变焦跟踪曲线在对焦中的应用

在变焦成像系统中,及时准确地获取跟踪曲线是变焦跟踪的关键,因此,本文提出了一种计算变焦跟踪曲线的策略。首先,采用基于RAW格式图像的梯度算子计算实时图像清晰度;然后,拟合记录的变焦电机和对焦电机的位置关系,得到远物距端和近物距端的两条跟踪曲线,构成变焦跟踪曲线的上下边界;最后,结合几何法和自适应法,应用获取的变焦跟踪曲线上下边界,计算得到系统所处物距下的跟踪曲线。在自主开发的变焦成像系统中采用梯度算子获取了变焦曲线的上下边界,并通过上述策略实现了变焦跟踪,得到了变焦过程中的图像。实验结果表明,使用所述算法的变焦成像系统其图像清晰度比只用自动对焦算法提高了30%以上;将变焦跟踪曲线应用在对焦中,能够提高变焦过程的图像对焦质量。     

一种低成本基于眼动跟踪人机交互系统的研发an-Com

针对现存眼动跟踪系统价格昂贵的问题,研发了一种低成本且对用户无干扰的眼动跟踪系统。该系统使用一个置于用户正前方的CCD摄像机来捕捉人眼图像,然后使用图像处理软件提取人眼特征,根据特征间的相对位置计算出注视点在屏幕上的坐标。该系统能实时获取用户的注视点坐标,从而进行人机交互。     

大气激光通信光斑图像的快速复原与实时检测

针对大气湍流对激光通信中对信标光的捕获、跟踪与对准(ATP)的影响,提出了基于盲解卷积的快速复原与实时检测算法。采用一维点扩散函数重新构造方位退化模型,取代了原有经典二维退化模型;改进了约束共轭梯度算法中的约束算子,并通过改进的共轭梯度迭代算法求得对原始图像的估计;最后通过连通域计算提取估计结果中的光斑中心位置。采用现场可编程门阵列和数字信号处理器实现所提出的共轭梯度算法并提取光斑中心位置,满足了系统实时性要求。实验表明,所提出的快速复原算法能够实时复原分辨率为200pixel×200piexl,帧频为100 Hz的光斑图像,所提取的信标光光斑中心位置与事后计算结果的误差小于1pixel,能够满足激光通信系统对信标光的实时跟踪要求。     

自由空间激光通信系统APT粗跟踪单元光斑检测优化设计

复合轴APT(Acquisition Pointing Tracking)控制子系统是自由空间激光通信系统中重要组成部分和关键技术,其中粗跟踪伺服单元主要完成高概率、快速捕获和高稳定、高精度跟踪。在简要介绍自由空间激光通信粗跟踪光斑检测的基础上,优化设计了APT粗跟踪光斑检测单元。以XILINX公司的Spartan-3E系列XC3S1200E型FPGA芯片为平台,完成了对光斑检测单元CCD相机图像进行模拟高斯分布的自适应滤波的实时处理,并对相机进行自适应光强控制,提高了粗跟踪光斑信号的检测精度。最后经过APT复合轴的实验系统测试得出:粗跟踪精度120μrad,可靠进入精跟踪视场。     

基于FPGA的精跟踪系统

主要研究空间激光通信系统中精跟踪技术,根据精跟踪系统的组成原理与工作原理,设计了一种轻小型化、智能化精跟踪系统,该系统以FPGA作为核心器件,完成光斑图像采集、图像滤波、光斑位置计算、数字控制补偿函数及脱靶量的实时输出等功能。同时系统可根据外部环境变化,自动调整相机阈值、开窗口位置、积分时间。搭建试验系统完成精跟踪实验,实验表明系统可实现脱靶量实时输出3 000 Hz以上,符合精跟踪控制系统技术指标要求。系统在像元分辨力为3μrad的情况下,实时跟踪均方根值为1.17μrad,满足空间激光通信对精跟踪的要求,为其在空间激光通信中应用打下基础。     

正交分光成像系统实时多光斑亚像素定位研究

正交分光成像系统在高频动态坐标测量中具有独特优势。针对其在高频测量条件下数据量大,光斑坐标难以实时提取的问题,提出了一种基于现场可编程门阵列(FPGA)的实时多光斑峰值位置亚像素定位算法。首先设计与光斑光强分布相近的模板,通过模板匹配解决了原始图像中因噪声导致的峰值抖动问题;其次对匹配后的图像进行阈值比较并生成窗口信号,对窗内像素进行高斯拟合,拟合中心作为光斑峰值亚像素坐标。计算中充分利用FPGA并行处理的特点,采用流水线设计实现了硬件加速。实验表明,该算法可实现对多光斑位置的实时提取,光斑重复定位极差小于0.1像素,标准差为0.014像素,分辨力达亚像素级别。     

