WO2023125003A1 - Procédé de détermination d'une fonction de transfert de modulation, et dispositif électronique et support de stockage - Google Patents

Procédé de détermination d'une fonction de transfert de modulation, et dispositif électronique et support de stockage Download PDF

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Publication number
WO2023125003A1
WO2023125003A1 PCT/CN2022/138926 CN2022138926W WO2023125003A1 WO 2023125003 A1 WO2023125003 A1 WO 2023125003A1 CN 2022138926 W CN2022138926 W CN 2022138926W WO 2023125003 A1 WO2023125003 A1 WO 2023125003A1
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Prior art keywords
picture
transfer function
modulation transfer
determining
interest
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PCT/CN2022/138926
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English (en)
Chinese (zh)
Inventor
吴筱
丁有爽
邵天兰
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梅卡曼德（北京）机器人科技有限公司
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Publication of WO2023125003A1 publication Critical patent/WO2023125003A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
    • G01M11/02—Testing optical properties
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/10—File systems; File servers
    • G06F16/16—File or folder operations, e.g. details of user interfaces specifically adapted to file systems

Definitions

  • the present disclosure relates to the field of computer technology, and in particular to a method for determining a modulation transfer function, electronic equipment and a storage medium.
  • Modulation Transfer Function also known as spatial frequency response (Spatial Frequency Response, SFR)
  • SFR spatial frequency response
  • MTF can effectively evaluate the imaging quality of an optical system.
  • the International Organization for Standardization recommends the use of the "inclined edge method” and “Siemens star method” to measure MTF.
  • the MTF measured by the "inclined edge method” can be called e-SFR, which is determined by “Siemens
  • the MTF measured by "star method” can be called s-SFR.
  • the former has simple measurement graphics, requires less space, and is less affected by optical system distortion, which is suitable for most MTF measurements.
  • MTF is related to the position of the field of view. Place the edge at different positions in the image (the edge is a pattern that needs to be placed and photographed in the real scene), or select a different region of interest (Region of Interest, ROI), different MTFs may be obtained, which are generally related to the imaging properties of the lens.
  • ROI region of interest
  • different MTFs may be obtained, which are generally related to the imaging properties of the lens.
  • MTF is often used as a design index. When verifying the actual effect, it is necessary to measure the MTF at different fields
  • the inventors found that there are at least the following problems in the related art: since the method for determining the MTF of multiple images is mostly aimed at a specific chart (that is, a test card for a camera), and the chart often cannot meet the requirements Field of view measurement requirements (one is that when the working distance is large, the frame is very large, it is difficult to prepare a large enough chart, and the other is that the chart pattern is fixed, and there may not be an edge used to determine the MTF at the specified position), so in related technologies
  • the lack of an effective method to determine the MTF data of a large number of different fields of view leads to the problem of slow response of the robot.
  • the technical problem to be solved in the present disclosure is to provide a method for determining a modulation transfer function, an electronic device, and a storage medium, which solves the problem in the related art that lacks the batch determination of the modulation transfer function of multiple pictures, resulting in a slow response speed of the robot. question.
  • specific embodiments of the present disclosure provide a method for determining a modulation transfer function, including: obtaining a picture and the file name corresponding to the picture; identifying the measurement field position corresponding to the picture according to the file name of the picture; The position and the pre-set region of interest determine the modulation transfer function of the picture.
  • identifying the position of the measurement field of view corresponding to the picture according to the file name of the picture includes: identifying the position of the measurement field of view corresponding to the picture according to the correspondence between the file name and the position of the measurement field of view; or, according to the file name Part of the name identifies the location of the measurement field that the image corresponds to.
  • determining the modulation transfer function of the picture according to the position of the measurement test field and the preset region of interest includes: determining the MTF of the picture according to the automatically selected region of interest in the picture based on the position of the measurement field of view Modulation transfer function.
  • determining the modulation transfer function of the picture according to the location of the measurement test site and the preset region of interest includes: acquiring a target region of interest in response to a selection operation of the region of interest in the picture; According to the target region of interest, the modulation transfer function of the picture is determined.
