CN100498821C - Infrared image real-time target identification and tracking device for movement background, and the method - Google Patents
Infrared image real-time target identification and tracking device for movement background, and the method Download PDFInfo
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Abstract
The invention provides an infrared image real-time target identifier and tracker as well as a method with sport as the background, which consists of an infrared imaging detector, an infrared image signal processing part, a servo control part, and a communication module. The invention adopts the infrared thermal imager to collect digital infrared images, adopts the servo controller to search and track targets within eyesight, adopts infrared image signal processor to check, identify, and track targets at real times, and adopt 1553B bus and upper-computer communication to display the result of infrared image tracking. The invention is able to check images within a scope above 15km, search at a big angle of plus or minus 18 DEG and track at a small angle of 2 DEG-6 DEG. Therefore, the invention has the advantages of far checking distance, wide detection scope, high positioning precision, strong identification capability, real-time target track and all-whether working, etc.
Description
Technical field:
The present invention relates to a kind of real-time target recognition and tracking device of infrared image of movement background.The invention still further relates to a kind of recognition and tracking method.
Background technology:
Development along with the infrared eye technology, thermal imaging system adopted limited detection unit detector to add the optical mechaical scanning system development from the past becomes gazing type imaging device without optical mechaical scanning, and to stare focal plane highly dense detections unit, array sizes, multispectral, high detectivity direction develop greatly.Based on the infrared thermal imaging detection system of staring focal plane arrays (FPA), no matter on temperature control and spatial resolution, still on frame frequency and spectral response, all be greatly improved.Since the focal plane stare thermal imaging system exclusive good characteristic, become the new and high technology that research and develop energetically countries in the world.As one of key link of Intelligentized Information, IR imaging target detects, the recognition and tracking technology is puzzlement always and the bottleneck problem of restriction infrared imaging detection usability and technological difficulties and need to be resolved hurrily.Caused at present domestic and international expert's great attention, and carried out deeply and extensive studies around this problem.
In the real-time target detection of the infrared image of movement background, recognition and tracking process, need to detect and lock as early as possible, as soon as possible target to be identified, but also exist many technical barriers for the detection of the infrared target under the movement background, recognition and tracking, these technical barriers mainly contain:
1. background motion, promptly the mobile image that causes of detector rocks, and target might be offset out detector field of view simultaneously;
2. data volume is big, and traditional image processing method is difficult to real-time processing;
3. can't detect in real time the big depth of field, distant object, recognition and tracking.
Existing infrared thermal imaging technique, realtime graphic treatment technology and automatic control technology are full ripe, yet have only these technology are organically integrated and carry out centralized control, just can make its become one have the precision height, investigative range is wide, antijamming capability is strong, fast detecting and the real-time target recognition and tracking device of infrared image of the movement background of the automatic recognition and tracking of target in real time.
Summary of the invention:
The object of the present invention is to provide and a kind ofly can improve the infrared image image quality, improve infrared target and detect the recognition and tracking precision, reach the real-time target recognition and tracking device of infrared image of the movement background of real-time processing and demonstration.Another object of the present invention is to provide the recognition and tracking method of the real-time target recognition and tracking device of a kind of infrared image based on movement background of the present invention.