皮肤反射式共聚焦显微成像自适应图像亮度调节

在皮肤反射式共聚焦显微成像过程中,为了实现图像亮度的快速调节,提出了一种图像亮度自适应调节方法。通过实验建立光强控制电压与图像亮度之间的关系模型,划分图像极端亮度区间与适度亮度区间,采用分段调节策略,将初始图像从极端亮度区间快速调整至适度亮度区间,在适度亮度区间内通过线性补偿调节至目标灰度均值。对不同深度、不同位置的皮肤组织进行实时成像,图像初始亮度存在着过亮、过暗和适中等各种情况,上述亮度自适应调节方法均能实现快速亮度调节,调节迭代次数为2～3,调节后图像灰度均值达到最优值70左右。实验结果表明,这种自适应图像亮度调节方法快速、有效,能够满足皮肤共聚焦成像检测的需要。     

高帧频CMOS相机对光通信精跟踪系统影响分析

分析了互补金属氧化物半导体(CMOS)相机作为机载光通信精跟踪系统的位置传感器的优势,采用基于CMOS相机与FPGA研制的精跟踪系统,可实现帧频8 800 Hz的图像采集、数据传输、实时图像处理、光斑质心计算以及伺服控制等功能,分析了CMOS相机的噪声、帧频以及光斑质心算法对精跟踪系统跟踪精度的影响,给出了对应的数值分析与实验结果。实验结果表明:CMOS相机噪声对光斑坐标x轴、y轴引起坐标的标准差分别为0.291 9像素,0.120 2像素;当相机帧频从2 200 Hz提高到8 800 Hz时跟踪标准差从1.8降低到0.5个像素;外场光斑质心算法偏差比理想高斯光斑计算结果大8.34-0.71像素。光斑中心算法对跟踪精度影响明显,设计更具针对性的自适应光斑中心算法可以大大改善精跟踪的效果。     

基于最佳线性逼近预测的实时眼动跟踪算法研究实现

设计了一个用于PC环境下的实时眼动跟踪系统,该系统通过对摄像机所采集的视频图像进行实时的图像处理,来判断用户当前对虚拟环境中对象的注视焦点。在瞳孔一角膜反光点向量法（PCCR）的基础上,提出了高效的基于最佳线性逼近预测的实时眼动跟踪算法。实验结果证明,该方法很好地解决了眼动跟踪的实时性问题。     

等离子高分子导电薄膜的微型机器鱼图像分析

ICPF是能够被1.5 V低电压驱动的等离子高分子导电薄膜,具有质量轻、响应速度快的特点。用长21.6 mm、宽4.6 mm、厚0.2 mm的ICPF薄膜驱动的微型机器人能够以3 mm/s的速度在水中运动。为了对其运动姿态进行检测和控制,设计了微型机器人的图像处理系统,此系统由CCD摄像机、图像接口卡、计算机和波形发生器组成。通过CCD摄像机获取机器人的运动图像序列;利用目标短时相似性,对每一帧图像进行色调自动阈值分割和边缘提取得到目标二值图像;采用改进的Hough圆变换计算出目标在图像中的位置和运动方向。最后,根据目标的位置和运动方向,通过波形发生器,改变ICPF两端的电压和频率来实现对机器鱼姿态的控制。本系统在Pentium 4 2.8 G内存1 G的电脑上,处理一张图片需52 ms,可以实现对机器人的实时检测、跟踪和控制。     

Seam Tracking Technology for Hyperbaric Underwater Welding

Automatic weld seam tracking technology to be used in hyperbaric underwater damaged pipeline repair welding is much more important, because of poor bevel preparation and severe working condition. A weld seam tracking system based on digital signal processing(DSP) passive light weld image processing technology has been established. A convenient charge coupled device(CCD) camera system was used in the high pressure environment with the help of an aperture and focus altering mechanism to guarantee overall image visibility in the scope of pressure below 0.7 MPa. The system can be used in the hyperbaric environment to pick up the real welding image of both the welding arc and the welding pool. The newly developed DSP technology was adopted to achieve the goal of system real time characteristics. An effective weld groove edge recognition technique including narrow interesting window opening, middle value wave filtering, Sobel operator weld edge detecting and edge searching in a defined narrow area was proposed to remove the guide error and system accuracy was ensured. The results of tracking simulation and real tracking application with arc striking have proved the validity and the accuracy of the mentioned system and the image processing method.     

Pupil center detection with a single webcam for gaze tracking

This paper presents a user friendly approach to localize the pupil center with a single web camera.Several methods have been proposed to determine the coordinates of the pupil center in an image,but with practical limitations.The proposed method can track the user’s eye movements in real time under normal image resolution and lighting conditions using a regular webcam,without special equipment such as infrared illuminators.After the pre-processing steps used to deal with illumination variations,the pupil center is detected using iterative thresholding by applying geometric constraints.Experimental results show that robustness and speed in determining the pupil’s location in real time for users of various ethnicities,under various lighting conditions,at different distances from the webcam and with standard resolution images.     

