Method for identifying quick-moving target

Abstract

The invention provides a method for identifying a quick-moving target, which is applied to the technical field of astronomical target identification, and comprises the following steps: obtaining a series of time sequence observation images comprising the quick-moving target and establishing an image database, the series of time sequence observation images comprising a plurality of original observation images; preprocessing the plurality of original observation images respectively; carrying out astronomical position calibration on the plurality of preprocessed original observation images respectively; performing color assignment on each original observation image after preprocessing and astronomical position calibration; merging and superposing the plurality of original observation images after color assignment to obtain a target observation image; and based on the dynamic trajectory in the target observation image, identifying the quick-moving target. The quick-moving target identified by the method meets specific color features and linear motion trails at the same time, and the identification accuracy and the stability of the identification rate can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of astronomical target recognition, and in particular to a method for recognizing fast-moving targets. Background Art

[0002] In current observation images in the field of astronomy and space technology, fast-moving targets are similar in color and morphology to background stars, making it difficult to distinguish between stars, planets, and space debris targets, especially under the influence of background noise and target feature similarity.

[0003] To address this problem, the technologies that have been developed so far mainly include background subtraction, frame difference, and optical flow. Background subtraction compares the current frame with the background model and detects the area where the difference with the background exceeds a certain threshold as the moving area; frame difference calculates the difference in pixel values ​​between consecutive frames and then determines the moving area through threshold processing. However, when the size of the moving target is small, background subtraction or frame image subtraction will introduce more errors, making the target difficult to detect; the optical flow method uses the motion information of pixels in the image sequence to track the moving target through the optical flow equation, but the optical flow method usually assumes that the movement of objects in the scene is small. For objects that move quickly or over a large range, the optical flow method may not be able to accurately estimate the motion. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the above-mentioned deficiencies, the main purpose of the present invention is to provide a method for identifying fast-moving targets, which integrates color features and motion features to quickly locate and identify fast-moving targets, thereby ensuring timely monitoring of fast-moving targets such as space debris targets and near-Earth asteroids, and being able to promptly detect crisis moments and intervene in a timely manner.

[0006] (II) Technical solution

[0007] In order to achieve the above-mentioned purpose, the present invention provides a method for identifying fast-moving targets, comprising: acquiring a series of time-series observation images containing fast-moving targets and establishing an image database, wherein the series of time-series observation images include multiple original observation images; preprocessing the multiple original observation images respectively; astronomical position calibration of the multiple preprocessed original observation images respectively; color assignment of each original observation image after preprocessing and astronomical position calibration; merging and superimposing the multiple original observation images after color assignment to obtain a target observation image; and identifying the fast-moving target based on the dynamic trajectory in the target observation image.

[0008] In the above solution, a series of time-series observation images includes at least 3 original observation images; and a plurality of original observation images in the series of time-series observation images are acquired at preset time intervals.

[0009] In the above scheme, the multiple original observation images are preprocessed respectively, wherein the preprocessing includes: correcting the background image and the flat field image of each of the multiple original observation images; and removing the cosmic rays of each original observation image.

[0010] In the above scheme, astronomical position calibration is performed on the preprocessed multiple original observation images respectively, including: astronomical position calibration is performed on the original observation images respectively through WCS (World Coordinate System) to determine that the pixel points on the original observation images are mapped to specific positions on the celestial sphere.

[0011] In the above scheme, color assignment is performed on each original observed image after preprocessing and astronomical position calibration, wherein the color of each original observed image after color assignment is different.

[0012] In the above scheme, multiple original observation images after color assignment are merged and superimposed to obtain a target observation image, including: based on astronomical positions, multiple original observation images after color assignment in a series of time-series observation images are merged and superimposed to obtain a single target observation image.

[0013] In the above scheme, based on the dynamic track in the target observation image, the fast-moving target is identified, including: determining one or more dynamic tracks formed by targets of different colors in the target observation image.

