bottom of the cavity between the table-like cavity, the table top cross-sectional area larger than the bottom shape of the cavity, the cavity side surface of the table-like surface is roughened.

The above-described method can not fundamentally solve the problem, but will lead to lower the sensitivity of the filter, so the system needs to increase the transmission power, canceling out the decrease in sensitivity caused by the filter. Furthermore, the system filter or occlusion device plus system cost increases, inconvenient to use.

The second method is a decoding circuit infrared signal compensation, to eliminate the interference of external light source. U.S. Patent Application No. No.20040056199 patent discloses an infrared detection system under daylight. The system uses a module to detect the presence of ambient light, and start the compensation signal to minimize the effects of ambient light on system performance. Systems of this method is more complex, high cost, not easy to achieve.

SUMMARY

The present invention is to solve the technical problem that the detection target object in the light background, and high cost for the above-mentioned drawbacks of complex systems of the prior art, there is provided a method and apparatus for target detection and image capture device used.

The present invention solves the technical problem using the technical solution: a light emitting means by modulating an optical pulse signal having a first emission intensity and the light intensity of the second light, the image sensor is divided into a plurality of image acquisition regions, and alternate in the sequentially scanning said light at a first intensity and the second light intensity to the plurality of image pickup areas, in order to obtain an image containing a pattern of light and dark cells, to be identified distinguishing the target and the background.

The present invention provides a target detection method comprising the steps of:

Control modulated light signal emitting means to emit light pulses having a first light intensity and a second light intensity target to be detected and a background, wherein the first light intensity and the second light intensity not equal, and the target to be detected and the background different reflectivity of the optical pulse signal;

The image sensor controls the object to be measured and the background image acquisition, wherein said image sensor comprises a plurality of image acquisition regions, and alternately in the first and the second light intensity to the plurality of light intensity image acquisition area are sequentially scanned to obtain an image containing a pattern of light and dark elements;

Comprising light and dark on the image of the pattern unit be identified in distinguishing the target and the background.

In the target detecting method according to the present invention, the plurality of image capture area of ​​the image sensor is configured to comprise: an image containing such light and dark pattern elements in the collection, so that the image containing the light and dark pattern is formed in the unit, image falls on the object to be measured two or more of the image acquisition area.

In the target detecting method according to the present invention, the plurality of image pickup areas continuously provided, and respectively correspond to a positive integer pixel rows or columns of pixels of the image sensor.

In the target detecting method according to the present invention, the image containing the light and dark pattern recognition unit comprises a differential template recognition and identification.

In the target detecting method according to the present invention, the image containing the light and dark pattern recognition unit performs a differential, comprising:

S10: selecting a template, the determination condition determining pixels corresponding thereto, and generates a blank image as a working image;

S20: scanning manner in selecting pixels to be detected on an image containing a pattern of light and dark elements;

S30: The conditions of the determination pixel, the pixel is determined to be detected whether the target pixel to be measured, the switch S40 is, otherwise turn to S50;

S40: working on the image, to be subject to the same pixel position is filled, it is bright;

S50: the determination means comprises a pattern of light and dark image is scanned, the routine ends the case, otherwise the pixel is detected, i.e., turn S20.

The present invention also provides an object detecting apparatus, comprising:

Modulated light emitting means, for emitting light pulse signal having a first light intensity and a second light intensity target to be detected and a background, wherein the first light intensity and the second light intensity is not equal to, the target to be detected and the different said background reflectance of the optical pulse signal;

An image sensor for the target to be detected and the background image acquisition, wherein said image sensor comprises a plurality of image pickup areas;

A control unit for controlling the image sensor are alternately at the first light intensity and the second light intensity is sequentially scanned to the plurality of image pickup areas, in order to obtain an image containing a pattern of light and dark cells, and light and dark-containing the pattern recognition unit performs an image to distinguishing the target and the background.

In the object detection apparatus according to the present invention, the plurality of image capture area of ​​the image sensor is configured to comprise: an image containing such light and dark pattern elements in the collection, so that the image containing the light and dark pattern is formed in the unit, image falls on the object to be measured two or more of the image acquisition area.

In the object detection apparatus according to the present invention, the plurality of image pickup areas continuously provided, and respectively correspond to a positive integer pixel rows or columns of pixels of the image sensor.

