CN110677582B - Filtering speed measurement focus detection method and system and terminal equipment - Google Patents
Filtering speed measurement focus detection method and system and terminal equipment Download PDFInfo
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Abstract
The invention belongs to the technical field of aerial imaging, and provides a filtering speed-measuring focus-detecting method, a system and terminal equipment, wherein the filtering speed-measuring focus-detecting method comprises the following steps: imaging the shot scenery on a photoelectric detector to obtain first to Mth shot images; controlling a pre-constructed spatial filter to sample a first line to an Nth line of the shot image in sequence to obtain N times of sampling results, and taking the root mean square of the N times of sampling results as first to Mth filtering outputs; and selecting the position of the camera focal plane corresponding to the maximum filtering output from the first filtering output to the Mth filtering output as the optimal image plane position so as to realize focus detection of the camera. The method eliminates the sinusoidal variation in the SFV signal output by the filter, so that the filter output is not influenced by the relative displacement of the image and the filter, and the method has the remarkable advantage of being capable of detecting the focus by imaging through the photoelectric detector when being applied to the image plane detection of the aerial remote sensing camera, does not need an additional focus detection mechanism and has a simple structure.
Description
Technical Field
The invention relates to the technical field of aerial imaging, in particular to a filtering speed-measuring focus-detecting method, a filtering speed-measuring focus-detecting system and terminal equipment.
Background
When an aerial camera is used for imaging in the air, the phenomenon of defocusing can be caused due to the changes of temperature, atmospheric pressure and photographic distance, the definition and the resolution of an image are seriously influenced, and the phenomenon is particularly caused by a long-focus camera. The automatic focus detection technology is applied to common digital cameras more mature, but the out-of-focus reasons of the aerial cameras are different from those of the common digital cameras, so that the automatic focus detection method adopted in the common digital cameras is difficult to realize on the aerial cameras. To obtain a high-definition image, the camera needs to perform automatic focusing before photographing. In recent years, with the deeper and deeper research on the aerial remote sensing camera focus detection and adjustment technology of a photoelectric detector, the advantages of high speed and simple structure of the image focus detection technology are more and more obvious, at present, various image focus detection-based methods exist, a common algorithm is to take pictures of a scene for multiple times, then focus detection is carried out according to images obtained by taking pictures for multiple times and a certain algorithm, the image focus detection method requires that the camera repeatedly images the same scene, most aerial remote sensing cameras finish imaging the ground in motion, the imaging target is constantly changed, and therefore the common image focus detection and adjustment algorithm cannot be directly applied to the aerial remote sensing cameras.
The non-contact speed measurement method is to use a spatial filter to retrieve the speed information of a moving target and convert the speed measurement into frequency measurement, namely a Spatial Filtering Velocimetry (SFV). In an optical imaging system of an aerial remote sensing camera, images generated by a photoelectric detector are subjected to interlaced sampling, so that the periodic transmission characteristic of a spatial filter is simulated, the spatial filter can be sensitive to higher-frequency spatial frequency components, therefore, when the images are focused, the spatial filter placed on a lens image plane generates the maximum output signal, so that the focus detection of the aerial remote sensing camera can be realized, but the output signal of the filter changes in a sine function along with the relative displacement of the images and the filter, the frequency of the sine function represents the relative movement speed of the images and the filter, and can be used for speed measurement, for the detection of a camera image plane, the change of the sine function causes the images to contain high-frequency components, but the output signals of the filter are small, so that the positions of the image planes cannot be distinguished, therefore, the SFV signal is not suitable for automatic focus detection of the aerial remote sensing camera.
Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
The embodiment of the invention provides a filtering speed-measuring focus detection method and a filtering speed-measuring focus detection system.
The first aspect of the embodiment of the invention provides a filtering speed-measuring focus detection method, which is applied to an aerial camera and comprises the following steps:
imaging the shot scene on a photoelectric detector;
driving a camera focal plane to a first designated position through a focal plane driving mechanism, and controlling the photoelectric detector to output a first shot image of a shot scene;
controlling a pre-constructed spatial filter to sample a first line to an Nth line of the first shot image in sequence to obtain N times of sampling results, and taking the root mean square of the N times of sampling results as a first filtering output at the first designated position;
after the focal plane of the camera is adjusted to an Mth designated position, obtaining an Mth filtering output at the Mth designated position through the spatial filter, wherein M is a positive integer not less than 2;
and selecting the position of the camera focal plane corresponding to the maximum filtering output from the first filtering output to the Mth filtering output as the optimal image plane position so as to realize focus detection of the camera.
