CN109005340A - The Atomatic focusing method and device of image definition curve matching are carried out based on least square method - Google Patents
The Atomatic focusing method and device of image definition curve matching are carried out based on least square method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
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Abstract
The invention belongs to technical field of image detection, disclose a kind of Atomatic focusing method and device that image definition curve matching is carried out based on least square method, its method includes: to carry out fixed-length sampling three times, image definition curve matching is carried out by least square method according to the sampled point of third time fixed-length sampling, the extreme value of image definition evaluation value is determined according to fitting binomial curve；When image definition evaluation value extreme value be more than image definition decision threshold, then be judged to realizing auto-focusing；Wherein, the sampling stepping section of second of sampling is determined according to the sampled value of first time fixed-length sampling；The sampling stepping section of third time sampling is determined according to the sampled value of second of fixed-length sampling；This method calculates the number of image definition much smaller than ramping constraint, shortens focusing time during auto-focusing；And this method carries out fixed-length sampling in the overall situation, solves the problems, such as that ramping constraint can only obtain clearest of topography, realizes global auto-focusing.
Description
Technical field
The invention belongs to technical field of image detection, and in particular to one kind carries out image clearly based on least square method and writes music
The Atomatic focusing method and device of line fitting.
Background technique
The ramping constraint that the prior art uses in autofocus system is attached in the maximum value of image definition curve
It is searched for back and forth under the nearly mobile shorter stroke of motor, causes ramping constraint focusing slow；And ramping constraint exists only
The problem of clearest of topography can be obtained；It needs to make improvements.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides one kind carries out figure based on least square method
The Atomatic focusing method and device of image sharpness curve matching, its object is to solve, existing method focusing is slow, can only obtain office
Portion's image clearest the problem of.
To achieve the above object, according to one aspect of the present invention, it provides a kind of based on least square method progress image
The Atomatic focusing method of articulation curve fitting, carries out fixed-length sampling three times, according to the data of third time fixed-length sampling by most
Small square law carries out image definition curve matching, and the extreme value of image definition evaluation value is determined according to the curve that fitting obtains；
When decision threshold of the extreme value more than image definition, then auto-focusing is completed；
Wherein, the sampling interval of second of fixed-length sampling is determined according to the sampled value of first time fixed-length sampling；Third time is fixed
The sampling interval of long sampling is determined according to the sampled value of second of fixed-length sampling；
Since the process of auto-focusing is image by obscuring clear, image definition evaluation value by the process of small increase；
When the decision threshold that the evaluation of estimate extreme value of image definition reaches the image definition of setting determines image clearly, completion pair
Thus coke realizes auto-focusing；The decision threshold of image definition is then preset according to engineering application requirement, user demand.
Preferably, above-mentioned Atomatic focusing method, second, third sampling interval are determined according to following methods:
(1) initial samples section is subjected to equal part, Along ent is the sampled point of first time fixed-length sampling；Obtain one group of packet
Include the corresponding stepping angle count value of each sampled point, the data of the corresponding image definition of each sampled point；
(2) maximum value is chosen from the corresponding image definition of sampled point of first time fixed-length sampling, by the maximum value
As the first reference point, subtract the position that q times samples stepping length for the first time with the first reference point is corresponding sampled point
Point, the position for sampling stepping length for the first time plus q times using the first reference point constitute the second sampling interval as terminal；Q is big
In 0 number less than 1；
(3) the second sampling interval is subjected to equal part, Along ent is the sampled point of second of fixed-length sampling；Obtain one group of packet
Include the corresponding stepping angle count value of each sampled point, the data of the corresponding image definition of each sampled point；
(4) maximum value is chosen from the corresponding image definition of sampled point of second of fixed-length sampling, by the maximum value pair
The sampled point answered is as the second reference point；Using the second reference point subtract q times second sampling stepping length position as starting point,
The position for adding q times of second of sampling stepping length using the second reference point constitutes third sampling interval as terminal.
Preferably, above-mentioned Atomatic focusing method, by carrying out bubble sort to the corresponding image clarity values of sampled point,
Obtain the maximum value of image definition.