  • the method for determining the modulation transfer function further includes: determining the obtained modulation transfer function Whether there is any abnormality in the function; if there is an abnormality in the obtained modulation transfer function, then redefine the ROI of the picture, and based on the re-determined ROI, determine the modulation transfer function of the picture; if there is no abnormality in the obtained modulation transfer function, then Determine the modulation transfer function of the next picture.
  • determining whether the obtained modulation transfer function is abnormal includes: determining whether the obtained modulation transfer function is within a predetermined range.
  • the reasons for the abnormality of the modulation transfer function include that the measurement field position of the picture cannot be identified due to the abnormal file name, pixels with a gray value equal to 255 in the region of interest of the picture due to overexposure, and edge At least one of edge straight line fit abnormality and edge angle abnormality.
  • the file name of the picture includes position information and direction information.
  • the method for determining the modulation transfer function before determining the modulation transfer function of the picture according to the location of the measurement test site and the preset region of interest, the method for determining the modulation transfer function further includes: determining at least one region of interest on the picture, The center of the region of interest is located on the line connecting the center of the picture to the four corners of the picture.
  • Another aspect of the embodiments of the present disclosure provides an electronic device, including one or more processors and a storage device, wherein the storage device is used to store executable instructions, and when the executable instructions are executed by the processors, The methods of the embodiments of the present disclosure are implemented.
  • Another aspect of the embodiments of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, and the above-mentioned instructions are used to implement the method of the embodiments of the present disclosure when executed by a processor.
  • Another aspect of the embodiments of the present disclosure provides a computer program, the computer program includes computer-executable instructions, and the instructions are used to implement the method of the embodiments of the present disclosure when executed.
  • Fig. 1 is a system architecture of a method for determining a modulation transfer function provided by a specific embodiment of the present disclosure.
  • Fig. 2 is a schematic flowchart of a method for determining a modulation transfer function provided by a specific embodiment of the present disclosure.
  • Fig. 3 is another schematic flowchart of a method for determining a modulation transfer function provided in a specific embodiment of the present disclosure.
  • Fig. 4 is another schematic flowchart of a method for determining a modulation transfer function provided in a specific embodiment of the present disclosure.
  • FIG. 5 is a distribution diagram of a region of interest in a picture provided by a specific embodiment of the present disclosure.
  • Fig. 6 is a block diagram of an electronic device for determining a modulation transfer function provided by a specific embodiment of the present disclosure.
  • first”, “second”, ... etc. do not specifically refer to a sequence or sequence, nor are they used to limit the present disclosure, but are only used to distinguish elements or operations described with the same technical terms .
  • the “plurality” herein includes “two” and “two or more”; the “multiple groups” herein includes “two groups” and “two or more groups”.
  • Embodiments of the present disclosure provide a method for determining a modulation transfer function.
  • the method includes: acquiring a picture (image) and a file name corresponding to the picture; identifying the position of the measurement field of view corresponding to the picture according to the file name of the picture; Transfer Function.
  • the method for determining the MTF provided by the embodiments of the present disclosure can be used to determine the MTF of one image, and can also be used to determine the MTF of multiple images, thereby improving the response speed of the robot.
  • the method for determining the modulation transfer function provided by the embodiments of the present disclosure may be applied in a processing server, and the processing server may be an independent server, or may also be a service cluster or the like.
  • the processing server can obtain the picture and the file name corresponding to the picture, identify the measurement field position corresponding to the picture according to the file name of the picture, and then determine the modulation transfer function of the picture according to the measurement test field position and the preset region of interest.
  • Fig. 1 is a system architecture of a method for determining a modulation transfer function provided by a specific embodiment of the present disclosure. It should be noted that, what is shown in FIG. 1 is only an example of the system architecture to which the embodiments of the present disclosure can be applied, so as to help those skilled in the art understand the technical content of the present disclosure, but it does not mean that the embodiments of the present disclosure cannot be used in other device, system, environment or scenario.