[0014] In the above scheme, the fast-moving target is identified based on the dynamic trajectory in the target observation image, and also includes: when the dynamic trajectory is a straight line, determining the straight-line motion trajectory as a spatial fast-moving target trajectory; and identifying the fast-moving target according to the spatial fast-moving target trajectory.

[0015] (III) Beneficial effects

[0016] The technical solution of the embodiment of the present invention has at least the following beneficial effects:

[0017] (1) This method assigns color to the time-series observation images, aligns the time-series images according to the astronomical coordinate positions, and directly merges the images to obtain an observation image with both color features and motion trajectory features. Fast-moving targets appear as linear motion trajectories composed of target sources of different colors in the image. The fast-moving targets identified by this method meet both specific color features and linear motion trajectories, which can improve the accuracy of recognition and the stability of recognition rate.

[0018] (2) This method can more effectively identify fast-moving targets from complex backgrounds. It not only ensures the uniqueness of the extracted fast-moving targets, but also eliminates other potential interferences, thereby providing more accurate and stable recognition features, improving the efficiency and accuracy of recognition, and improving the subsequent precise monitoring of fast-moving targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A flowchart of a method for identifying a fast-moving target according to an embodiment of the present invention is schematically shown;

[0020] Figure 2 shows a series of time-series observation images according to an embodiment of the present invention;

[0021] Figure 3 shows a colorized image of an observed image after preprocessing and astronomical position calibration according to an embodiment of the present invention;

[0022] Figure 4 A target observation image effect diagram according to an embodiment of the present invention is shown;

[0023] Figure 5 A diagram showing the effect of identifying space debris targets according to an embodiment of the present invention is shown;

[0024] Figure 6 A diagram showing the synthesis effect of a multi-color timing diagram according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0025] Below, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of embodiments of the present invention. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of concepts of the present invention.

[0026] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the existence of features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0027] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0028] Figure 1 The flowchart of the method for identifying a fast-moving target according to an embodiment of the present invention is schematically shown.

[0029] Please refer to Figure 1 In an embodiment of the present invention, the method for identifying a fast-moving target specifically includes steps S110 to S160.

[0030] Step S110 , acquiring a series of time-series observation images containing fast-moving targets and establishing an image database, wherein the series of time-series observation images includes a plurality of original observation images.

[0031] In an embodiment of the present invention, a series of time-series observation images includes at least three original observation images; and a plurality of original observation images in the series of time-series observation images are acquired at preset time intervals.

[0032] Specifically, in order to obtain the position change of the fast-moving target, the observation shooting time of the multiple original observation images constituting the database needs to be at a certain interval, for example, in the range of several minutes to half an hour.

[0033] It should be noted that when observing and shooting the target, in order to obtain better motion trajectory features, the target is generally photographed at the same time interval, but different intervals can also be used. In addition, in order to obtain a complete motion trajectory and more motion trajectory data points, it is necessary to ensure that the number of original observation images in the observed series of time-series images is greater than 3.

[0034] For example, take multiple FITS format images containing fast-moving targets and establish a processing database. The background of a normal FITS image is gray, and the white bright sources are various celestial bodies. When photographing the observation target, take pictures of the target with the same exposure time and the same interval time, and save the time-series observation images for subsequent processing.

[0035] Step S120, pre-processing the multiple original observation images respectively.

[0036] In an embodiment of the present invention, a plurality of original observation images are preprocessed respectively, wherein the preprocessing includes: correcting the background image and the flat field image of each of the plurality of original observation images; and removing cosmic rays of each original observation image.

[0037] Specifically, in order to eliminate the interference items brought by the machine to the original observation images, multiple original observation images are preprocessed separately to correct the background image and the flat field image, and to remove cosmic rays from each original observation image.

[0038] Step S130, performing astronomical position calibration on the preprocessed multiple original observation images respectively.

[0039] In an embodiment of the present invention, astronomical position calibration is performed on the preprocessed multiple original observation images respectively, including: performing astronomical position calibration on the original observation images respectively through WCS (World Coordinate System) to determine that the pixel points on the original observation images are mapped to specific positions on the celestial sphere.