The present invention also provides an image pickup apparatus, comprising:

Modulated light emitting means, for emitting light pulse signal having a first light intensity and a second light intensity target to be detected and a background, wherein the first light intensity and the second light intensity is not equal to, the target to be detected and the different said background reflectance of the optical pulse signal;

An image sensor for the target to be detected and the background image acquisition, wherein said image sensor comprises a plurality of image pickup areas;

A control unit for controlling the image sensor are alternately at the first light intensity and the second light intensity to the plurality of image pickup areas are sequentially scanned to obtain an image containing a pattern of light and dark cells.

In the image pickup apparatus according to the present invention, the plurality of image capture area of ​​the image sensor is configured to comprise: an image containing such light and dark pattern elements in the collection, so that the image containing the light and dark pattern is formed in the unit, image falls on the object to be measured two or more of the image acquisition area.

In the image pickup apparatus according to the present invention, the plurality of image pickup areas continuously provided, and respectively correspond to a positive integer pixel rows or columns of pixels of the image sensor.

The present invention further provides another method for detecting a target, comprising the steps of:

Control modulated light signal emitting means to emit light pulses having a first light intensity and a second light intensity target to be detected and a background, wherein the first light intensity and the second light intensity not equal, and the target to be detected and the background different reflectivity of the optical pulse signal;

Controls the image sensor image acquisition of the object to be measured and the background intensity in said first light and said second light intensity, wherein the image object having the test since the first light intensity and the generating an image comprising a pattern of light and dark elements of said second light intensity alternation;

Comprising light and dark on the image of the pattern unit be identified in distinguishing the target and the background.

The present invention also provides another object detecting apparatus, comprising:

Modulated light emitting means, for emitting light pulse signal having a first light intensity and a second light intensity target to be detected and a background, wherein the target to be detected and the background different from the reflectivity of the optical pulse signal;

An image sensor for image acquisition of the object to be measured and the background intensity in said first light and said second light intensity, wherein the image object having the test since the first light intensity and the second light intensity alternation to produce an image comprising a pattern of light and dark elements;

A control unit for performing image recognition of the pattern of light and dark-containing unit to distinguishing the target and the background.

The present invention also provides another image pickup apparatus, comprising:

Modulated light emitting means, for emitting light pulse signal having a first light intensity and a second light intensity target to be detected and a background, wherein the target to be detected and the background different from the reflectivity of the optical pulse signal; an image sensor for image acquisition of the object to be measured and the background intensity in said first light and said second light intensity, wherein the image object having the test since the first light intensity comprising light and dark image of the pattern unit and the second light intensity resulting from alternation.

Object detection apparatus and method of embodiments of the present invention effectively solve the problem of the conventional art, target detection due to sunlight serious interference can not be accurately detecting. The present invention does not require extra blocking filter or other means, does not require a complicated circuit designs to compensate for the signal, a modulation mode of operation can be simply controlled light emitting device and the image sensor can. Further, the image sensor device of the present invention and the apparatus employed, just an ordinary CMOS image sensor or a CCD detector can produce good results, without the need to use expensive high-end image sensor, greatly reducing the cost. The method and apparatus of the present invention is easy to implement, simple operation, and can accurately detect the light background object, effective, substantially undeformed.

BRIEF DESCRIPTION

The accompanying drawings and the following embodiments of the present invention is further illustrated drawings in which:

Figure 1 is a schematic view of the various band light contained in the sunlight;

FIG 2 is a flowchart of an embodiment of the present target detection method of the invention;

3 is a block diagram of an embodiment of the object detecting apparatus and the image pickup apparatus according to the present invention;

FIGS. 4a-b are schematic light and shade image target detection method of the present invention is formed of two different embodiments;

FIG 5 is a program target detection method of the invention embodiment template assays embodiment of a flow diagram;

FIGS. 6a-b are schematic template of the detection target detection method according to the present embodiment of the invention;

FIGS. 7a-c is a diagram of an embodiment of the result of object detection method and apparatus of the present invention.

detailed description

1, the various bands of light contained in sunlight FIG. Can be seen from the figure, daylight comprising light of various wavelength bands, such as red, blue, violet and the like. Thus, in bright light or sunlight background, object detection technology is easily affected by external light in particular by sunlight.