Optionally, in another embodiment provided by the present application, the obtaining an mth filtered output at the mth designated location by the spatial filter includes:
controlling the focal plane of the camera to an Mth designated position so that the photoelectric detector outputs an Mth shot image of the shot scene;
sequentially sampling first to Nth lines of the Mth shot image through the constructed spatial filter;
and taking the root mean square of the N sampling results as the Mth filtering output at the Mth specified position.
Optionally, in another embodiment provided by the present application, before the controlling the pre-constructed spatial filter to sequentially sample the first to nth rows of the first captured image, the method includes:
the x direction is designated in advance as a row of the captured image, and the y direction is designated as a column of the captured image.
Optionally, in another embodiment provided by the present application, the controlling a pre-constructed spatial filter to sample the first line to the nth line of the first captured image in sequence to obtain N sampling results includes:
from the racketStarting from the first line of the image, the gray-scale value of the first image with width w is added to A1；
Adding the gray-scale values of the first captured image of the next w width to B by the interval w width1；
By analogy, A can be obtained through n times of accumulation treatment1～AN，B1～BN，C1～CN，D1～DN；
The A is added1～AN，B1～BN，C1～CN，D1～DNThe integration was performed separately to obtain A, B, C, D.
Optionally, in another embodiment provided by the present application, the taking the root mean square of the N sampling results as the first filtered output at the first designated location includes:
the filter output for the first row of samples is:
sequentially obtaining the output I of the Nth line filterc2，Ic3……IcnAnd calculating the root mean square value output by the filters in the first row to the Nth row to obtain the first filtering output.
A second aspect of the embodiments of the present invention provides a filtering speed-measuring focus detection system, which is applied to an aerial camera, and includes:
the imaging module is used for imaging the shot scene on the photoelectric detector;
the image output module is used for driving the focal plane of the camera to a first designated position through the focal plane driving mechanism and controlling the photoelectric detector to output a first shot image of a shot scene;
the filtering module is used for controlling a pre-constructed spatial filter to sample the first line to the Nth line of the first shot image in sequence to obtain N times of sampling results, and taking the root mean square of the N times of sampling results as the first filtering output at the first specified position; the spatial filter is further configured to obtain an mth filter output at the mth designated position through the spatial filter after adjusting the camera focal plane to the mth designated position, where M is a positive integer not less than 2;
and the focus detection module is used for selecting the position of the camera focal plane corresponding to the maximum filtering output from the first filtering output to the Mth filtering output as the optimal image plane position so as to realize the focus detection of the camera.
Optionally, in another embodiment provided by the present application, when the mth filtered output at the mth designated position is obtained through the spatial filter, the filtering module is specifically configured to:
controlling the focal plane of the camera to an Mth designated position so that the photoelectric detector outputs an Mth shot image of the shot scene;
sequentially sampling first to Nth lines of the Mth shot image through the constructed spatial filter;
and taking the root mean square of the N sampling results as the Mth filtering output at the Mth specified position.
Optionally, in another embodiment provided in the present application, the filtering speed and focus detecting system is further configured to:
the x direction is designated in advance as a row of the captured image, and the y direction is designated as a column of the captured image.
A third aspect of embodiments of the present invention provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method according to any one of the first aspect is implemented.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any one of the first aspect mentioned above.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: the utility model provides a novel space filter form is provided among the method of checking focus, has eliminated the sinusoidal variation in the SFV signal of wave filter output, makes the wave filter output not receive image and wave filter relative displacement's influence, when being applied to the image plane of aviation remote sensing camera and detecting, through the obvious advantage that the formation of image of photoelectric detector can be checked focus, need not extra mechanism of checking focus, simple structure.
Drawings
In order to more clearly illustrate the technical method of the embodiments of the present invention, the drawings required in the embodiments or the prior art description are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive labor.
Fig. 1 is a schematic flow chart of a spatial filtering velocity-measuring focus-detecting method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a novel spatial filter provided in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a corresponding device when the focus detection method provided by the embodiment of the invention is applied to an aerial camera;
FIG. 4 is an output image of a photodetector provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of a novel filter constructed by using an output image of a photodetector according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a spatial filtering speed-measuring focus-detecting system according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical solution of the present invention, the following description will be given by way of specific examples.
The first embodiment is as follows:
fig. 1 is a schematic flow chart of a filtering speed measurement focus detection method provided in an embodiment of the present invention, where the method may include the following steps:
step 101: and imaging the shot scene on a photoelectric detector.
Step 102: and driving the focal plane of the camera to a first designated position through a focal plane driving mechanism, and controlling the photoelectric detector to output a first shot image of the shot scene.