  • the system architecture 100 may include user terminals 101 , 102 , 103 and a processing server 104 , and the user terminals 101 , 102 , 103 are connected to the processing server 104 in a wired or wireless manner.
  • the user terminals 101, 102, and 103 can name multiple pictures so that each picture has a file name, and the processing server 104 can obtain each picture and the corresponding file name of each picture, and identify each picture according to the file name of each picture.
  • the position of the measurement field of view corresponding to the picture, and the modulation transfer function of each picture is determined according to the position of the measurement field of view corresponding to the picture and the preset region of interest.
  • the user terminals 101 , 102 , 103 may display the MTF determined by the processing server 104 for each picture.
  • Modulation transfer function is also called spatial contrast transfer function (spatial contrast transfer function, SCTF), spatial frequency contrast sensitivity function (spatial frequency contrast sensitivity function, SFCSF).
  • the modulation transfer function reflects the ability of the optical system to transmit the modulation degree of various frequency sinusoids as a function of the spatial frequency.
  • MTF contrast of output image/contrast of input image. Because the contrast of the output image is always smaller than the contrast of the input image, the MTF value is between 0 and 1, that is, the range of the MTF value is [0, 1], and the actual calculated value is usually between 0 and 1.
  • the processing server 104 may be a file server, a network server, an integration server, a cloud server, or a server cluster, and the like.
  • the free operating environment MATLAB Runtime software can be installed in the processing server 104.
  • the sfrmat3 module of the MATLAB software can be used to determine the modulation transfer function in batches.
  • the sfrmat3 application software can be developed on MATLAB R2021b, and the running software requires MATLAB Runtime R2021b.
  • the operating environment can be found at https://www.mathworks.com/ products/compiler/matlab-runtime.html download.
  • the user terminals 101, 102, 103 may be desktop computers, laptop computers, smart phones, tablet computers or personal digital assistants (PDAs), etc.
  • the identification of the measurement field of view corresponding to each picture and the determination of the modulation transfer function of each picture provided in the embodiment of the present disclosure may generally be performed by the processing server 104 .
  • the naming of each picture provided in the embodiments of the present disclosure may generally be performed by the user terminals 101 , 102 , and 103 .
  • identifying the position of the measurement field of view corresponding to each picture and determining the modulation transfer function of each picture may also be performed by the user terminals 101, 102, 103, and the naming of each picture may also be performed by the processing server 104 execution.
  • the method for determining the modulation transfer function may also be executed by the processing server 104 or the user terminals 101 , 102 , 103 .
  • Fig. 1 the numbers of user terminals 101, 102, 103 and processing servers 104 in Fig. 1 are only illustrative. There may be any number of user terminals 101, 102, 103 and processing servers 104 according to implementation requirements.
  • Fig. 2 is a schematic flowchart of a method for determining a modulation transfer function provided by a specific embodiment of the present disclosure.
  • the method for determining a modulation transfer function may include the following operations S201 to S203.
  • multiple pictures can be named in advance, so that each picture has a file name, therefore, the picture and the file name corresponding to the picture can be obtained.
  • the file name of the picture is used to identify the measurement field of view position of the picture.
  • the format of the picture is not limited.
  • the format of the picture may be BMP format, TIFF format or PNG format.
  • the file name of the picture can be composed of a number part and a character part, the number part comes first, and the character part follows.
  • the file name of the picture can be 0.5y', 0.6y', 0.75y', 0.95y', ....
  • the character part may include at least one of English letters, Greek letters and special characters; the number part may include Arabic numerals and the like.
  • the measurement field of view position is also referred to as a target field of view position, a field of view target position, and the like.
  • English letters for example, may include: a, b, c, d, etc.
  • Greek letters for example, may include: ⁇ , ⁇ , ⁇ , ⁇ , ⁇
  • special characters for example, may include: #, €, &, @, ⁇ , ⁇ , etc.
  • identifying the position of the measurement field of view corresponding to the picture according to the file name of the picture may include: identifying the position of the measurement field of view corresponding to the picture according to the correspondence between the file name and the position of the measurement field of view; or, according to Part of the file name identifies the location of the measurement field that the image corresponds to.