Preferably, the above-mentioned Atomatic focusing method that image definition curve matching is carried out based on least square method, it is fixed three times
The long method of sampling specifically comprises the following steps:
(1) maximum step distance step_max of the stepper motor from initial position to maximum position is obtained；
(2) N is carried out to the maximum step distance step_max of stepper motor1Equal part；
(3) since the initial position of stepper motor, N is successively moved1A step_max/N1Step distance, to stepping electricity
Each position that machine reaches carries out image definition calculating,
Obtain (N1+ 1) a sampled data (x10,y10),(x11,y11),……,(x1n,y1n)；
(4) to y10,y11,……,y1nBubble sort is carried out, the maximum value y of image definition is obtained1m, and record y1mInstitute
Position x where corresponding stepper motor1m；
(5) the above rheme sets x1mFor reference point, with [x1m-step_max/(2*N1),x1m+step_max/(2*N1)] conduct
The stepping section of second of fixed-length sampling；
(6) by the stepping section [x of double sampling1m-step_max/(2*N1),x1m+step_max/(2*N1)] carry out N2
Equal part；
(7) stepper motor is from (x1m-step_max/(2*N1)) stepping position start, with step_max/N1*N2Stepping
The mobile N of distance2It is secondary, image definition calculating is carried out to each position that stepper motor reaches, obtains (N2+ 1) a sampled data
(x20,y20),(x21,y21),……,(x2n,y2n)；
(8) to y20,y21,……,y2nBubble sort is carried out, the maximum value y of image definition is obtained2m, and record y2mInstitute
Position x where corresponding stepper motor2m；
(9) with x2m-step_max/(2*N1*N2), x2m, x2m+step_max/(2*N1*N2) it is used as third time fixed-length sampling
Sampled point, to stepper motor reach each sampled point carry out image definition calculating；
Obtain 3 sample point data (x30,y30),(x31,y31),(x32,y33)。
Preferably, above-mentioned Atomatic focusing method, according to the corresponding stepping angle meter of sampled point each in third time fixed-length sampling
Numerical value, image definition data carry out curve fitting to obtain the quadratic polynomial of curve by least square method；It is specific as follows:
(10) by 3 sampled point (x30,y30),(x31,y31),(x32,y33) pass through least square method progress quadratic term curve
Fitting；
(11) summed data in following list item is calculated；
(12) according to above-mentioned summation as a result, obtaining Linear Equations
(13) above-mentioned Linear Equations are solved and obtains vector (a0,a1,a2)T；
(14) quadratic polynomial being fitted by above-mentioned vector
Y=a2x2+a1x+a0。
Preferably, above-mentioned Atomatic focusing method, the method for obtaining the extreme value of image definition evaluation value, including walk as follows
It is rapid:
(15) to the quadratic polynomial derivation of fitting,
(16) first derivative of the quadratic polynomial of fitting is enabled to be equal to 0, i.e.,Obtain fitting
The extreme value of quadratic polynomial
(17) extreme value of the fitting quadratic polynomialLocate corresponding image definition evaluation valueAs image definition is commented
The extreme value of value.
Preferably, above-mentioned Atomatic focusing method realizes the side of auto-focusing according to the extreme value of image definition evaluation value
Method includes the following steps:
(18) error of the image definition at the extreme value of image definition evaluation value is obtained
Wherein, ymaxRefer to image definition when practical focusing is clear；
It (19) is δ by the error of the image definition of each stepping point and preset allowable error maximum valuemaxIt is compared,
If actual errorAuto-focusing is realized when then motor is moved to corresponding sampled point.
Preferably, above-mentioned Atomatic focusing method, if the extreme value of the corresponding image definition evaluation value of sampled pointWhen then thinking that motor is moved to corresponding sampled point, corresponding image definition meet demand is completed automatic
Focusing；
Wherein, yneedRefer to the minimum value of image definition needed for engineer application.
To achieve the purpose of the present invention, other side according to the invention provides automatic focusing mechanism, including mirror
Head, camera, stepper motor, communication module, control module, computing module；
Wherein, there is communication connection between camera and camera lens, camera lens and stepper motor have a communication connection, stepper motor with
Connected between control module by communication module, there is connection between control module and computing module, computing module and camera it
Between have connection；Camera carries out image capture；Stepper motor is used to adjust the focal length of camera lens；Communication module is used for and stepper motor
It is communicated, control instruction is issued to it, control module, which is used to control camera according to the step distance of stepper motor, carries out capture；
Computing module is used to calculate the clarity of image.
