CN103402044A - Target recognition and tracking system based on multi-source video integration - Google Patents
Target recognition and tracking system based on multi-source video integration Download PDFInfo
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Abstract
The invention discloses a target recognition and tracking system based on multi-source video integration and belongs to the technical field of image processing and automatic control. A first video source acquisition module and a second video source acquisition module carry out video acquisition on the same scene respectively by using a digital thermal-imaging camera and a digital visible-light camera and transmit digital infrared video signals and digital visible-light video signals to a target recognition and tracking module; the target recognition and tracking module carries out integration on infrared video frames and visible-light video frames by using a multi-resolution-based multi-source video integration method and then carries out target recognition and target movement trajectory tracking on integrated video frames; a signal display module is used for displaying the movement trajectory of a target in real time. The target recognition and tracking system based on the multi-source video integration has the advantages that the system is simple in design, so that the realization is convenient; the size is smaller, so that the carrying is convenient; a DSP (Digital Signal Processor) and an ARM (Asynchronous Response Mode) serve as a processing chip, so that the operating speed is high, and the requirements on real time can be reached.
Description
Technical field
The invention belongs to image and process and the automatic control technology field, relate to image registration, image co-registration, target identification, target following technology, specifically, is a kind of target recognition and tracking system that merges based on multisource video.
Background technology
Due to reasons such as transducer imaging mechanism and self-characteristics, single imageing sensor generally can not be from extracting abundant information scene.The multi-source image control fusion be the view data of how dissimilar sensor being obtained, adopt certain algorithm that its advantage or complementary information are combined and produces the technology of new images.The multisource video fusion is what on the basis of image co-registration, to be grown up, it will be not the transducer frame of video of catching combine, under same time and background, adopt the mode of image co-registration constantly to merge, and the picture frame after merging is the most at last preserved with the form of video.
The target recognition and tracking research of merging based on multisource video be how on the basis that multisource video merges, to extract more accurately clarification of objective information, thereby target is accurately identified, for the tracking of subsequent target lays the first stone.On whole process nature, be to carry out on the basis of the frame of video after fusion, it carries out accurately edge extracting according to the feature of fused images background and details to target, makes matching result more accurate.Follow the tracks of be on the basis of correct identification to a kind of description of target trajectory, and the process that shows of the movement locus of target the most at last.
The target recognition and tracking system that merges based on multisource video more and more comes into one's own with the new technology of accurately locating as a kind of identification of processing target under multi-sensor image, and its range of application has spreaded all over the every field such as medical science, remote sensing, military affairs, security monitoring.
Modal in the multi-source image integration technology at present is infrared and visual image fusion.Visible images is the light sensation image, and the video camera of selling on the market at present belongs to this type of more, under illumination preferably, can reflect the detailed information of scene, but illumination when not good the effect of visible images poor; Infrared image is the hotness image, is imaged as gray level image, and the temperature difference of gray value reflection shooting target and background determines.Therefore, dark or a small amount of cigarette, cloud, mist environment are arranged at light, because visible images is second-rate, in infrared image, target is still clear, therefore the two imaging is combined and forms infrared and visible light fused images, just can adapt to than the atrocious weather situation.Obviously, we use multisource video merge can in the situation that hide, camouflage and fascination detect target sooner, more accurately.
At present, the more portable target recognition and tracking device that we commonly use all is based on the situation of single camera, and the target information of acquisition is accurate not.And nearly all also be in laboratory under the environment based on PC based on the target recognition and tracking technology that multisource video merges, obviously convenient not.So, providing a kind of target recognition and tracking that merges based on multisource video] system both can solve the not enough and mistake that cause of single camera obtaining information and know phenomenon and can solve based under the PC environment, being not easy to the shortcoming of outdoor use.
Summary of the invention
The purpose of this invention is to provide a kind of system of target recognition and tracking based on many video fusions, both can improve the accuracy of target identification, can reduce again the processing time of video data, reach the requirement of real-time.