  • the file name of the picture corresponds to the position of the measurement field of view of the picture
  • the position of the measurement field of view of the picture can be identified by using the file name of the picture.
  • part of the information of the picture file name can also be used to identify the position of the measurement field of view of the picture.
  • the character part of the picture file name is used to identify the position of the measurement field of view of the picture. If the character part of the picture file name is the same, it is considered that the position of the measurement field of view of the picture is the same.
  • the modulation transfer function of the picture is determined according to the location of the measurement test site and the preset region of interest.
  • the modulation transfer function at the region of interest of the picture may be determined according to a preset region of interest.
  • the unit of the ROI is pixel
  • the default width of the ROI is 26 pixels
  • the height is 40 pixels.
  • operation S203 may include: based on the position of the measured field of view, determining the modulation transfer function of the picture according to the automatically selected region of interest in the picture.
  • operation S203 may include: acquiring a target ROI in response to a selection operation of the ROI in the picture; and determining a modulation transfer function of the picture according to the target ROI.
  • the target ROI is an ROI that needs to be manually set.
  • the measurement field of view position of multiple pictures can be identified in batches, and then the modulation transfer of these pictures can be determined
  • the function can speed up the response speed of the robot to recognize and grasp.
  • Fig. 3 is another schematic flowchart of a method for determining a modulation transfer function provided in a specific embodiment of the present disclosure.
  • operation S203 determines the modulation transfer function of the picture according to the position of the measurement test site and the preset region of interest, and then the modulation transfer function
  • the method for determining may also include the following operations S301-S303.
  • operation S301 may include: determining whether the obtained modulation transfer function is within a predetermined range. If the modulation transfer function is greater than 1, it is determined that there is an abnormality in the modulation transfer function. For example, it can be determined whether the modulation transfer function is between 0.2 ⁇ 1, and if not, it is determined that the modulation transfer function is abnormal. It can also be determined whether the modulation transfer function is between 0.5 and 1, and if it is not between 0.5 and 1, it is determined that the modulation transfer function is abnormal. It can also be determined whether the modulation transfer function is between 0.5 and 0.8, and if it is not between 0.5 and 0.8, it is determined that the modulation transfer function is abnormal.
  • the reasons for the abnormality of the modulation transfer function include that the measurement field position of the image cannot be identified due to the abnormal file name, pixels with a gray value equal to 255 exist in the area of interest in the image due to overexposure, abnormal edge straight line fitting, and edge angle At least one of the exceptions.
  • File name exception means that the measurement field position of the image cannot be identified by the file name of the image (only enabled when pre-set ROI is automatically selected). When manually selecting a pre-set ROI, a bright color prompt will be given to overexposed pixels.
  • the abnormal straight line fitting of the edge refers to the poor fitting result of the straight line of the edge.
  • Abnormal blade angle means that the blade angle is less than 1 degree, that is, the angle between the blade edge and the horizontal axis of the image is less than 1 degree.
  • operation S302 if the obtained MTF is abnormal, it is necessary to re-determine the ROI of the picture, and determine the MTF of the picture based on the re-determined ROI.
  • the obtained modulation transfer function is abnormal, it is necessary to re-determine the region of interest of the picture, and based on the re-determined region of interest, re-determine the modulation transfer function of the picture to obtain a new modulation Transfer Function. If the newly obtained MTF is still abnormal, it is necessary to re-determine the ROI of the picture again, and based on the re-determined ROI, redefine the MTF of the picture again, and so on, if the newly obtained MTF If there is no abnormality in the transfer function, the modulation transfer function of the next picture is determined.
  • the MTF of the next picture is determined until the MTF of all pictures is determined.
  • the region of interest of the picture is re-determined, and the modulation transfer function of the picture is re-determined based on the re-determined region of interest, and the abnormal modulation transfer function is corrected, which can improve the performance of multiple pictures. Modulation transfer function overall accuracy.