Preferably, above-mentioned automatic focusing mechanism further includes image capture module, image capture module and camera and calculating mould
Block has communication connection；For obtaining magazine image, and it is cached to computing module, to carry out image definition evaluation value
Operation.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
(1) Atomatic focusing method and dress provided by the invention that image definition curve matching is carried out based on least square method
Set, identified clarity maximum value can fall into the section near real image clarity maximum value, therefore be able to achieve it is automatic right
It is burnt；
(2) Atomatic focusing method and dress provided by the invention that image definition curve matching is carried out based on least square method
Set, during auto-focusing, preferred embodiment fall into a trap nomogram image sharpness number be (N1+N2+ 5) secondary, and search by hill climbing is calculated
The number that method calculates image definition during auto-focusing is greater than or much larger than (N1+N2+ 5) secondary, therefore the focusing of this method
Speed is faster than existing ramping constraint；
(3) Atomatic focusing method and dress provided by the invention that image definition curve matching is carried out based on least square method
It sets, carries out fixed-length sampling in the overall situation and be able to solve for ramping constraint can only obtain the clearest point of topography
Ramping constraint can only obtain the problem of clearest of topography, realize global auto-focusing.
Detailed description of the invention
Fig. 1 is the functional block diagram schematic diagram for the automatic focusing mechanism that embodiment provides；
Fig. 2 is the flow diagram for the Atomatic focusing method that embodiment provides；
Fig. 3 is the schematic diagram of the image progressively scanned in embodiment.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Referring to Fig.1, embodiment provide automatic focusing mechanism, including camera lens, camera, stepper motor, image capture module,
Communication module, control module, computing module；
Wherein, there is connection between camera and image capture module, there is connection, camera lens and stepping between camera and camera lens
Motor has communication connection, is connected between stepper motor and control module by communication module, control module and computing module it
Between have connection, between computing module and image capture module have connection；Camera, image capture module carry out image capture；
Stepper motor is used to adjust the focal length of camera lens；Communication module issues control instruction control to it for being communicated with stepper motor
Molding block is used to calculate the step distance of stepper motor, and control camera carries out capture；Computing module is for calculating the clear of image
Degree.
In conjunction with above-mentioned automatic focusing mechanism, what embodiment provided carries out image definition curve matching based on least square method
Atomatic focusing method include the following steps: referring to Fig. 2
(1) fixed-length sampling three times；
(2) least square method curve matching is carried out；
(3) extreme value is obtained according to matched curve；
(4) image definition obtained at extreme value is calculated；
(5) image definition judgement is carried out, meet threshold condition is to complete auto-focusing, is otherwise sampled in third time
On the basis of increase sampled point, and enter step (2).
The Atomatic focusing method that embodiment provides further is specifically described as follows:
1, maximum step distance step_max of the stepper motor from initial position to maximum position is obtained；
2, N is carried out to the maximum step distance step_max of stepper motor1Equal part；N1For positive integer, value depends on step
Into the precision and maximum stroke range of the stepping angle of motor；
3, since the initial position of stepper motor, N is successively moved1A step_max/N1Step distance, to stepping electricity
Each position that machine reaches carries out image definition calculating,
Obtain (N1+ 1) a sampled data (x10,y10),(x11,y11),……,(x1n,y1n)；
Wherein, x10、…、x1n(N is referred respectively in first time fixed-length sampling1+ 1) meter of the stepper motor stepping angle of secondary sampling
Numerical value；y10、…、y1nRefer respectively to image definition evaluation value；N refers to sampling number；
4, to y10,y11,……,y1nBubble sort is carried out, the maximum value y of image definition is obtained1m, and record y1mInstitute is right
Position x where the stepper motor answered1m；
Wherein, m refers to the m times sampling in the operation of first time fixed-length sampling, and clarity is denoted as y1m；
5, the above rheme sets x1mFor reference point, with [x1m-step_max/(2*N1),x1m+step_max/(2*N1)] conduct
The stepping section of second of fixed-length sampling；
6, by new sampling stepping section [x1m-step_max/(2*N1),x1m+step_max/(2*N1)] in carry out N2Deng
Point；N2Take positive integer；
7, from the (x of stepper motor1m-step_max/(2*N1)) stepping position start, with step_max/N1*N2Step
Into the mobile N of distance2It is secondary, image definition calculating is carried out to each position that stepper motor reaches；
Obtain (N2+ 1) a sample point data (x20,y20),(x21,y21),……,(x2n,y2n)；
Wherein, x20、…、x2nRefer respectively to N in second of fixed-length sampling2The count value of+1 stepper motor stepping angle；
y20、…、y2nRefer respectively to the image definition evaluation value of each sampled point in second of fixed-length sampling；
8, to y20,y21,……,y2nBubble sort is carried out, the maximum value y of image definition is obtained2m, and record y2mInstitute is right
Position x where the stepper motor answered2m；
9, with x2m-step_max/(2*N1*N2), x2m, x2m+step_max/(2*N1*N2) it is used as third time fixed-length sampling
Sampled point, to stepper motor reach sampled point carry out image definition calculating, obtain 3 sample point data (x30,y30),
(x31,y31),(x32,y33)；
10, by 3 sampled point (x30,y30),(x31,y31),(x32,y33) quasi- by least square method progress quadratic term curve
It closes.