[0040] Specifically, astronomical position calibration of multiple pre-processed original observation images is an important step in astronomical data processing, which ensures the precise alignment of images and the accuracy of subsequent analysis.

[0041] The WCS (World Coordinate System) system is used for astronomical position calibration. It is a coordinate system for astronomical images, which describes the geometric transformation relationship between image pixel coordinates and celestial coordinates. WCS can map the pixel points on the original observation image to a specific position on the celestial sphere, so as to accurately determine the relative relationship between the position of the celestial body and the original observation image.

[0042] Step S140, assigning color to each original observed image after preprocessing and astronomical position calibration.

[0043] In an embodiment of the present invention, color assignment is performed on each original observed image after preprocessing and astronomical position calibration, wherein the color of each original observed image after color assignment is different.

[0044] Exemplarily, a color is assigned to each single image in a series of time-series observation images to ensure that each image in the time-series images has a different color. For example, the color can refer to the commonly used RBG color combination, RBG represents red (Red), blue (Blue) and green (Green), or refer to the CMYK color combination, which represents cyan (Cyan), magenta (Magenta), yellow (Yellow) and black (Black). According to the number of original observation images in the time-series observation image, various color combinations can be set or combined.

[0045] Step S150, merging and superimposing the multiple original observation images after color assignment to obtain a target observation image.

[0046] In an embodiment of the present invention, a plurality of original observation images after color assignment are merged and superimposed to obtain a target observation image, including: based on the astronomical position, a plurality of original observation images after color assignment in a series of time-series observation images are merged and superimposed to obtain a single target observation image.

[0047] Step S160, identifying fast-moving targets based on the dynamic trajectory in the target observation image.

[0048] In an embodiment of the present invention, based on the dynamic trajectory in the target observation image, the fast-moving target is identified, including: determining one or more dynamic trajectories formed by targets of different colors in the target observation image. When the dynamic trajectory is a straight line, the straight line motion trajectory is determined to be a spatial fast-moving target trajectory; and the fast-moving target is identified according to the spatial fast-moving target trajectory.

[0049] Exemplarily, one or more dynamic trajectories formed by circular targets of different colors or short lines of different colors are searched in the superimposed target observation image. The fast-moving target appears as a straight-line motion trajectory composed of target sources of different colors in the image. Therefore, when the dynamic trajectory is a straight line, the straight-line motion trajectory is determined to be a spatial fast-moving target trajectory; and the fast-moving target is identified according to the spatial fast-moving target trajectory.

[0050] It can be seen that when the identified fast-moving target satisfies both the specific color feature and the trajectory of linear motion, the trajectory is a spatial fast-moving target trajectory. According to the spatial fast-moving target trajectory, the position and motion state of the fast-moving target can be intuitively reflected.

[0051] Through the embodiments of the present invention, a method for identifying fast-moving targets using color features and motion trajectories can more effectively identify fast-moving targets from complex backgrounds compared to the prior art. It not only ensures the uniqueness of the extracted fast-moving targets, but also has almost no other potential interference, thereby providing more accurate and stable identification features, improving the efficiency and accuracy of identification, and improving the subsequent precise monitoring of fast-moving targets.

[0052] Based on the above method for identifying fast-moving targets, the present invention is described by taking a series of time-series observation images including three original observation images as an example.

[0053] Figure 2 A series of time-series observation images according to an embodiment of the present invention are shown.

[0054] like Figure 2 As shown, this series of time-series observation images includes 3 original observation images in FITS format. The white target sources in the green circle are near-Earth asteroid targets, and the other white target sources are stars.

[0055] Furthermore, the three original observation images are preprocessed to correct the background image and the flat-field image and remove the cosmic rays in each original observation image.

[0056] Furthermore, the astronomical position calibration was performed on the three original observation images after preprocessing to ensure the precise alignment of the images and the accuracy of subsequent analysis.