Concrete technical scheme of the present invention is:
The invention provides a kind of target recognition and tracking system that merges based on multisource video, comprise the video source acquisition module, described video source acquisition module is comprised of the first video source acquisition module and the second video source acquisition module, and the output of the first video source acquisition module and the second video source acquisition module is connected with the second data input pin respectively at the first data input pin of target recognition and tracking module, and the output of described target recognition and tracking module is connected with the data input pin of signal display module.
Described the first video source acquisition module and the second video source acquisition module use respectively digital thermal imaging camera and digital Visible Light Camera to gather the video of Same Scene, and after processing respectively the infrared video digital signal with the visible light video digital data transmission to described target recognition and tracking module; Described target recognition and tracking module, used before this based on multi-resolution algorithm the multi-source frame video image was carried out to registration, utilizing the multisource video fusion method based on multiresolution to realize infrared and fusion visible light video, image after merging is well carried out to target identification, describe out the movement locus of target; Described signal display module is for the movement locus of real-time display-object.
Described the first video source acquisition module is comprised of digital thermal imaging camera and the first process chip;
The output of described digital thermal imaging camera is connected with the input of the first process chip, and described the first process chip outputs to described target recognition and tracking module by infrared video digital signal after treatment.
Described the second video source acquisition module is comprised of digital Visible Light Camera and the second process chip;
The output of described digital Visible Light Camera is connected with the input of the second process chip, and described the second process chip outputs to described target recognition and tracking module by visible light video digital signal after treatment.
Described target recognition and tracking module is comprised of DSP, the first power module, the first switch of the power supply module, a Flash memory, the first function button, the second function button.
the output of described the first power module is connected with the first input end of described DSP module by power line, described the first switch of the power supply module is connected with described the first power module by cable, control the open and close of described the first power module, the output of a described Flash memory is connected with the second input of described DSP, for the program based on the fusion of multiresolution multisource video and target recognition and tracking is provided to described DSP, the output of described the first function button is connected with the 3rd input of described DSP by cable, for selecting the fusion method of multisource video, the output of described the second function button is connected with the four-input terminal of described DSP by cable, for selecting highest priority, the target trajectory that described DSP obtains extraction outputs to described signal display module.
Described signal display module is comprised of ARM, second source module, second source module switch, the 2nd Flash memory, the 3rd function button, the 4th function button, display driver circuit and LED.
the output of described second source module is connected with the first input end of described ARM by power line, described second source module provides power supply to described ARM, described second source module switch is connected with described second source module by cable, control the open and close of described second source module, described the 2nd Flash memory is connected with the first output of described ARM, for storing the movement locus of target, the output of described the 3rd function button is connected with the second input of described ARM by cable, for selecting display mode signal, the output of described the 4th function button is connected with the 3rd input of described ARM, for selecting whether playback, the second output of described ARM is connected with the input of described display driver circuit, described display driver circuit is connected with the input of described LED.
The present invention also provides a kind of target recognition and tracking system that merges based on multisource video, for fields such as image monitoring, traffic monitoring, safety monitoring, national defense and military, medical monitorings.
Operation principle of the present invention is as follows:
The first video source digital data transmission that digital thermal imaging camera will collect is advanced the first process chip, the first process chip is first carried out medium filtering to reduce the noise of original signal to each two field picture of the first video source, again filtered frame video image is proceeded to histogram equalization and process, the contrast of enhancement frame video image; Meanwhile, the second video source digital data transmission that digital Visible Light Camera will collect is advanced the second process chip, and the second process chip is carried out medium filtering to reduce the noise of original signal to each two field picture of the second video source.