The object of the present invention is achieved like this: comprise infrared imaging detection parts, infrared image signal processing element, servocontrol parts and four parts of communication module; The infrared imaging detection parts by infrared optical system, stare the focal plane array detector assembly, the A/D sample circuit is formed; Detector serial output signal enters the infrared image signal processing element after changing through A/D; The hardware of described infrared image signal processing element comprises image pretreatment module and the image recognition tracking module that is made of FPGA and two DSP, the image pretreatment module is at first carried out denoising to the signal that infrared eye arrives, in FPGA, carry out medium filtering and morphologic filtering, again infrared image signal is compressed processing, carry out the control of read-write sequence from DSP, data space decoding, the image segmentation threshold value select and with the communication function of detector front end, after adopting fuzzy maximal index entropy method to determine threshold value, carrying out realtime graphic in FPGA cuts apart, give dual port RAM with the result at last, two dual port RAMs adopt table tennis formula storage organization, tracking module DSP carries out recognition and tracking to binary image to be handled, employing is based on the bianry image labeling method recognition objective of recurrence, by the mark isolated target and carry out geometrical Characteristics Analysis, finally extract target, discern successfully back commentaries on classics tracing mode, image is followed the tracks of the bianry image variable resolution hierarchical search fast matching method that adopts the based target profile nature, by improving search volume and search strategy, adopt four pixel pyramid layered images, carry out the thin coupling in thick earlier back, tracking module finally provides tracking angle error, convert the RS-422 level to, serial sends to the servocontrol parts; The servocontrol parts are made of rate gyro and platform servo-control system, infrared imaging device is installed on the gyrostabilized platform, platform provides one at the constant directional reference of spatial stability, the servocontrol parts receive the two-way target angle control information of infrared image signal processing element output, form Control current through power amplifier and give torque motor, torque motor output is given the platform stage body with the proportional moment loading of target angle error, final formation followed the tracks of the two-freedom of target, end product and raw image data are uploaded to host computer by communication module 1553B bus, image and as a result the display part with intensity profile 0～2
14-1 image mapped is 0～2
8-1 image shows.
Described image pretreatment module adopts based on the medium filtering of FPGA and morphologic filtering hardware and realizes image pre-processing method, then by adopting fuzzy maximal index entropy method to determine threshold value, carrying out image segmentation handles, obtain testing result, the image recognition tracking module adopts and carries out feature extraction and classification based on the bianry image labeling method of recurrence, utilizes the target shape feature to carry out the target following of variable resolution coupling again.
Innovative point of the present invention is to adopt infrared thermoviewer and high-speed image disposable plates and servocontrol platform and communication module, and the infrared target of having set up a whole set of movement background detects the recognition and tracking device in real time.
Infrared target of the present invention detects the recognition and tracking device, comprises infrared imaging detection, infrared image signal processing, servocontrol platform and four parts of communication module.It is characterized in that the infrared imaging detection parts by infrared optical system, stare focal plane array detector assembly, A/D sample circuit etc. and form.Detector serial output signal enters the infrared image signal processor after changing through A/D.The infrared image signal processing element is a hardware platform with field programmable gate array (FPGA) and high speed digital signal processor (two DSP), finish Infrared images pre-processing device and target detection, recognition and tracking function, and calculate the pitching and the azimuthal error angle of target, give that servocontrol and communication module are carried out tracking Control and the host computer result shows.The servocontrol parts are made of rate gyro and platform servo-control system, infrared imaging device is installed on the gyrostabilized platform, utilize platform to provide one at the constant directional reference of spatial stability, the motion that has overcome infrared eye makes rocking of optical axis generation, the servocontrol parts receive the two-way target angle control information of infrared image signal processing element output, form Control current through power amplifier and give torque motor, torque motor output is given the platform stage body with the proportional moment loading of target angle error, final formation followed the tracks of the two-freedom of target, improves hunting zone and tracking accuracy.End product and raw image data are uploaded to host computer by communication module 1553B bus, image and as a result the display part with intensity profile 0～2
14-1 image mapped is 0～2
8-1 image shows.