  • the step of determining whether the obtained modulation transfer function is abnormal in operation S301 may include: determining whether the obtained modulation transfer function is within a predetermined range.
  • the value of the MTF is between 0 and 1, for example, it can be determined whether the MTF is within 0.2 ⁇ 1, and if it is not within 0.2 ⁇ 1, it is determined that the MTF is abnormal. It can also be determined whether the modulation transfer function is within 0.5 ⁇ 1, and if it is not within 0.5 ⁇ 1, it is determined that the modulation transfer function is abnormal. It can also be determined whether the modulation transfer function is between 0.5 and 0.8, and if it is not between 0.5 and 0.8, it is determined that the modulation transfer function is abnormal.
  • the reasons for the abnormality of the modulation transfer function may include that the measurement field of view of the picture cannot be identified due to the abnormal file name, pixels with a gray value greater than or equal to 255 in the region of interest in the picture caused by overexposure, abnormal straight line fitting of the edge, and At least one of the edge angle anomalies.
  • File name exception means that the measurement field position of the image cannot be identified by the file name of the image (only enabled when pre-set ROI is automatically selected). When manually selecting a pre-set ROI, a bright color prompt will be given to overexposed pixels.
  • the abnormality of the straight line fitting of the cutting edge refers to the poor fitting result of the straight line of the cutting edge.
  • the cutting edge does not appear in the ROI or contains not only the cutting edge, the cutting edge does not pass the opposite side of the ROI, or the cutting edge in the picture is not enough due to distortion and other reasons Straight (e.g. curved edges, jagged lines, unstitched lines, etc.).
  • Abnormal blade angle means that the blade angle is less than 1 degree, that is, the angle between the blade edge and the horizontal axis of the image is less than 1 degree.
  • FIG. 4 is another schematic flowchart of a method for determining a modulation transfer function provided in a specific embodiment of the present disclosure.
  • FIG. 5 is a distribution diagram of a region of interest in a picture provided by a specific embodiment of the present disclosure.
  • the method for determining the modulation transfer function may also include the following operate:
  • operation S401 at least one region of interest is determined on the picture, and the center of the region of interest is located on a line connecting the center of the picture to the four corners of the picture.
  • the picture is usually a rectangle.
  • the pixels of the picture can be 1536 ⁇ 2048.
  • Five regions of interest can be set in the center and four corners of the rectangle. According to the set five regions of interest Determine the modulation transfer function for each picture.
  • the center of the region of interest is located on the line connecting the center of the picture to the four corners of the picture.
  • the region of interest is usually a rectangular region of interest.
  • the rectangular region of interest is located on the edge.
  • the edge divides the rectangular region of interest into two right-angled trapezoids. .
  • a blade edge is a pattern that needs to be posed and photographed in a real-life setting.
  • the center of the region of interest is on the line (L) from the center of the picture (image) (P) to the four corners.
  • the direction information nw, sw, ne and se represent the upper left, lower left, upper right and lower right directions of the picture, respectively.
  • 0.75se means 0.75y' field of view in the southeast direction.
  • the disclosure identifies the file name of the image according to the field of view + direction.
  • the field of view is a number, which can be 0.5, 0.95, 0.46, one or two decimal places after the decimal point, or 0; the direction is one of nw, ne, sw, se; if the field of view is 0, no direction is required , if the field of view is not 0, you need to have a direction.
  • it also has custom functions, such as the uniform representation of the image file name equal to "1", 0.5nw field of view, etc.
  • the file name of the picture can contain other information, but if there are 0, or 2 or more character strings that can be identified as the position of the measurement field of view, it will be judged as abnormal.
  • the file name of the picture includes position information and direction information.
  • the identification rules for the position of the measurement field of view are as follows: when determining the modulation transfer function, the file naming method of "0.5y'nw” can be used to mark the position of the measurement field of view, where "0.5y'" is the position information, and "nw" is the direction information.
  • the field of view represents halfway from the center of the image to the upper left corner of the image.