Respectively will be through the first process chip and the pretreated transmission of video of the second process chip to the target recognition and tracking module, according to the program that provides in a Flash, in DSP, can to the frame video, carry out the sequence of operations such as description of registration, fusion, target identification, target trajectory, concrete steps are as follows:
(1) get, respectively pretreated infrared the and visible images of a frame, image is carried out to multiple dimensioned decomposition, and on each yardstick, with Harris characteristic point algorithm, obtain the characteristic point of image;
(2), the characteristic point of extracting in (1) is mated, the characteristic point pair that obtains mating, concrete grammar is as follows:
(a) in statistics Harris feature point extraction algorithm, obtain the characteristic dimension data, using repeating maximum characteristic dimension data as the best features yardstick, with the best features yardstick, original image is carried out to the Canny rim detection, carry out the binaryzation storage;
(b) on the infrared and visible light edge binary image that obtains in the above respectively, centered by the coordinate of characteristic point, the numerical value that the best features yardstick is corresponding is length, build surveyed area, to surveyed area, utilize a minimum cut square Hausdorff distance to carry out exact matching for estimating, and obtain the characteristic point pair of exact matching
(3), according to the characteristic point pair of the exact matching that obtains in (2), use the radiation transformation model to ask for registration parameter;
(4), according to the registration parameter in (3), treat registering images and carry out registration;
(5), use based on the image co-registration of wavelet transformation with based on the methods such as image co-registration of NTSC infrared image and visible images merged, to facilitate the user, according to oneself, need to decide the fusion method of using what type by function button;
(6), the target information and the To Template that extract in fused image mate, and correct target are numbered;
(7), the movement locus of each target is described out.
Through the target recognition and tracking module, basically the central step of whole system completes, back is exactly that the movement locus of each target is transferred to signal display module with the form of data, and the user need to show movement locus and the display mode of oneself wanting to see target by function button according to oneself.
The present invention compared with prior art has following advantage:
(1), use based on multiple dimensioned image registration scheme and can avoid the flase drop phenomenon of multi-source image due to the different characteristic points that cause of yardstick;
(2), use the target recognition and tracking that merges based on multisource video, can obtain more comprehensively target information, effectively overcome the disappearance of the target information that external environment causes;
(3), with DSP, realize registration, fusion, the target identification of whole image, the tracking of target trajectory, the data computing time that can effectively accelerate whole system, meet the purpose of the real-time tracking of target.
The accompanying drawing explanation
Fig. 1 is functional-block diagram of the present invention;
Fig. 2 is the structural representation of first, second video source acquisition module;
Fig. 3 is the structural representation of target recognition and tracking module;
Fig. 4 is the structural representation of signal display module;
image tagged: 1 is the first video source acquisition module, 2 is the second video source acquisition module, 3 is the target recognition and tracking module, 4 is signal display module, 5 is digital thermal imaging camera, 6 is the first process chip, 7 is digital Visible Light Camera, 8 is the second process chip, 9 is DSP, 10 is the first power module, 11 is the first switch of the power supply module, 12 the one Flash memories, 13 first function buttons, 14 is the second function button, 15 is ARM, 16 is the second source module, 17 is the second source module switch, 18 is the 2nd Flash memory, 19 is the 3rd function button, 20 is the 4th function button, 21 is display driver circuit, 22 is LED.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present invention is described in further detail:
More clear in order to be purpose of the present invention, technical scheme and advantage, below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail.Obviously, concrete embodiment described herein, only be used to explaining the present invention, is not intended to limit the present invention.
As shown in Figure 1, the invention provides a kind of target recognition and tracking system that merges based on multisource video, comprise the first video source acquisition module 1, the second video source acquisition module 2, target recognition and tracking module 3, signal display module 4.The output of the first video source acquisition module 1 and the second video source acquisition module 2 is respectively at the first data input pin and second data input pin of target recognition and tracking module 3, and the output of target recognition and tracking module 3 is connected with the data input pin of signal display module 4;
The first video source acquisition module 1 and the second video source acquisition module 2 use respectively digital thermal imaging camera and digital Visible Light Camera to gather the video of Same Scene, and after processing respectively infrared video digital signal and visible light video digital data transmission to target recognition and tracking module 3; Target recognition and tracking module 3 realizes infrared and fusion visible light video based on the multisource video fusion method of multiresolution, and the image after merging is well carried out to target identification, describes out the movement locus of target; Signal display module 4 is for the movement locus of real-time display-object.
As shown in Figure 2, the first video source acquisition module 1 is comprised of digital thermal imaging camera 5, the first process chip 6, the output of digital thermal imaging camera 5 is connected with the input of the first process chip 6, the first process chip 6 uses medium filtering and histogram equalization program to carry out denoising and promote contrast operation infrared frame video, and the first process chip outputs to target recognition and tracking module 3 by infrared video digital signal after treatment.