The real-time target recognition and tracking method of the infrared image of movement background of the present invention is: at first obtain infrared image by thermal infrared imager, by numeral output difference RS422 port and differential conversion circuit, Digital Image Data and output control signal are delivered to the FPGA data-in port of the infrared image signal processing element that the image pretreatment module that is made of FPGA and two DSP and image recognition tracking module form, FPGA carries out medium filtering and morphologic filtering denoising in real time, determine threshold value from DSP by adopting fuzzy maximal index entropy method, in FPGA, carry out pre-service such as image segmentation and data compression, again the testing result binary image data is sent into dual port RAM, follow the tracks of DSP for image the Flame Image Process data are provided, infrared identification module in main DSP adopts the bianry image labeling method recognition objective based on recurrence, by the mark isolated target and carry out geometrical Characteristics Analysis, finally extract target, target tracking module utilizes the target shape feature to carry out the target following of variable resolution coupling again, finally provides the trail angle degrees of data and is uploaded to the host computer demonstration by communication module 1553B bus.Infrared eye (2 °～6 °) in specified scope carries out target search, and when infrared eye can't search target in the visual field in appointment, then main DSP started infrared eye and enters search condition, and FOV of search is ± 18 °.After system detected target, then lock onto target entered tracking mode, exported orientation and luffing angle continuously and gave control system.
Infrared target of the present invention detects the recognition and tracking utensil following beneficial effect:
Infrared target of the present invention detects the recognition and tracking device and is based on the passive infrared detector that the advanced person stares focal plane arrays (FPA), have advantages such as operating distance is far away, investigative range is wide, bearing accuracy is high, recognition capability is strong, target following in real time, all weather operations, for the significant and use value of subsequent treatment work of application system.
Description of drawings:
Fig. 1 is that infrared target of the present invention detects recognition and tracking device structure principle chart.
Fig. 2 is the sequential of the output signal of infrared thermoviewer of the present invention.
Fig. 3,4, the 5th, first group of effect movement images of the present invention; Wherein: Fig. 3 is an aircraft real scene shooting ground image; Fig. 4 is through the binary image after pre-service and the image segmentation; Fig. 5 is through mark and the detected target image of geometrical Characteristics Analysis.
Fig. 6,7, the 8th, second group of effect movement images of the present invention; Wherein: Fig. 6 is a lion type building gray level image; Fig. 7 is a lion type building bianry image; Fig. 8-1, Fig. 8-2, Fig. 8-the 3rd, coupling is followed the tracks of the multiresolution template of usefulness fast.
Fig. 9,10,11, the 12nd, the 3rd group of effect movement images of the present invention is the target building tracking results of discerning under the different distance; Wherein: Fig. 9 is 7000 meters of distance objectives; Figure 10 is 3500 meters of distance objectives; Figure 11 is 1000 meters of distance objectives; Figure 12 is 500 meters of distance objectives.
Embodiment:
Be further described below in conjunction with the accompanying drawing technical scheme of the present invention of giving an example.
In the embodiments of the invention, utilize the high-performance infrared thermoviewer to photograph the target over the ground of Fig. 3 and Fig. 6 respectively.The infrared target that adopts the present invention to carry out detects, recognition and tracking, and the concrete implementation detail of each several part is as follows:
In conjunction with Fig. 1, infrared target detects to follow the tracks of with recognizer to be made up of four parts: comprise infrared imaging detection, infrared image signal processing, servocontrol platform and four parts of communication module.The infrared imaging front end that the high-performance infrared thermoviewer is adopted is 320 * 256 medium wave refrigeration focal surface detectors that French Sofradir company produces.This infrared thermoviewer has two output ports and a communication port.One of them is to be used for video output for two output ports, utilizes a video monitor can observe the video simulation image of infrared thermoviewer output; Another output port is the output of differential signal RS422 numeral.Communication port links to each other with main frame, and main effect is the performance of regulating infrared thermoviewer, as: regulate the output speed (50 frame/seconds, 100 frame/seconds) of digital picture, the integral time of adjusting image and correcting image are so that imaging effect reaches best.
The digital output format of infrared camera is to adopt the RS422 differential signal, and the common mode interference that sort signal can suppress to produce between the signal in the transmission course is grown Distance Transmission.Port is exported 14 bit data and 4 control signals.4 control signals are respectively pixel clock signal, a reset signal, exercise an energy signal and an enable signal.Transmit under lower transmission error rates situation for the assurance data, must carry out time series analysis and hardware circuit design according to these control signals.Infrared eye picture signal sequential relationship as shown in Figure 2.
