航空光电平台图像稳定技术研究
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摘要
光电平台作为现代战争的一种精密观瞄有效载荷，广泛应用于卫星、机载、陆地、舰载侦察、打击一体化等军事、民用领域。航空光电平台工作环境复杂，航姿不断变化，易导致机载式光电平台视轴不稳定，引起图像抖动，难以满足高精度视轴指向以及情报收集、侦察需要。本文通过构建图像抖动的数学理论，对两轴和多轴光电承载平台引起视轴不稳定因素、图像特征检测定位与匹配、运动估计等方面进行深入研究；运用图像稳定方法提升视轴稳定性，以解决动基座光电平台在情报收集、侦察方面对稳定性方面的需求。
本文首先根据光电成像系统承载框架特性推导并建立光电平台运动模型，构建光电平台运动数学模型与图像运动数学模型之间的关系，提出了消除图像抖动的图像稳定解决方法，为图像稳定技术的深入研究奠定了理论基础，为图像稳定技术的工程实现构建了基本的实践框架。
针对两轴光电承载平台视频序列抖动主要以平移为主，灰度投影算法面对外部环境的剧烈影响可靠性低、稳定失误率高，提出图像灰度信息熵图像稳定算法。通过分析图像灰度信息的二维投影积分，计算帧间图像局部块互信息熵的高阶极值，获得局部运动向量；再采用集中度判定算法计算全局运动补偿参数，高效剔除伪运动向量，避免影响图像输出序列的平滑性。通过对算法的工程移植，验证了该算法的高效性，针对720×576@25fps，长度为500frames的图像序列，采用DSP320C6455使帧间稳定达到10.2ms，稳定误差＜1pixel/frame，稳定失误比率＜1%，相对灰度投影稳定算法，稳定失误率降低了10倍。
在实现两轴光电承载平台图像稳定的基础上，对多轴光电承载平台图像稳定在频域空间和尺度空间进行了深入全面研究。在频域空间分析Fourier-Mellion算法的缺陷，用频域对称等特性构建单相限实数傅里叶图像稳定算法，相对于CFT旋转补偿的时间提升约70%，平移补偿的计算时间提升约70%。结合具有“云计算”特点的GPGPU技术，设计交叠复合相位运动估计结构，提升并行线程同步性能，改变并行线程的尺度，调整图形处理器的存储方式，改进了相位运动估计的并发性，可高品质估算多轴框架下图像运动参数，对512512pixels图像序列，本算法相比于CFT提高近36倍，针对1.6K2.4K pixels图像序列，图像稳定性能达到18ms/frame。
在尺度空间对抗大范围视点变化的不变特征图像稳定进行了深入研究。通过探测对尺度、旋转、仿射具有不变性斑状特征极值点，改进的快速鲁棒性特征算法提取图像局部区域特征点及其描述，设计动态平衡KD树进行快速搜索匹配，图像稳定性能提升4倍；可承受20%噪声，具有100%的重复检测定位特征，不受局部运动、光照变化的影响，能够估计帧间仿射形式全局运动参数，大幅提升环境适应性。抗视点变化不变特征图像稳定所提取的信息量比SIFT提高了近20倍，还能处理高达±85°视点变化引起的任意运动形式的图像稳定。
为减少伪运动向量对视轴稳定性的影响，提出集中度判定运动估计与非线性微分跟踪器运动估计策略。通过分析局部运动向量的分布统计特性，设计直方图、卷积、滤波数据处理流程剔除伪运动向量，减少伪运动向量对图像序列整体稳定性的影响，可以100%的剔除伪运动估计，提高算法整体抵抗错误估计对图像稳定带来的影响；计算时间仅为RANSAC算法的13%，运动估计性能大幅提高。最后针对情报收集、侦察等非视轴稳定等图像稳定问题，对正交式航拍进行了研究性探索，提出利用惯性测量元件以及全球定位系统所获得的航姿信息进行图像稳定，并与图像拼接融合等技术进行交叉，扩大信息侦察视场。
Photoelectric platform as a sophisticated aiming payload of modern warfare, iswidely used in satellite, airborne, land-based, carrier-based reconnaissance withintegration of combat in military and civilian fields. The complex environment of thecarrier aircraft movement will cause the sailing posture is changing, leading to theLOS of the airborne optoelectronic platform unstable, causing the image dithering, itis difficult to meet the high-precision LOS stablization demand as well as intelligencegathering and reconnaissance needs. In-depth study in the LOS of destabilizingfactors by constructing mathematical theory of image dithering caused the two-axisand multi-axis turrent, positioning and matching of image feature detection andmotion estimation; the use of image stabilization method to enhance the stability ofthe LOS to solve the moving base optoelectronic platform in intelligence gathering,reconnaissance in terms of the stability of demand.