11, the summed data in following list item is obtained；
Wherein (x30,y30),(x31,y31),(x32,y33) it is the given data obtained by sampling；Remainder data is at this
Step, which calculates, to be obtained；
12, by summation above data, Linear Equations are obtained
13, above-mentioned Linear Equations are solved and obtains vector (a0,a1,a2)T；
14, the quadratic polynomial being fitted by above-mentioned vector
Y=a2x2+a1x+a0
15, to the quadratic polynomial derivation of fitting
16, the first derivative of the quadratic polynomial of fitting is enabled to be equal to 0, i.e.,
17, the extreme value of fitting quadratic polynomial is obtained
18, in extreme valueThe extreme value of image definition evaluation value is calculated in placeImage when enabling practical focusing clear is clear
Clear degree is ymax, obtaining the error of image definition at the extreme value of least square method matched curve is
19, the max value of error allowed under the application scenarios of embodiment is δmax, the image definition that user requires cannot
Lower than yneed；If the error actually acquiredOr the extreme value of image definition evaluation valueMotor moves
It movesWhen, corresponding image definitionMeet engineering application requirement, i.e., on engineer application, completes auto-focusing.
Using the high-resolution industrial camera of 29M, searched using curve-fitting method provided by above-described embodiment and climbing the mountain
Rope method respectively progressively scans picture illustrated in Figure 3, and camera lens is about 53cm from target, and image definition when focusing is commented
Value and error information are as listed by the following table 1；
1 curve-fitting method of table and search by hill climbing method data list
| It focuses for the first time | Second of focusing | |
| Curve-fitting method | 16.911515 | 12.721889 |
| Search by hill climbing method | 17.188380 | 9.591330 |
| Error | 1.6108% | - 32.6395% |
In table 1, the data of the second row and the third line be focusing when image definition evaluation value, the 1st time focusing and the 2nd time
When focusing the difference of image definition evaluation value be as camera lens it is different from the distance between target caused by difference.This
In example, engineer application requires the threshold value y of image definitionneedIt is 16；In the 1st comparison, using the song of embodiment offer
The extreme value that line approximating method obtainsThe image definition at placeImage definition is not less than yneed, then motor
It is moved to extreme valueWhen, corresponding image definitionMeet engineering application requirement, i.e., on engineer application, it is automatic right to complete
It is burnt.The image definition curve-fitting method provided using embodiment compared to the prior art comment by search by hill climbing method, image definition
Value variance is 1.6108%, and showing curve-fitting method of the present invention, search by hill climbing method is focused compared to the prior art
When image definition difference it is little.
In 2nd comparison, there is fluctuation since climbing method calculates clarity evaluation of estimate in same position, climbing method is caused to fall into
Enter local maximum.Using method provided by the invention, it is to realize focusing that image definition calculation times, which are 25 times,；And it uses
Search by hill climbing rule needs 52 calculating that could focus；In comparison, using method provided by the present invention in auto-focusing
Speed is doubled in the process.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of Atomatic focusing method for carrying out image definition curve matching based on least square method, which is characterized in that carry out
Fixed-length sampling three times carries out image definition curve matching, root by least square method according to the data of third time fixed-length sampling
The extreme value of image definition evaluation value is determined according to the curve that fitting obtains；When the extreme value is more than the decision threshold of image definition
Value, then complete auto-focusing；
Wherein, the sampling interval of second of fixed-length sampling is determined according to the sampled value of first time fixed-length sampling；Third time fixed length is adopted
The sampling interval of sample is determined according to the sampled value of second of fixed-length sampling.