The hardware of infrared image signal processing element comprises image pretreatment module and the image recognition tracking module that is made of FPGA and two DSP.Pretreatment module is at first carried out denoising to the signal that infrared eye arrives, in FPGA, carry out medium filtering and morphologic filtering and realize denoising, again infrared image signal is compressed processing, have the glyph image data processing to become 8 no glyph image data 14.The decoding of control, data space, the image segmentation threshold value of carrying out read-write sequence from DSP select and with the communication function of detector front end.After adopting fuzzy maximal index entropy method to determine threshold value, carry out realtime graphic and cut apart in FPGA, give dual port RAM with the result at last, handling for follow-up tracking module provides binary image.Two dual port RAMs adopt table tennis formula storage organization, guarantee the Flame Image Process real-time.Tracking module DSP carries out recognition and tracking to binary image to be handled, and adopts the bianry image labeling method recognition objective based on recurrence, by the mark isolated target and carry out geometrical Characteristics Analysis, finally extracts target.Discern successfully back commentaries on classics tracing mode, image is followed the tracks of the bianry image variable resolution hierarchical search fast matching method that adopts the based target profile nature, by improving search volume and search strategy, adopt four pixel pyramid layered images, carry out the thin coupling in thick earlier back, or else lose under the prerequisite of tracking accuracy, arithmetic speed is improved.Tracking module finally provides tracking angle error, converts the RS-422 level to, and serial sends to the servocontrol parts.
The servocontrol parts are made of rate gyro and platform servo-control system, infrared imaging device is installed on the gyrostabilized platform, utilize platform to provide one at the constant directional reference of spatial stability, the motion that has overcome infrared eye makes rocking of optical axis generation, the servocontrol parts receive the two-way target angle control information of infrared image signal processor output, form Control current through power amplifier and give torque motor, torque motor output is given the platform stage body with the proportional moment loading of target angle error, and final formation followed the tracks of the two-freedom of target.Adopt Servocontrol device control search and tracking field of view, really realize real-time detection, the recognition and tracking of infrared image detection device target.
Communication module adopts the 1553B bus to upload infrared image and picture signal is handled back tracking results demonstration.The C Programming with Pascal Language is adopted in the display part.
Shown in Fig. 3,4,5, Fig. 3 is an aircraft real scene shooting ground image, and Fig. 4 is through the binary image after pre-service and the image segmentation, and Fig. 5 is through mark and the detected target image of geometrical Characteristics Analysis.Shown in Fig. 6,7,8, Fig. 6 is a lion type building gray level image, and Fig. 7 is a lion type building bianry image, Fig. 8-1, Fig. 8-2, Fig. 8-the 3rd, and coupling is followed the tracks of the multiresolution template of usefulness fast.Shown in Fig. 9,10,11, the target building tracking results of discerning under the different distance, 7000 meters of Fig. 9 distance objectives, 3500 meters of Figure 10 distance objectives, 1000 meters of Figure 11 distance objectives, 500 meters of Figure 12 distance objectives.Target detection probability can reach 99%, and false-alarm probability is 0.1%; The identification of targets accuracy is 95%, and the tracking probability of target can reach 96%.Whole algorithm can reach the live effect of frame p.s.s 50 working time on the infrared image signal processing element.As can be seen, the present invention has advantages such as the hunting zone is wide, detection range is far away, bearing accuracy is high, recognition capability is strong, target following in real time, all weather operations.