As shown, a flowchart of a method of detecting a target 2 of the present invention, comprising the steps of:

In step S1, the control modulated light signal emitting means to emit light pulses having a first light intensity and a second light intensity target to be detected and a background, wherein the first light intensity and the second light intensity not equal, and the test bACKGROUND different target and the reflectivity of the optical pulse signal; reflectance may be due to the different reflectance, distance or different distances from some other factors affect reflectance; in this embodiment, the surface of the selected target to be detected coated with reflective material to increase its high-performance reflectance, or attached directly affixed reflective film such as aluminized polyester film or the like reflective.

In step S2, the control of the image sensor of the object to be measured and the background image acquisition, wherein said image sensor comprises a plurality of image pickup areas, and alternate in the first light intensity and the second light intensity under the above-described plurality of image pickup areas are sequentially scanned to obtain an image containing a pattern of light and dark elements;

In step S3, containing the light and dark image of the pattern unit be identified in distinguishing the target and the background.

In the method of the present invention, provided, since the target to be detected with respect to the background, the optical pulse signal reflected strong ability, so the object to be measured in different regions of a first light intensity and a second light intensity imaged image obtained gradation are quite different, i.e. light-dark pattern formation characteristics significantly, the background light intensity in the image forming region of the two little gradation differences, thus by a corresponding image recognition method, such as a stencil or differential identification method of identifying It can be detected well between the target and the background.

The present invention further provides another method for detecting a target, the process is similar to the method described above, except that only: In step S2, the control of the image sensor in the first light intensity and the second intensity of the light to be sensing target and the background image acquisition, wherein the object to be measured comprising an image having an image due to the light and dark pattern unit intensity of said first light and said second light intensity alternation generated.

3, the present invention also provides a target detection device 100, a light emitting device includes a modulator 101, an image sensor 102 and a control unit 103; wherein the modulated light emitting means 101 for emitting target to be detected and a background optical pulse signal having a first light intensity and a second light intensity, wherein the intensity of the first light and the second light intensity not equal, and the target to be detected and the background of the different capabilities of reflecting light pulse signal; image a sensor 102 for the target to be detected and the background image acquisition, wherein said image sensor comprises a plurality of image pickup areas; control unit 103 for controlling the image sensor alternately in the first light intensity and the sequentially scanning said light at a second intensity to the plurality of image pickup areas, in order to obtain an image containing a pattern of light and dark cells, and containing the light and dark image of the pattern unit be identified in distinguishing the target and the background.

The present invention also provides another object detecting apparatus, the structure is similar to the above-described object detection apparatus, only difference is that: an image sensor, a light intensity in said first and said second measured light intensity of the target acquisition and the background image, wherein the object to be measured comprising an image having an image due to the light and dark pattern unit intensity of said first light and said second light intensity alternation generated; and a control unit for the image comprising a pattern of light and dark cells to identify distinguishing the target and the background.

The present invention also provides an image pickup apparatus, the structure identical to the target detection apparatus, and the modulated light emitting device 101 and the image sensor 102 functions the same as described above with the exception that: a control unit 103 for controlling the image sensor are alternately only sequentially scanning said plurality of image pickup areas in the first light intensity and the second light intensity to obtain an image containing a pattern of light and dark cells.

The present invention also provides another image pickup apparatus, and an image sensor means which is composed of the light emitted by the modulator, wherein: the modulated light emitting means for emitting a target to be detected and a background having a first light intensity and a second light intensity optical pulse signal, wherein said test target and the background different from the reflectivity of the optical pulse signal; an image sensor, a light intensity in said first and said second measured light intensity of the target acquisition and the background image, wherein the object to be measured comprising an image having an image due to the light and dark pattern unit intensity of said first light and said second light intensity alternation generated.

Or the above-described object detection apparatus may be connected to the image acquisition device data transmission device 104, the transfer destination detection result or the result to the image capture purpose computer 200 for subsequent processing.

Incidentally, the above-described methods, apparatus and means of the first light intensity and a second light intensity not equal, and the difference therebetween such that image acquisition can be performed when distinguished; first light intensity or the second a light intensity preferably zero, so that the maximum of the first, the difference between the two light intensity, image recognition facilitate later; in the embodiment of the present invention, selecting a second light intensity is greater than the first light intensity. The method, apparatus and device of the present invention may be selected modulation emit different wavelengths of light emitting device 101, such as infrared light, ultraviolet light and the like; preferably infrared light. The method of the present invention, the apparatus and the image sensor apparatus 102 may be selected as normal CMOS sensor or a CCD image sensor.