Firstly, the derivation of the optical imaging system characteristics and theestablishment of the camera motion model, build the relationship between themathematical model of camera movement and image movement mathematical model,eliminate image shake image stabilization solution for in-depth study of imagestabilization technology and theoretical foundation for the engineering of imagestabilization technology to build a basic turrent of practice.
Translation-based two-axis turrent video sequences jitter, gray projection to theface of the dramatic impact of the external environment of low reliability, stability,error rate, of the image gray level information entropy image stabilization algorithm.Analysis of two-dimensional projection of the gray information integral to calculatethe inter-frame image of local mutual information for high-end extreme value, thelocal motion vectors; concentration to determine the algorithm to calculate the global motion compensation parameters, efficient and eliminate the pseudo-motion vectors,avoid the smoothness of the image output sequence. Algorithm works transplantationefficiency of the algorithm for720×576@25fps, the image sequence length500frames, using DSP320C6455the interframe stable reach10.2ms, stable error<1pixel/frame the stable turnover ratio <1%, relative gray projection stable algorithm,stable error rate reduces to10times.
A comprehensive in-depth study on the multi-axis photoelectric turrent imagestabilization based on two-axis turrent image stabilization. Defects of theFourier-Mellion algorithm in the frequency domain analysis, frequency domain, suchas symmetry characteristics to build single-phase limit the actual number of Fourierimage stabilization algorithm, the rotation compensation for the time CFT is nearly70%increase in translation compensation70%increase in computation time. GPGPUtechnology combined with the characteristics of "cloud computing", designed tooverlap the movement of composite phase estimation structure to enhance thesynchronization performance of parallel threads, change the scale of parallel threads,adjust the graphics processor storage, improved concurrency of phase motionestimation can be high quality to estimate the parameters of image motion in themulti-axis framework, nearly36times, The image stable performance18ms/frame the1.6k×2.4k pixels of the image sequence, image sequences of512×512pixels, thealgorithm is compared to the CFT.
The invariant feature image stabilization to combat a wide range of viewpointschange-depth study.By detecting the right scale, rotation, affine invariance porphyriticcharacteristic extreme points, robust feature improved fast algorithm to extract thelocal image region of feature points and their descriptions, design dynamicequilibrium KD tree for fast searching and matching, image stabilization performancegains four times; can withstand20%noise,100%of the repeat detection and locationcharacteristics, from the local motion, the impact of changes in light, able to estimatethe interframe affine and any form of global motion parameters, greatly enhancing theenvironmental adaptability. Anti-viewpoint change in the invariant features of imagestabilization extracted information than SIFT improved nearly20times, can handle upto±85°viewpoint changes caused by any movement in the form of imagestabilization.
Concentration to determine the motion estimation and nonlinear differential trackermotion estimation strategy in order to reduce the influence of the pseudo-motion vectors of the visual axis stability. By analyzing the distribution of statisticalproperties of the local motion vector design histogram, convolution, filtering, dataprocessing process removed the pseudo motion vectors to reduce the pseudo-motionvectors of the overall stability of the image sequence, can be100%removedpseudo-sport is estimated to improve the algorithm the overall resistance to wrongestimation of the impact of image stabilization; computation time is only13%of theRANSAC algorithm, motion estimation performance of a substantial increase. Finally,intelligence gathering, reconnaissance and other non-visual axis image stabilizationand stability problems of orthogonal aerial exploration of the research proposedAHRS inertial measurement components and global positioning system for imagestabilization, and image mosaic integration of technologies such as cross, to expandinformation reconnaissance field of view.