2. Atomatic focusing method as described in claim 1, which is characterized in that sampling interval is determined according to following methods:
(1) initial samples section is subjected to equal part, Along ent is the sampled point of first time fixed-length sampling；It includes each for obtaining one group
The corresponding stepping angle count value of sampled point, the data of the corresponding image definition of each sampled point；
(2) maximum value is chosen from the corresponding image definition of sampled point of first time fixed-length sampling, the maximum value is corresponding
Sampled point as the first reference point, the position of q times of sampling stepping length for the first time is subtracted as starting point using the first reference point, with
The position that first reference point samples stepping length plus q times for the first time is terminal, constitutes the second sampling interval；Q is small greater than 0
In 1 number；
(3) the second sampling interval is subjected to equal part, Along ent is the sampled point of second of fixed-length sampling；It includes each for obtaining one group
The corresponding stepping angle count value of sampled point, the data of the corresponding image definition of each sampled point；
(4) maximum value is chosen from the corresponding image definition of sampled point of second of fixed-length sampling, the maximum value is corresponding
Sampled point is as the second reference point；The position of q times of second of sampling stepping length is subtracted as starting point, with the using the second reference point
Two reference points are terminal plus the position of q times of second of sampling stepping length, constitute third sampling interval.
3. Atomatic focusing method as claimed in claim 1 or 2, which is characterized in that by the corresponding image clearly of sampled point
Angle value carries out bubble sort, obtains the maximum value of image definition.
4. Atomatic focusing method as claimed in claim 1 or 2, which is characterized in that respectively sampled according in third time fixed-length sampling
The corresponding stepping angle count value of point, image definition data carry out curve fitting to obtain the secondary more of curve by least square method
Item formula.
5. Atomatic focusing method as claimed in claim 4, which is characterized in that by 3 sampled points of third time fixed-length sampling
(x30,y30),(x31,y31),(x32,y33) by least square method progress quadratic term curve matching, specifically comprise the following steps:
(i) summed data in following list item is calculated；
(ii) Linear Equations are obtained according to summed data
(iii) Linear Equations are solved and obtains vector (a0,a1,a2)T；
(iv) quadratic polynomial being fitted by the vector
Y=a2x2+a1x+a0。
6. Atomatic focusing method as described in claim 4 or 5, which is characterized in that obtain the extreme value of image definition evaluation value
Method, include the following steps:
Quadratic polynomial derivation to fitting,
The first derivative of the quadratic polynomial of fitting is enabled to be equal to 0, i.e.,It is secondary multinomial to obtain fitting
The extreme value of formula
The extreme value of the fitting quadratic polynomialLocate corresponding image definition evaluation valueAs image definition evaluation value
Extreme value.
7. Atomatic focusing method as described in any one of claims 1 to 6, which is characterized in that according to image definition evaluation value
Extreme value realize auto-focusing method it is as follows:
Obtain the extreme value of image definition evaluation valueThe error of the image definition at place
It is δ by the error of the image definition and preset allowable error maximum valuemaxIt is compared, if actual errorAuto-focusing is realized when then motor is moved to corresponding sampled point；Wherein, ymaxRefer to when practical focusing is clear
Image definition.
8. the Atomatic focusing method as described in claim 1~6, which is characterized in that if the corresponding image definition of sampled point is commented
The extreme value of valueWhen then thinking that motor is moved to corresponding sampled point, corresponding image definition meets need
It asks, completes auto-focusing；
Wherein, yneedRefer to the minimum value of image definition needed for engineer application.
9. a kind of automatic focusing mechanism based on Atomatic focusing method according to any one of claims 1 to 8, which is characterized in that
Including camera lens, camera, stepper motor, communication module, control module, computing module；
There is communication connection, camera lens and stepper motor have communication connection, stepper motor and control between the camera and camera lens
It is connected between module by communication module, there is connection between control module and computing module, have between computing module and camera
There is connection；
The camera is for carrying out image capture；Stepper motor is used for the focal length according to the instruction adjustment camera lens of control module to right
It is burnt；The instruction of control module is issued to stepper motor for the communication between stepper motor and control module by communication module；Control
Molding block, which is used to control camera according to the step distance of stepper motor, carries out capture；Computing module is used to calculate the figure of camera acquisition
The clarity evaluation of estimate of picture；Described in any item methods, completion are automatic right according to claim 1~8 for the automatic focusing mechanism
It is burnt.
10. automatic focusing mechanism as claimed in claim 9, which is characterized in that further include image capture module, Image Acquisition mould
Block and camera and computing module have communication connection；For obtaining magazine image and being cached to computing module.
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| CN111948784A (en) * | 2020-07-07 | 2020-11-17 | 江苏大学 | Iterative optimization automatic focusing method based on hill climbing method |
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