  • Fig. 6 is a block diagram of an electronic device for determining a modulation transfer function provided by a specific embodiment of the present disclosure.
  • the electronic device shown in FIG. 6 is only an example, and should not limit the functions and application scope of the embodiments of the present disclosure.
  • an electronic device 600 includes a processor 601 that can be loaded into a random access memory (RAM) 603 according to a program stored in a read-only memory (ROM) 602 or loaded from a storage part.
  • processor 601 may include, for example, a general-purpose microprocessor (eg, a CPU), an instruction set processor and/or an associated chipset, and/or a special-purpose microprocessor (eg, an application-specific integrated circuit (ASIC)), among others.
  • Processor 601 may also include on-board memory for caching purposes.
  • the processor 601 may include a single processing unit or multiple processing units for executing different actions of the method flow according to the embodiments of the present disclosure.
  • processor 601 executes various operations according to the method flow of the embodiment of the present disclosure by executing programs in the ROM 602 and/or RAM 603 . It should be noted that the program may also be stored in one or more memories other than the ROM 602 and the RAM 603 .
  • the processor 601 may also perform various operations according to the method flow of the embodiments of the present disclosure by executing programs stored in one or more memories.
  • the electronic device 600 may further include an input/output (I/O) interface 605 which is also connected to the bus 604 .
  • the electronic device 600 may also include one or more of the following components connected to the I/O interface 605: an input part 606 including a keyboard, a mouse, etc.; including a cathode ray tube (CRT), a liquid crystal display (LCD), etc.
  • the communication section 609 performs communication processing via a network such as the Internet.
  • a drive 610 is also connected to the I/O interface 605 as needed.
  • a removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is mounted on the drive 610 as necessary so that a computer program read therefrom is installed into the storage section 608 as necessary.
  • the method flow according to the embodiments of the present disclosure can be implemented as a computer software program.
  • the embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable storage medium, where the computer program includes program codes for executing the methods shown in the flowcharts.
  • the computer program may be downloaded and installed from a network via communication portion 609 and/or installed from removable media 611 .
  • the computer program is executed by the processor 601
  • the above-mentioned functions defined in the electronic device of the embodiment of the present disclosure are performed.
  • the above-described electronic devices, devices, devices, modules, units, etc. may be implemented by computer program modules.
  • the present disclosure also provides a computer-readable storage medium.
  • the computer-readable storage medium may be included in the device/apparatus/system described in the above embodiments; it may also exist independently without being assembled into the device/system device/system.
  • the above-mentioned computer-readable storage medium carries one or more programs, and when the above-mentioned one or more programs are executed, the method according to the embodiment of the present disclosure is realized.
  • the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example may include but not limited to: portable computer disk, hard disk, random access memory (RAM), read-only memory (ROM) , erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • a computer-readable storage medium may include the above-described ROM 602 and/or RAM 603 and/or ROM 602 and one or more memories other than RAM 603.
  • each block in a flowchart or block diagram may represent a module, program segment, or portion of code that includes one or more logical functions for implementing specified executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block in the block diagrams or flowchart illustrations, and combinations of blocks in the block diagrams or flowchart illustrations can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a A combination of dedicated hardware and computer instructions.

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Abstract

L'invention concerne un procédé de calcul par lots de fonctions de transfert de modulation. Le procédé consiste à : nommer préalablement une pluralité d'images, de sorte que chaque image comporte un nom de fichier, le nom de fichier de l'image étant utilisé pour identifier la position de champ de vision de mesure de l'image (S201) ; reconnaître la position de champ de vision de mesure de chaque image selon le nom de fichier de l'image (S202) ; et calculer une fonction de transfert de modulation de l'image sur la base de la position de champ de vision de mesure de l'image et selon une région d'intérêt prédéfinie (S203). L'invention concerne en outre un dispositif électronique et un support de stockage lisible par ordinateur.
PCT/CN2022/138926 2021-12-28 2022-12-14 Procédé de détermination d'une fonction de transfert de modulation, et dispositif électronique et support de stockage WO2023125003A1 (fr)

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