As shown in FIG. 4a-b, a schematic view of light and shade image target detection method of the present invention is formed of two different embodiments. The image sensor as described above, the method of the present invention, apparatus and image capture device includes a plurality of regions; In various embodiments, the image acquisition area is divided may be different. This application lists two specific division method, but the present invention is not limited in the way of dividing the image acquisition area. Only need to meet the image containing such light and dark pattern acquisition unit, the image falling on the object to be measured two or more image acquisition area. Such that the object to be measured having a pattern characteristic of light and dark regions, to facilitate a subsequent image recognition. For different forms of division and the corresponding exposure image acquisition area, you may need to customize the corresponding image sensor.

4a, a schematic diagram of light and shade image formed in an embodiment of the present invention, wherein the plurality of image pickup areas arranged continuously in one direction, and correspond to a positive integer number of pixels or pixel rows of the image sensor column. This is one of the most simple embodiment, also apply to ordinary image sensors on the market today. Modulating the light emitting device 101 emits light pulse signal having a first light intensity and a second light intensity, the control unit 103 controls the image sensor 101 1,3,5 ...... scanning region in the first light intensity, the second light 2,4,6 ...... strong region for scan, so that the image acquisition presented striped light and dark, and then the image recognition. The capability of the target area to be measured reflected light intensity in the background, so the test light and dark fringes wherein the target region is more obvious, is easily recognizable by the differential method, or other identification.

4b, schematic view of a light and shade image is formed according to another embodiment of the present invention, wherein the plurality of image pickup areas distributed in the form of a plurality of rows. Modulating the light emitting device 101 emits light pulse signal having a first light intensity and a second light intensity, and the control unit 103 controls the image sensor 101 to scan the area 11,13,22,24 ...... first light intensity, the first ...... region 12,14,21,23 carried out at two scanning light intensity, so that the image presented collected light and dark lattice, and then use the appropriate method for identifying the image recognition.

5 is a flowchart of the program template may employ detection target detection method of the present invention. Comprising the steps of:

In step S10, the selected template, the determination condition determining pixels corresponding thereto, and generates a blank image as a working image;

In step S20, a scanning manner in selecting the pixels to be detected on an image containing a pattern of light and dark elements; i.e. for detecting each of the pixels individually;

In step S30, the determination condition based on the pixel, the pixel is determined to be detected whether the target pixel to be measured, the switch S40 is, otherwise turn to S50;

In step S40, on the working image, subject to the same pixel position to be filled, so that a bright; gradually fill the target area, the background area so as to separate;

In step S50, it is determined whether an image containing a pattern of light and dark cells scanned, the routine ends the case, otherwise go to the next pixel, i.e., the detection switch S20 continues.

The detection template is selected template in translation over the entire range of image pixels, according to a certain detection determination rule continues to determine whether a pixel is a bright spot, if the blank is then at the same position of the image pixel points of light filled, until the entire image retrieval is completed, the fringes will target object and the background are separated. Advantage template detection algorithm does not require the image preprocessing, reduction algorithm execution time, good detection effect, substantially undeformed.

As shown in FIG. 6a-b, a schematic view of the template of the detection target detection method of the present embodiment of the invention; Figure 6a embodiment the template used in an embodiment of the present invention, the template for the primary identification of pixel stripe pattern 1, consisting of 1:00 (K1, K2), 2 point (K1-1, K2), 3 point (K1 + 1, K2), 4 point (K1-1, K2-1) and 5:00 (K1 + 1, K2-1 ) configuration; the subject pixel is determined to be 1:00 (K1, K2) is a necessary condition for the striped regions points:

(1) a point (K1, K2) must be greater than the mean gray value of the remaining four gray values ​​in the template;

(2) 2 points (K1-1, K2) with one point difference absolute value (K1, K2) gradation values, and three points (K1 + 1, K2) to 1:00 (K1, K2) gradation values It must be greater than the absolute value of the difference between the predetermined threshold value;

(3) When a right template in the positive moves by one pixel to the next n pixels 2 are moved, again two direct-moving moves a right one pixel n, the template 1:00 (K1, K2) are moved to 6:00 (K1, K2 + 1), 7 point (K1 + 2, K2), and 8:00 (K1 + 2, K2 + 1) positions; 6:00, 7:00, 8:00 gray value must be greater than its template the mean gray value of the remaining four points.