[0057] Figure 3A colorized image of an observed image after preprocessing and astronomical position calibration according to an embodiment of the present invention is shown.

[0058] like Figure 3 As shown, this group of images is colored using red, green and blue respectively, and the near-Earth asteroid targets are within the green circles.

[0059] Figure 4 A target observation image effect diagram according to an embodiment of the present invention is shown. Figure 5 A diagram showing the effect of identifying space debris targets according to an embodiment of the present invention is shown. Figure 6 A diagram showing the synthesis effect of a multi-color timing diagram according to an embodiment of the present invention is shown.

[0060] Furthermore, a series of three original observation images with colorization are combined and superimposed according to the astronomical position to obtain a single target observation image. The synthesis effect is as follows: Figure 4 As shown in the figure, two sets of dynamic trajectories (marked by green boxes) are obtained from the image, which are composed of red, green and blue dot targets. Figure 5 This is a synthetic effect diagram when identifying space debris. In addition, when multiple color combinations are set, such as Figure 6 The composite effect diagram of the multi-color timing diagram is shown. It can be seen that the combination of color and straight line trajectory features can intuitively reflect the position and motion state of the fast-moving target.

[0061] Through the embodiments of the present invention, by assigning colors to time-series observation images, aligning a series of time-series images after color assignment according to astronomical coordinate positions and directly merging the images, an observation image with both color features and motion trajectory features is obtained. Fast-moving targets appear in the image as straight-line motion trajectories composed of target sources of different colors. The fast-moving targets identified by this method need to meet specific color features and straight-line motion trajectories at the same time, which can improve the accuracy of recognition and the stability of recognition rate.

[0062] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for identifying fast-moving targets, applied to the identification of astronomical targets, characterized in that: include: Acquire a series of time-series observation images containing fast-moving targets and establish an image database, wherein the series of time-series observation images include a plurality of original observation images; Preprocessing the multiple original observation images respectively; Perform astronomical position calibration on multiple pre-processed original observation images respectively; Assign color to each original observed image after preprocessing and astronomical position calibration; The multiple original observation images after color assignment are combined and superimposed to obtain the target observation image; Based on the dynamic trajectory in the target observation image, a fast-moving target is identified.

2. The method for identifying fast-moving targets according to claim 1, characterized in that: The series of time-series observation images includes at least 3 original observation images; and A plurality of original observation images in the series of time-series observation images are acquired at preset time intervals.

3. The method for identifying fast-moving targets according to claim 1, characterized in that: The preprocessing is performed on the plurality of original observed images respectively, wherein the preprocessing comprises: Performing background image and flat field image correction on each of the plurality of original observation images; and Remove cosmic rays from each original observed image.

4. The method for identifying fast-moving targets according to claim 1, characterized in that: The astronomical position calibration is performed on the pre-processed multiple original observation images respectively, including: The original observation images are calibrated for astronomical positions through the world coordinate system to determine the specific positions on the celestial sphere mapped to the pixels on the original observation images.

5. The method for identifying fast-moving targets according to claim 1, characterized in that: The color assignment is performed on each original observed image after preprocessing and astronomical position calibration, wherein the color of each original observed image after color assignment is different.

6. The method for identifying fast-moving targets according to claim 1 or 4, characterized in that: The step of merging and superimposing the multiple original observation images after color assignment to obtain the target observation image includes: Based on the astronomical position, multiple original observation images with color assignment in a series of time-series observation images are merged and superimposed to obtain a single target observation image.

7. The method for identifying fast-moving targets according to claim 1, characterized in that: The identifying of the fast-moving target based on the dynamic trajectory in the target observation image includes: One or more dynamic tracks formed by targets of different colors are determined in the target observation image.

8. The method for identifying fast-moving targets according to claim 1 or 7, characterized in that: The step of identifying a fast-moving target based on the dynamic trajectory in the target observation image further includes: When the dynamic trajectory is a straight line, determining the straight-line motion trajectory as a spatial fast-moving target trajectory; The fast-moving target is identified according to the spatial fast-moving target trajectory.

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