Step 103: and controlling a pre-constructed spatial filter to sample the first line to the Nth line of the first shot image in sequence to obtain N times of sampling results, and taking the root mean square of the N times of sampling results as the first filtering output at the first specified position.
Step 104: and after the focal plane of the camera is adjusted to an Mth designated position, obtaining an Mth filtering output at the Mth designated position through the spatial filter, wherein M is a positive integer not less than 2.
Step 105: and selecting the position of the camera focal plane corresponding to the maximum filtering output from the first filtering output to the Mth filtering output as the optimal image plane position so as to realize focus detection of the camera.
Optionally, in another embodiment provided by the present application, the obtaining an mth filtered output at the mth designated location by the spatial filter includes:
controlling the focal plane of the camera to an Mth designated position so that the photoelectric detector outputs an Mth shot image of the shot scene;
sequentially sampling first to Nth lines of the Mth shot image through the constructed spatial filter;
and taking the root mean square of the N sampling results as the Mth filtering output at the Mth specified position.
Optionally, in another embodiment provided by the present application, before the controlling the pre-constructed spatial filter to sequentially sample the first to nth rows of the first captured image, the method includes:
the x direction is designated in advance as a row of the captured image, and the y direction is designated as a column of the captured image.
Optionally, in another embodiment provided by the present application, the controlling a pre-constructed spatial filter to sample the first line to the nth line of the first captured image in sequence to obtain N sampling results includes:
adding the gray-scale values of the first captured image of width w to A starting from the first line of the captured image1；
Adding the gray-scale values of the first captured image of the next w width to B by the interval w width1；
By analogy, A can be obtained through n times of accumulation treatment1～AN，B1～BN，C1～CN，D1～DN；
The A is added1～AN，B1～BN，C1～CN，D1～DNThe integration was performed separately to obtain A, B, C, D.
Optionally, in another embodiment provided by the present application, the taking the root mean square of the N sampling results as the first filtered output at the first designated location includes:
the filter output for the first row of samples is:
sequentially obtaining the output I of the Nth line filterc2，Ic3……IcnAnd calculating the root mean square value output by the filters in the first row to the Nth row to obtain the first filtering output.
The above process is described below with reference to specific examples:
the invention provides a novel spatial filter form, which eliminates sinusoidal variation in an SFV signal output by a filter, so that the output of the filter is not influenced by relative displacement of an image and the filter, and the spatial filter form is suitable for image surface detection of an aerial remote sensing camera. The filter format is shown in figure 2.
This filter takes the square root output of two differential filters, namely:
assuming that the intensity projection function of a single filter is g (x, y), then:
wherein the content of the first and second substances,
a in equation (4) represents the relative position of the image and the spatial filter.
f (x, y) is the light intensity distribution function of the moving image, the differential filter outputs as follows:
wherein:
the differential filter outputs in fig. 2 are respectively:
Ic1＝∫∫f(x，y)(g(x，y)-g(x-d/2，y))dxdy
＝∫∫F*(s,t)G2(s,t)dsdt (7)
Ic2＝∫∫f(x,y)(g(x-d/4,y)-g(x-3d/4,y))dxdy
＝∫∫F*(s,t)G2(s,t)exp(-jπsd/2)dsdt (8)
using sampling theory to expand equation (6) into a series of sinc functions, since the length of the spatial filter in the x direction is Nd, equation (6) can be expressed using the sampled values at s ═ n/Nd (n ═ 0, ± 1,2 …), that is:
then equations (7) and (8) can be written as:
wherein, | bn|ejφnCan be given by:
|bn|ejφn＝∫∫F(s,t)sinc(πth)×sinc(πNd(s-n/d)) (n＝0,1,2…) (12)
as is apparent from the formula (12), | bnI is mainly determined by the F (s, t) values at s-n/d and t-0, we generally consider that the ground target satisfies a stochastic process in time and space, which can be approximated as gaussian or exponential distribution, so if the period d of the spatial filter is chosen reasonably, the following condition can be satisfied:
|b1||sinc(wπ/d)|＞＞|b2n+1||sinc((2n+1)wπ/d)|,(n＝1,2,3…) (13)
at this time, equations (10) and (11) can be approximated as:
Ic1≈4whN|b1|sinc(wπ/d)sin((a+(2N-3)d/4)2π/d+φ1) (14)
Ic2≈-4whN|b1|sinc(wπ/d)cos((a+(2N-3)d/4)2π/d+φ1) (15)
the output of the spatial filter can be approximated as follows:
Ic≈4whN|b1||sinc(wπ/d)| (16)
it can be seen from equation (14) that even if the condition of equation (13) is satisfied, the output of the filter in the normal differential form is also affected by the sinusoidal variation of the relative displacement a and phase angle phi of the image and the filter, while it can be seen from equation (16) that the output of the spatial filter provided by the present invention is no longer affected by the above parameters, so as long as the ground target satisfies the random process and contains a certain high frequency component, the spatial filter provided by the present invention will be very suitable for image plane detection and can be used for aerial remote sensing camera focusing detection.