Claims (3)
1, the real-time target recognition and tracking device of a kind of infrared image of movement background is characterized in that: comprise infrared imaging detection parts, infrared image signal processing element, servocontrol parts and four parts of communication module; The infrared imaging detection parts by infrared optical system, stare the focal plane array detector assembly, the A/D sample circuit is formed; Detector serial output signal enters the infrared image signal processing element after changing through A/D; The hardware of described infrared image signal processing element comprises image pretreatment module and the image recognition tracking module that is made of field programmable gate array and two DSP, the image pretreatment module is at first carried out denoising to the signal that infrared eye arrives, carry out medium filtering and morphologic filtering at the scene in the programmable gate array, again infrared image signal is compressed processing, carry out the control of read-write sequence from DSP, data space decoding, the image segmentation threshold value select and with the communication function of detector front end, after adopting fuzzy maximal index entropy method to determine threshold value, carrying out realtime graphic at the scene in the programmable gate array cuts apart, give dual port RAM with the result at last, two dual port RAMs adopt table tennis formula storage organization, tracking module DSP carries out recognition and tracking to binary image to be handled, employing is based on the bianry image labeling method recognition objective of recurrence, by the mark isolated target and carry out geometrical Characteristics Analysis, finally extract target, discern successfully back commentaries on classics tracing mode, image is followed the tracks of the bianry image variable resolution hierarchical search fast matching method that adopts the based target profile nature, by improving search volume and search strategy, adopt four pixel pyramid layered images, carry out the thin coupling in thick earlier back, tracking module finally provides tracking angle error, convert the RS-422 level to, serial sends to the servocontrol parts; The servocontrol parts are made of rate gyro and platform servo-control system, infrared imaging device is installed on the gyrostabilized platform, platform provides one at the constant directional reference of spatial stability, the servocontrol parts receive the two-way target angle control information of infrared image signal processing element output, form Control current through power amplifier and give torque motor, torque motor output is given the platform stage body with the proportional moment loading of target angle error, final formation followed the tracks of the two-freedom of target, end product and raw image data are uploaded to host computer by communication module 1553B bus, image and as a result the display part with intensity profile 0～2
14-1 image mapped is 0～2
8-1 image shows.
2, the recognition and tracking method of the real-time target recognition and tracking device of a kind of infrared image based on movement background, it is characterized in that: at first obtain infrared image by thermal infrared imager, by numeral output difference RS422 port and differential conversion circuit, Digital Image Data and output control signal are delivered to the field programmable gate array data-in port of the infrared image signal processing element that the image pretreatment module that is made of field programmable gate array and two DSP and image recognition tracking module form, field programmable gate array carries out medium filtering and morphologic filtering denoising in real time, determine threshold value from DSP by adopting fuzzy maximal index entropy method, carry out image segmentation and data compression pre-service at the scene in the programmable gate array, again the testing result binary image data is sent into dual port RAM, follow the tracks of DSP for image the Flame Image Process data are provided, infrared identification module in main DSP adopts the bianry image labeling method recognition objective based on recurrence, by the mark isolated target and carry out geometrical Characteristics Analysis, finally extract target, target tracking module utilizes the target shape feature to carry out the target following of variable resolution coupling again, finally provide the trail angle degrees of data, and be uploaded to the host computer demonstration by communication module 1553B bus; Infrared eye carries out target search in 2 °～6 ° scopes of appointment, when infrared eye can't search target in the visual field in appointment, then main DSP started infrared eye and enters search condition, and FOV of search is ± 18 °; After system detected target, then lock onto target entered tracking mode, exported orientation and luffing angle continuously and gave control system.
3, the recognition and tracking method of the real-time target recognition and tracking device of described infrared image as claimed in claim 2 based on movement background, it is characterized in that: the image pretreatment module adopts based on the medium filtering of FPGA and morphologic filtering hardware and realizes image pre-processing method, then by adopting fuzzy maximal index entropy method to determine threshold value, carry out image segmentation and handle, obtain testing result; The image recognition tracking module adopts and carries out feature extraction and classification based on the bianry image labeling method of recurrence, utilizes the target shape feature to carry out the target following of variable resolution coupling again.
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