The second video source acquisition module 2 is comprised of digital Visible Light Camera 7, the second process chip 8, the output of numeral Visible Light Camera 7 is connected with the input of the second process chip 8, the second process chip 8 uses the medium filtering program to carry out the denoising operation to visible light frame video, and the second process chip outputs to target recognition and tracking module 3 by visible light video digital signal after treatment.
As shown in Figure 3, target recognition and tracking module 3 is comprised of DSP9, the first power module 10, the first switch of the power supply module 11, a Flash memory 12, the first function button 13, the second function button 14;
the output of the first power module 10 is connected with the first input end of DSP9 module by power line, the first switch of the power supply module 11 is connected with the first power module 10 by cable, control the open and close of the first power module 10, the output of the one Flash memory 12 is connected with the second input of DSP9, for the program based on the fusion of multiresolution multisource video and target recognition and tracking is provided to DSP9, the output of the first function button 13 is connected with the 3rd input of DSP9 by cable, for selecting the fusion method of multisource video, the output of the second function button 14 is connected with the four-input terminal of DSP9 by cable, for selecting highest priority, the target trajectory that DSP9 obtains extraction outputs to signal display module 4.
(1) get, respectively pretreated infrared the and visible images of a frame, image is carried out to multiple dimensioned decomposition, and on each yardstick, with Harris characteristic point algorithm, obtain the characteristic point of image;
(2), the characteristic point of extracting in (1) is mated, the characteristic point pair that obtains mating, concrete grammar is as follows:
(a) in statistics Harris feature point extraction algorithm, obtain the characteristic dimension data, using repeating maximum characteristic dimension data as the best features yardstick, with the best features yardstick, original image is carried out to the Canny rim detection, carry out the binaryzation storage;
(b) on the infrared and visible light edge binary image that obtains in the above respectively, centered by the coordinate of characteristic point, the numerical value that the best features yardstick is corresponding is length, build surveyed area, to surveyed area, utilize a minimum cut square Hausdorff distance to carry out exact matching for estimating, and obtain the characteristic point pair of exact matching
(3), according to the characteristic point pair of the exact matching that obtains in (2), use the radiation transformation model to ask for registration parameter;
(4), according to the registration parameter in (3), treat registering images and carry out registration;
(5), use based on the image co-registration of wavelet transformation with based on the methods such as image co-registration of NTSC infrared image and visible images merged, to facilitate the user, according to oneself, need to decide the fusion method of using what type by function button;
(6), the target information and the To Template that extract in fused image mate, and correct target are numbered;
(7), the movement locus of each target is described out.
Through the target recognition and tracking module, basically the central step of whole system completes, back is exactly that the movement locus of each target is transferred to signal display module with the form of data, and the user need to show movement locus and the display mode of oneself wanting to see target by function button according to oneself.
As shown in Figure 4, signal display module 4 is comprised of ARM15, second source module 16, second source module switch 17, the 2nd Flash memory 18, the 3rd function button 19, the 4th function button 20, display driver circuit 21 and LED22.
the output of second source module 16 is connected with the first input end of ARM15 by power line, second source module 16 provides power supply to ARM17, second source module switch 17 is connected with second source module 16 by cable, control the open and close of second source module 16, the 2nd Flash memory 18 is connected with the first output of ARM15, for storing the movement locus of target, the output of the 3rd function button 19 is connected with the second input of ARM15 by cable, so just can be used for selecting display mode signal, the output of the 4th function button 20 is connected with the 3rd input of ARM15, for the user, according to oneself, need to carry out playback to the movement locus of tracking target, the second output of ARM15 is connected with the input of display driver circuit 21, display driver circuit 21 is connected with the input of LED22.When we need the movement locus of display-object, just can turn on the power switch, choose display mode.Just can on LED, demonstrate the movement locus of target, when being multiple target, can also select interested target by button.