When the focus detection method provided by the application is applied to an aerial camera, the corresponding device as shown in fig. 3 comprises: the system comprises a focus detection controller 1, a camera optical system 2, a photoelectric detector 3, a camera focal plane 4 and a focal plane driving structure 5.
As shown in fig. 3, the aerial remote sensing camera flies forward along with the airplane, the photodetector 3 is installed on the camera focal plane 4, the ground scenery is imaged on the photodetector 3 through the camera optical system 2, firstly, the focal plane driving mechanism 5 drives the focal plane to the position 1, the inspection focusing controller 1 controls the exposure of the photodetector 3, the image output by the photodetector 3 is as shown in fig. 4, a single square in the image represents one pixel of the image, and B is the pixel size.
Defining the x direction as the row of the image and the y direction as the column of the image, the focus detection controller 1 performs cumulative sampling on the output image of the photodetector, and simulates and constructs the spatial filter form shown in fig. 2, specifically, the method is shown in fig. 5, starting from the first row of the image, adding the gray value of the image with the width w to obtain a1Adding the gray value of the next w width image at intervals of w width to obtain B1By analogy, A can be obtained by n times of accumulation treatment1～AN，B1～BN，C1～CN，D1～DNThe resulting series of values is integrated, i.e.:
this process is the first sample, and the filter output for the first sample is:
then, starting from the second line of the image, the sampling value I is obtained n times by the same methodc2，Ic3……IcnAnd taking the root mean square value to obtain the filter output corresponding to the focal plane position 1:
then the detection focusing controller 1 controls the focal plane driving structure 5 to drive the focal plane to the position 2, and the filter output I corresponding to the position 2 is obtained by the same methodcp2By analogy, a series of filter output values I corresponding to M focus detection positions can be obtainedcp1，Icp2，……IcpMAnd finding out the maximum value of the numerical values, wherein the corresponding position is the optimal image surface position, and the focus detection and adjustment controller 1 controls the focal plane driving structure 5 to drive the camera focal plane 4 to the position, namely, the camera focus detection and adjustment is realized.
The utility model provides a novel space filter form is provided among the method of checking focus, has eliminated the sinusoidal variation in the SFV signal of wave filter output, makes the wave filter output not receive image and wave filter relative displacement's influence, when being applied to the image plane of aviation remote sensing camera and detecting, through the obvious advantage that the formation of image of photoelectric detector can be checked focus, need not extra mechanism of checking focus, simple structure.
Example two:
fig. 6 shows a schematic structural diagram of a spatial velocity-detecting and focus-detecting system provided in an embodiment of the present invention, and for convenience of description, only parts related to the embodiment of the present invention are shown:
spatial filtering tests speed and detects burnt system and is applied to aerial camera, include:
the imaging module 61 is used for imaging the shot scenery on the photoelectric detector;
the image output module 62 is configured to drive the focal plane of the camera to a specified position through the focal plane driving mechanism, and control the photodetector to output a first captured image of the captured scene;
a filtering module 63, configured to control a pre-constructed spatial filter to sequentially sample a first line to an nth line of the first captured image, so as to obtain N sampling results, and output a root mean square of the N sampling results as a first filtering at the first designated location; the spatial filter is further configured to obtain an mth filter output at the mth designated position through the spatial filter after adjusting the camera focal plane to the mth designated position, where M is a positive integer not less than 2;
and the focus detection module 64 is configured to select a position where a camera focal plane corresponding to the maximum filter output from the first filter output to the mth filter output is located as an optimal image plane position, so as to implement focus detection on the camera.
Optionally, in another embodiment provided by the present application, when the mth filtered output at the mth designated position is obtained through the spatial filter, the filtering module is specifically configured to:
controlling the focal plane of the camera to an Mth designated position so that the photoelectric detector outputs an Mth shot image of the shot scene;
sequentially sampling first to Nth lines of the Mth photographed image through the constructed spatial filter;
and taking the root mean square of the N sampling results as the Mth filtering output at the Mth specified position.
Optionally, in another embodiment provided in the present application, the filtering speed and focus detecting system is further configured to:
the x direction is designated in advance as a row of the captured image, and the y direction is designated as a column of the captured image.