本文首先根据光电成像系统承载框架特性推导并建立光电平台运动模型，构建光电平台运动数学模型与图像运动数学模型之间的关系，提出了消除图像抖动的图像稳定解决方法，为图像稳定技术的深入研究奠定了理论基础，为图像稳定技术的工程实现构建了基本的实践框架。
针对两轴光电承载平台视频序列抖动主要以平移为主，灰度投影算法面对外部环境的剧烈影响可靠性低、稳定失误率高，提出图像灰度信息熵图像稳定算法。通过分析图像灰度信息的二维投影积分，计算帧间图像局部块互信息熵的高阶极值，获得局部运动向量；再采用集中度判定算法计算全局运动补偿参数，高效剔除伪运动向量，避免影响图像输出序列的平滑性。通过对算法的工程移植，验证了该算法的高效性，针对720×576@25fps，长度为500frames的图像序列，采用DSP320C6455使帧间稳定达到10.2ms，稳定误差＜1pixel/frame，稳定失误比率＜1%，相对灰度投影稳定算法，稳定失误率降低了10倍。
在实现两轴光电承载平台图像稳定的基础上，对多轴光电承载平台图像稳定在频域空间和尺度空间进行了深入全面研究。在频域空间分析Fourier-Mellion算法的缺陷，用频域对称等特性构建单相限实数傅里叶图像稳定算法，相对于CFT旋转补偿的时间提升约70%，平移补偿的计算时间提升约70%。结合具有“云计算”特点的GPGPU技术，设计交叠复合相位运动估计结构，提升并行线程同步性能，改变并行线程的尺度，调整图形处理器的存储方式，改进了相位运动估计的并发性，可高品质估算多轴框架下图像运动参数，对512512pixels图像序列，本算法相比于CFT提高近36倍，针对1.6K2.4K pixels图像序列，图像稳定性能达到18ms/frame。
在尺度空间对抗大范围视点变化的不变特征图像稳定进行了深入研究。通过探测对尺度、旋转、仿射具有不变性斑状特征极值点，改进的快速鲁棒性特征算法提取图像局部区域特征点及其描述，设计动态平衡KD树进行快速搜索匹配，图像稳定性能提升4倍；可承受20%噪声，具有100%的重复检测定位特征，不受局部运动、光照变化的影响，能够估计帧间仿射形式全局运动参数，大幅提升环境适应性。抗视点变化不变特征图像稳定所提取的信息量比SIFT提高了近20倍，还能处理高达±85°视点变化引起的任意运动形式的图像稳定。
为减少伪运动向量对视轴稳定性的影响，提出集中度判定运动估计与非线性微分跟踪器运动估计策略。通过分析局部运动向量的分布统计特性，设计直方图、卷积、滤波数据处理流程剔除伪运动向量，减少伪运动向量对图像序列整体稳定性的影响，可以100%的剔除伪运动估计，提高算法整体抵抗错误估计对图像稳定带来的影响；计算时间仅为RANSAC算法的13%，运动估计性能大幅提高。最后针对情报收集、侦察等非视轴稳定等图像稳定问题，对正交式航拍进行了研究性探索，提出利用惯性测量元件以及全球定位系统所获得的航姿信息进行图像稳定，并与图像拼接融合等技术进行交叉，扩大信息侦察视场。
Photoelectric platform as a sophisticated aiming payload of modern warfare, iswidely used in satellite, airborne, land-based, carrier-based reconnaissance withintegration of combat in military and civilian fields. The complex environment of thecarrier aircraft movement will cause the sailing posture is changing, leading to theLOS of the airborne optoelectronic platform unstable, causing the image dithering, itis difficult to meet the high-precision LOS stablization demand as well as intelligencegathering and reconnaissance needs. In-depth study in the LOS of destabilizingfactors by constructing mathematical theory of image dithering caused the two-axisand multi-axis turrent, positioning and matching of image feature detection andmotion estimation; the use of image stabilization method to enhance the stability ofthe LOS to solve the moving base optoelectronic platform in intelligence gathering,reconnaissance in terms of the stability of demand.