When the above three conditions are met, the subject pixel is determined to be 1:00 (k1, k2) for qualified point, then a blank image the same pixel position and its filling bright.

Method step difference detecting method comprising: a first acquired image preprocessing; The image is then processed line by line or column-by-pixel difference calculation, the differential pixel matrix; then the difference pixel segmentation threshold value matrix, so that the striped regions bright pixels, dark pixels other regions, i.e., an image object to be measured is obtained.

Template 3 * 3 detection step comprises: the first acquired image preprocessing; press stripe regions corresponding point determination condition is determined to be examined one by one row pixel is a stripe area point; if it is detected as a pixel streak area point, and then determines whether or not the pixel is a dark stripe region, is the point, and the other pixels in its row-by filling a bright and continuous detection of the difference between the gradation values ​​of the adjacent pixel rows filling point value, when the difference is less than a certain threshold value, it is judged that the point is to be filled streak image edge position, stopping the filling operation; bright stripe pixel region if the pixel to be examined, the same as described above for the next line thereof operation; testing is completed is determined whether the entire image, is the end, or continue the above-described operation.

Although the present invention refers to the provision of the above three methods for identification of light and dark fringe image, it should be understood that well known to those of ordinary skill in the art a variety of image recognition methods, in conjunction with any target detection method of the present invention image recognition method, are within the scope of the present invention.

FIGS. 7a-c is a schematic view of the results of the method and apparatus of an embodiment of the present invention. Wherein FIG. 7a is a schematic diagram of the test target complex background, FIG. 7b is interlaced at the light exposure of the background art subject to be imaged object diagram can be seen from the figure exhibits a stripe pattern measured target position; and before improvements in sunny background, the test showed a white background target and confuse serious, fundamental not identify the target to be tested. FIG 7c is a target to be detected in the detected image, FIG. 7b is after the image recognition is extracted from the background image the target accurately measured out, see substantially undeformed.

A schematic view of the above results, using the method and apparatus of the present invention can accurately detect a target to be detected in the background of strong sunlight, and the deformation is small. Compared with the two methods of the prior art, the present invention does not require additional equipment added to the filter plate or other occlusion devices, the design does not require complex circuitry to compensate for a signal on the signal, controls the modulation of light emitting means only the image sensor i.e. can. Further, the image sensor device of the present invention and the apparatus employed, just an ordinary CMOS image sensor or a CCD detector can produce good results, without the need to use expensive high-end image sensor, greatly reducing the cost. The method and apparatus of the present invention is easy to implement, simple operation, and in bright light can accurately detect infrared background object, effective, substantially undeformed, worthy.

The above embodiments are only expressed a preferred embodiment of the invention, which is described more specifically and in detail, it can not therefore be understood as limiting the scope of the present invention; it should be noted that those of ordinary skill in the art that, in without departing from the inventive concept premise, can make various changes and modifications which fall within the protection scope of the present invention; therefore, according to all equivalents and modifications made to transform the present invention as claimed in the scope of claims, it shall belong to the claimed invention coverage requirements.

Claims (14)