The present invention's selected main device in embodiment can be following model:
Digital thermal imaging camera---the PI400 high speed infrared video camera that can select German Optris (Infrared Thermometers) company to produce;
The numeral Visible Light Camera---can select Shenzhen HV of Hua Yong Co., Ltd series high-performance industrial camera;
DSP---the TMS320C64xx that can select TI company to produce;
ARM---can select the S3C2440AL-40 of the ARM9 of Samsung series;
Flash---can select the K9F1208. of Samsung
The foregoing is only better embodiment of the present invention, not in order to limit the present invention, all modifications of making within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (5)
1. target recognition and tracking system that merges based on multisource video, it is characterized in that: described video acquisition module is comprised of the first video source acquisition module (1) and the second video source acquisition module (2), and the output of the first video source acquisition module (1) and the second video source acquisition module (2) is connected with the second data input pin respectively at the first data input pin of target recognition and tracking module (3), and the output of described target recognition and tracking module (3) is connected with the data input pin of signal display module (4);
Described the first video source acquisition module (1) and the second video source acquisition module (2) use respectively digital thermal imaging camera and digital Visible Light Camera to gather the video of Same Scene, and after processing respectively the infrared video digital signal with the visible light video digital data transmission to described target recognition and tracking module (3); Described target recognition and tracking module (3) realizes infrared and fusion visible light video based on the multisource video fusion method of multiresolution, and the image after merging is well carried out to target identification, describes out the movement locus of target; Described signal display module (4) is for the movement locus of real-time display-object.
2. according to the described target recognition and tracking system that merges based on multisource video of claims 1, it is characterized in that: described the first video source acquisition module (1) is comprised of digital thermal imaging camera (5), the first process chip (6);
The output of described digital thermal imaging camera (5) is connected with the input of the first process chip (6), and described the first process chip outputs to described target recognition and tracking module (3) by infrared video digital signal after treatment;
Described the second video source acquisition module (2) is comprised of digital Visible Light Camera (7), the second process chip (8);
The output of described digital Visible Light Camera (7) is connected with the input of the second process chip (8), and described the second process chip outputs to described target recognition and tracking module (3) by visible light video digital signal after treatment.
3. the target recognition and tracking system that merges based on multisource video according to claim 1, it is characterized in that: described target recognition and tracking module (3) is comprised of DSP (9), the first power module (10), the first switch of the power supply module (11), a Flash memory (12), the first function button (13), the second function button (14);
the output of described the first power module (10) is connected with the first input end of described DSP module (9) by power line, described the first switch of the power supply module (11) is connected with described the first power module (10) by cable, control the open and close of described the first power module (10), the output of a described Flash memory (12) is connected with the second input of described DSP (9), for the program based on the fusion of multiresolution multisource video and target recognition and tracking is provided to described DSP (9), the output of described the first function button (13) is connected with the 3rd input of described DSP (9) by cable, for selecting the fusion method of multisource video, the output of described the second function button (14) is connected with the four-input terminal of described DSP (9) by cable, for selecting highest priority, the target trajectory that described DSP (9) obtains extraction outputs to described signal display module (4).
4. the target recognition and tracking system that merges based on multisource video according to claim 1, it is characterized in that: described signal display module (4) is comprised of ARM (15), second source module (16), second source module switch (17), Flash memory (18), the 3rd function button (19), the 4th function button (20), display driver circuit (21) and LED (22).
the output of described second source module (16) is connected with the first input end of described ARM (15) by power line, described second source module (16) provides power supply to described ARM (15), described second source module switch (17) is connected with described second source module (16) by cable, control the open and close of described second source module (15), described Flash memory (18) is connected with the first output of described ARM, for storing the movement locus of target, the output of described the 3rd function button (19) is connected with the second input of described ARM (15) by cable, for selecting display mode signal, the output of described the 4th function button (20) is connected with the 3rd input of described ARM (15), for selecting whether playback, the second output of described ARM (15) is connected with the input of described display driver circuit (21), described display driver circuit (21) is connected with the input of described LED (22).
5. one kind according to the target recognition and tracking system that merges based on multisource video claimed in claim 1, for fields such as image monitoring, traffic monitoring, safety monitoring, national defense and military, medical monitorings.
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