Firstly, the derivation of the optical imaging system characteristics and theestablishment of the camera motion model, build the relationship between themathematical model of camera movement and image movement mathematical model,eliminate image shake image stabilization solution for in-depth study of imagestabilization technology and theoretical foundation for the engineering of imagestabilization technology to build a basic turrent of practice.
Translation-based two-axis turrent video sequences jitter, gray projection to theface of the dramatic impact of the external environment of low reliability, stability,error rate, of the image gray level information entropy image stabilization algorithm.Analysis of two-dimensional projection of the gray information integral to calculatethe inter-frame image of local mutual information for high-end extreme value, thelocal motion vectors; concentration to determine the algorithm to calculate the global motion compensation parameters, efficient and eliminate the pseudo-motion vectors,avoid the smoothness of the image output sequence. Algorithm works transplantationefficiency of the algorithm for720×576@25fps, the image sequence length500frames, using DSP320C6455the interframe stable reach10.2ms, stable error<1pixel/frame the stable turnover ratio <1%, relative gray projection stable algorithm,stable error rate reduces to10times.
A comprehensive in-depth study on the multi-axis photoelectric turrent imagestabilization based on two-axis turrent image stabilization. Defects of theFourier-Mellion algorithm in the frequency domain analysis, frequency domain, suchas symmetry characteristics to build single-phase limit the actual number of Fourierimage stabilization algorithm, the rotation compensation for the time CFT is nearly70%increase in translation compensation70%increase in computation time. GPGPUtechnology combined with the characteristics of "cloud computing", designed tooverlap the movement of composite phase estimation structure to enhance thesynchronization performance of parallel threads, change the scale of parallel threads,adjust the graphics processor storage, improved concurrency of phase motionestimation can be high quality to estimate the parameters of image motion in themulti-axis framework, nearly36times, The image stable performance18ms/frame the1.6k×2.4k pixels of the image sequence, image sequences of512×512pixels, thealgorithm is compared to the CFT.
The invariant feature image stabilization to combat a wide range of viewpointschange-depth study.By detecting the right scale, rotation, affine invariance porphyriticcharacteristic extreme points, robust feature improved fast algorithm to extract thelocal image region of feature points and their descriptions, design dynamicequilibrium KD tree for fast searching and matching, image stabilization performancegains four times; can withstand20%noise,100%of the repeat detection and locationcharacteristics, from the local motion, the impact of changes in light, able to estimatethe interframe affine and any form of global motion parameters, greatly enhancing theenvironmental adaptability. Anti-viewpoint change in the invariant features of imagestabilization extracted information than SIFT improved nearly20times, can handle upto±85°viewpoint changes caused by any movement in the form of imagestabilization.
Concentration to determine the motion estimation and nonlinear differential trackermotion estimation strategy in order to reduce the influence of the pseudo-motion vectors of the visual axis stability. By analyzing the distribution of statisticalproperties of the local motion vector design histogram, convolution, filtering, dataprocessing process removed the pseudo motion vectors to reduce the pseudo-motionvectors of the overall stability of the image sequence, can be100%removedpseudo-sport is estimated to improve the algorithm the overall resistance to wrongestimation of the impact of image stabilization; computation time is only13%of theRANSAC algorithm, motion estimation performance of a substantial increase. Finally,intelligence gathering, reconnaissance and other non-visual axis image stabilizationand stability problems of orthogonal aerial exploration of the research proposedAHRS inertial measurement components and global positioning system for imagestabilization, and image mosaic integration of technologies such as cross, to expandinformation reconnaissance field of view.
引文
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