1. An object detecting method comprising the steps of:
Control modulated light signal emitting means to emit light pulses having a first light intensity and a second light intensity target to be detected and a background, wherein the first light intensity and the second light intensity not equal, and the target to be detected and the background different reflectivity of the optical pulse signal;
The image sensor controls the object to be measured and the background image acquisition, wherein said image sensor comprises a plurality of image acquisition regions, and alternately in the first and the second light intensity to the plurality of light intensity image acquisition area are sequentially scanned to obtain an image containing a pattern of light and dark elements;
Comprising light and dark on the image of the pattern unit be identified in distinguishing the target and the background.
2. The target detection method according to claim 1, wherein the plurality of image capture area of ​​the image sensor is configured to comprise: an image containing such light and dark pattern forming unit, the image of the object to be measured falls two or more of the image acquisition area.
3, a target detection method according to claim 1, wherein said plurality of image pickup areas continuously provided, and respectively correspond to a positive integer pixel rows or columns of pixels of the image sensor.
4. The target detection method according to claim 1, wherein the image comprises a pattern of light and dark identification unit comprises a differential template recognition and identification.
5, the target detecting method according to claim any one of claims 1-4, wherein the image comprises a pattern of light and dark differential identification unit, comprising:
S10: selecting a template, the determination condition determining pixels corresponding thereto, and generates a blank image as a working image;
S20: scanning manner in selecting pixels to be detected on an image containing a pattern of light and dark elements;
S30: The conditions of the determination pixel, the pixel is determined to be detected whether the target pixel to be measured, the switch S40 is, otherwise turn to S50;
S40: working on the image, to be subject to the same pixel position is filled, it is bright;
S50: the determination means comprises a pattern of light and dark image is scanned, the routine ends the case, otherwise the pixel is detected, i.e., turn S20.
6. A target detection apparatus, comprising:
Modulated light emitting means, for emitting light pulse signal having a first light intensity and a second light intensity target to be detected and a background, wherein the first light intensity and the second light intensity is not equal to, the target to be detected and the different said background reflectance of the optical pulse signal;
An image sensor for the target to be detected and the background image acquisition, wherein said image sensor comprises a plurality of image pickup areas;
A control unit for controlling the image sensor are alternately at the first light intensity and the second light intensity is sequentially scanned to the plurality of image pickup areas, in order to obtain an image containing a pattern of light and dark cells, and light and dark-containing the pattern recognition unit performs an image to distinguishing the target and the background.
7, the object detecting apparatus according to claim 6, wherein the plurality of image capture area of ​​the image sensor is configured to comprise: an image containing such light and dark pattern elements in the collection, so that the formation of light and dark comprising unit image pattern, the image falling on the object to be measured two or more image acquisition area.
8. The object detection apparatus according to claim 6, wherein said plurality of image pickup areas continuously provided, and respectively correspond to a positive integer pixel rows or columns of pixels of the image sensor.
9. An image pickup apparatus characterized by comprising:
Modulated light emitting means, for emitting light pulse signal having a first light intensity and a second light intensity target to be detected and a background, wherein the first light intensity and the second light intensity is not equal to, the target to be detected and the different said background reflectance of the optical pulse signal;
An image sensor for the target to be detected and the background image acquisition, wherein said image sensor comprises a plurality of image pickup areas;
A control unit for controlling the image sensor are alternately at the first light intensity and the second light intensity to the plurality of image pickup areas are sequentially scanned to obtain an image containing a pattern of light and dark cells.
10. The image pickup apparatus according to claim 9, wherein the plurality of image capture area of ​​the image sensor is configured to comprise: an image containing such light and dark pattern elements in the collection, so that the formation of light and dark comprising unit image pattern, the image falling on the object to be measured two or more image acquisition area.
11. The image pickup apparatus according to claim 9, wherein said plurality of image pickup areas continuously provided, and respectively correspond to a positive integer pixel rows or columns of pixels of the image sensor.
12. A target detection method comprising the steps of:
Control modulated light signal emitting means to emit light pulses having a first light intensity and a second light intensity target to be detected and a background, wherein the first light intensity and the second light intensity not equal, and the target to be detected and the background different reflectivity of the optical pulse signal;
Controls the image sensor image acquisition of the object to be measured and the background intensity in said first light and said second light intensity, wherein the image object having the test since the first light intensity and the generating an image comprising a pattern of light and dark elements of said second light intensity alternation;
Comprising light and dark on the image of the pattern unit be identified in distinguishing the target and the background.
13. An object detecting apparatus comprising:
Modulated light emitting means, for emitting light pulse signal having a first light intensity and a second light intensity target to be detected and a background, wherein the target to be detected and the background different from the reflectivity of the optical pulse signal;
An image sensor for image acquisition of the object to be measured and the background intensity in said first light and said second light intensity, wherein the image object having the test since the first light intensity and the second light intensity alternation to produce an image comprising a pattern of light and dark elements;
A control unit for performing image recognition of the pattern of light and dark-containing unit to distinguishing the target and the background.
14. An image pickup apparatus characterized by comprising:
Modulated light emitting means, for emitting light pulse signal having a first light intensity and a second light intensity target to be detected and a background, wherein the target to be detected and the background different from the reflectivity of the optical pulse signal; an image sensor for image acquisition of the object to be measured and the background intensity in said first light and said second light intensity, wherein the image object having the test since the first light intensity comprising light and dark image of the pattern unit and the second light intensity resulting from alternation.
PCT/CN2010/070881 2009-07-03 2010-03-05 Target detecting method and device and used image collecting apparatus thereof WO2011000226A1 (en)

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