For a specific working process, refer to the first embodiment, which is not described herein again.
Example three:
fig. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present invention, where the terminal device 7 includes a processor 70, a memory 71, and a computer program 72 stored in the memory 71 and operable in the processor 70, and when the processor 70 executes the computer program 72, the steps in the first embodiment of the method are implemented, as in steps S101 to S105.
The above examples are intended to be illustrative of the invention, and not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A filtering speed-measuring focus detection method is characterized in that the filtering speed-measuring focus detection method is applied to an aerial camera and comprises the following steps:
imaging the shot scene on a photoelectric detector;
driving a camera focal plane to a first designated position through a focal plane driving mechanism, and controlling the photoelectric detector to output a first shot image of a shot scene;
controlling a pre-constructed spatial filter to sample a first line to an Nth line of the first shot image in sequence to obtain N times of sampling results, and taking the root mean square of the N times of sampling results as a first filtering output at the first designated position;
after the focal plane of the camera is adjusted to an Mth designated position, obtaining an Mth filtering output at the Mth designated position through the spatial filter, wherein M is a positive integer not less than 2;
and selecting the position of the camera focal plane corresponding to the maximum filtering output from the first filtering output to the Mth filtering output as the optimal image plane position so as to realize focus detection of the camera.
2. The filtering speed and focus detection method according to claim 1, wherein the obtaining of the mth filtering output at the mth designated position by the spatial filter includes:
controlling the focal plane of the camera to an Mth designated position so that the photoelectric detector outputs an Mth shot image of the shot scene;
sequentially sampling first to Nth lines of the Mth shot image through the constructed spatial filter;
and taking the root mean square of the N sampling results as the Mth filtering output at the Mth specified position.
3. The filtering speed and focus detection method according to claim 1, wherein before the controlling the pre-constructed spatial filter to sequentially sample the first to nth rows of the first captured image, the method comprises:
the x direction is designated in advance as a row of the captured image, and the y direction is designated as a column of the captured image.
4. The filtering speed-measuring focus-detecting method according to claim 1 or 3, wherein the controlling a pre-constructed spatial filter sequentially samples the first line to the nth line of the first captured image to obtain N-time sampling results comprises:
adding the gray-scale values of the first captured image of width w to A starting from the first line of the captured image1；
Adding the gray-scale values of the first captured image of the next w width to B by the interval w width1；
By analogy, the process can be performed by n times of accumulation treatmentTo obtain A1～AN，B1～BN，C1～CN，D1～DN；
The A is added1～AN，B1～BN，C1～CN，D1～DNThe integration was performed separately to obtain A, B, C, D.
5. The method for filtering speed measurement and focus detection according to claim 4, wherein the taking the root mean square of the N sampling results as the first filtering output at the first designated location comprises:
the filter output for the first row of samples is:
sequentially obtaining the output I of the Nth line filterc2，Ic3……IcnAnd calculating the root mean square value output by the filters in the first row to the Nth row to obtain the first filtering output.
6. The utility model provides a space filtering speed and focus system of examining, its characterized in that, space filtering speed and focus system of examining is applied to the aerial camera, includes:
the imaging module is used for imaging the shot scene on the photoelectric detector;
the image output module is used for driving the focal plane of the camera to a first designated position through the focal plane driving mechanism and controlling the photoelectric detector to output a first shot image of a shot scene;
the filtering module is used for controlling a pre-constructed spatial filter to sample the first line to the Nth line of the first shot image in sequence to obtain N times of sampling results, and taking the root mean square of the N times of sampling results as the first filtering output at the first specified position; the spatial filter is further configured to obtain an mth filter output at the mth designated position through the spatial filter after adjusting the camera focal plane to the mth designated position, where M is a positive integer not less than 2;
and the focus detection module is used for selecting the position of the camera focal plane corresponding to the maximum filtering output from the first filtering output to the Mth filtering output as the optimal image plane position so as to realize the focus detection of the camera.
7. The system for filtering, speed measuring and focus detecting according to claim 6, wherein the filtering module is specifically configured to, when obtaining the mth filtering output at the mth designated location through the spatial filter:
controlling the focal plane of the camera to an Mth designated position so that the photoelectric detector outputs an Mth shot image of the shot scene;
sequentially sampling first to Nth lines of the Mth shot image through the constructed spatial filter;
and taking the root mean square of the N sampling results as the Mth filtering output at the Mth specified position.
8. The filtering speed and focus detecting system according to claim 6, wherein the filtering speed and focus detecting system is further configured to:
the x direction is designated in advance as a row of the captured image, and the y direction is designated as a column of the captured image.
9. A terminal device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1-5 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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