基于图像处理的视线方向跟踪研究

提出一种基于图像处理技术实时跟踪视线方向的方法,并介绍其原理和组成,以及图像处理技术的应用.通过对采集到的序列图像进行图像处理和分析,以虹膜和瞳孔中心位置的变化来计算视线方向.结果表明,该方法采用两次图像预处理过程,保证了头部变动时视线方向跟踪的准确性,有效提高处理效率,为今后研究视线识别技术打下了一定基础.     

Three-dimensional particle tracking in microfluidic channel flow using in and out of focus diffraction

Three-dimensional particle tracking is important to accurately understand the motion of particles within complex flow fields. We show that three-dimensional trajectories of particles within microfluidic flow can be extracted from two-dimensional bright field video microscopy. The method utilizes the defocusing that occurs as particles move out of the objective focal plane when viewed through a high numerical aperture objective lens. A fast and simple algorithm based on cross correlation to a set of reference images taken at prescribed amounts of defocus is used to extract out-of-plane particle position. In-plane particle position is determined through center point detection and therefore the particle position in all three dimensions can be constructed at each time point. Particle trajectories at high flow velocity of greater than 2 mm/s can be tracked by utilizing a high speed camera to obtain unblurred images. Three dimensional computational fluid simulations are used to validate the particle tracking methods.     

嵌入式自动聚焦摄像模组控制系统的设计

针对手机等移动终端设备中的摄像模组,提出了一种嵌入式自动聚焦控制系统。该系统以AD5820作为聚焦电机的驱动IC,以OV5642作为图像传感器,利用68013单片机进行数据处理并控制驱动IC调整镜头的位置,完成准确自动聚焦。系统通过控制音圈电机带动镜头行程变位,获取一系列图像;计算每幅图像清晰度评价值构成清晰度评价曲线;采用梯度函数作为图像清晰度评价标准;并用全程搜索的方式找到图像清晰度最大值时镜头的位置,从而达到聚焦的目的。实验验证显示,系统的聚焦分辨率能达到5～10μm,响应速度小于70ms。自动聚焦实物拍摄图像清晰,能够很好地满足摄像模组自动聚焦的需求。     

采用外触发方式实现CCD摄像机的全自动调光控制

针对传统的CCD摄像系统自动调光方法在工程使用中存在的不足,提出一种新型的CCD摄像系统的全自动调光方法。它采用外触发电子快门和可变光阑相组合进行调光,外触发电子快门调光为主,可变光阑调光为辅。采用外触发方式实现CCD摄像机的电子快门时间调节,由单片机控制电机调节可变光阑的通光口径,以使像面照度适中。反馈控制量由图像目标区域的均值电平获得,从而实现最佳全自动调光。简要叙述了新型调光系统的组成和工作原理。Matlab仿真结果表明,与传统调光方法相比,新型调光方法调光拍摄的图像对应的直方图分布更宽广且更均匀,功率谱幅值也更高,达到7.5dB以上。其图像更清晰,对比度更高,目标层次对比也更加明显,满足现代CCD摄像系统的最佳全自动调光要求。     

On-Line Non-Contact System for Grinding Wheel Wear Measurement

An on-line non-contact method for measuring the wear of a form grinding wheel is presented. A CCD (charge coupled device) camera with a selected optical lens and a frame grabber was used to capture the image of a grinding wheel. The analogue signals of the image were transformed into corresponding digital grey level values. Using the binarisation technique, the images of background and the grinding wheel were segmented. Thus the grinding wheel edge was identified. The 'mapping function method' is used to transform an image pixel coordinate to a space coordinate. An auto-focus technology is also developed. The statistics of pixels are used as the focusing index. The signal was sent through an 8255 control card to drive a d.c. motor, and then to control the lens focusing movement to acquire the focal plane. The images before and after the grinding process were captured. The position deviation of the grinding wheel edge was analysed. Then, the grinding wheel wear was evaluated. The wear detection accuracy is about 1 μm.     

Images acquisition of a high-speed boring cutter for tool condition monitoring purposes

Tool condition monitoring is an integral part of modern CNC machine control. Cutting tools status should be periodically estimated online. For the tool condition monitoring purposes, this paper provided the image acquisition of a high-speed boring cutter based on charged coupled device (CCD) camera. The image acquisition system organization and its principle of operation were introduced in detail. The transient image of boring cutter nose was acquired at a certain rotation angle position, which can be detected by angle sensor. Mathematical derivation was deduced and analyzed in order to get clear cutter nose images, which will be influenced by the optical system, CCD camera, the exposure time, and rotation speed of the boring cutter, etc. From some experiments, it can be seen that the image acquisition method based on CCD camera is effective.     

基于图像处理的爬壁机器人焊缝识别与跟踪

基于爬壁机器人移动平台和单目相机的图像采集系统,设计了一种焊后焊缝图像处理方法,将改进的自适应中值滤波算法与灰度形态学方法结合,实现从信噪比较高的图像中提取特征。采用基于边缘检测和Hough变换的焊缝位置提取算法,经测试识别准确率达70%,且单幅图像平均处理时间为200ms,能满足管道爬壁机器人行进过程中的实时焊缝跟踪,并提供了一种引导机器人沿焊缝前进的自主定向方案。