Small image motion imaging method based on wide-view-field infrared imaging system

Abstract

The embodiment of the invention provides a small image motion imaging method based on a wide-view-field infrared imaging system, and belongs to the technical field of infrared imaging. The method comprises the following steps: acquiring an image data set of a target environment area based on a wide-field-of-view infrared imaging system, and sorting images in the image data set according to a time sequence; according to the distribution characteristics of the sorted images, performing spatial registration on the images in the image data set; and processing the image in the image data set after spatial registration by adopting a wide low-rank matrix denoising algorithm to obtain a clear image. The method does not depend on complex and limited mechanical, optical and electronic image motion compensation means, the applicability problem caused by detector characteristics or system structure problems is effectively avoided, and meanwhile the defect that the image definition is insufficient due to the fact that the image type image motion compensation technology is immature is overcome.

Description

Technical Field

[0001] The invention relates to the field of infrared imaging technology, and in particular to a small image shift imaging method based on a wide-field infrared imaging system. Background Art

[0002] In the field of modern aviation airborne infrared imaging technology, the use of infrared array detectors to periodically scan in the wingspan direction and combine with the movement of the flight platform to achieve wide-field imaging has become a mainstream trend and has great development potential. In the future, military and civilian airborne downward imaging equipment will mostly develop in this direction. Through electromechanical synchronous control, the high frame rate advantage of the imaging detector is fully utilized, and a larger wingspan field of view angle is obtained at the expense of some high-speed and high-ratio adaptation characteristics, which effectively improves the imaging detection efficiency. At the same time, with the rapid development of shelf-type array detectors, the corresponding array scanning wide-field imaging technology is expected to usher in significant performance improvements.

[0003] In the actual imaging process, due to the camera being affected by factors such as shaking, movement or dynamic changes in the imaging target, image motion often occurs during exposure, which in turn causes image motion blur. Usually, when the image motion is less than 0.3 times the pixel spatial angular resolution, the human eye cannot detect the blur. This is a small image motion and generally no compensation is required. However, in wide-field infrared imaging, if the motor scanning speed is too fast, and the field of view angle scanned during the camera integration time is greater than the single pixel spatial angular resolution, scanning image motion will occur, resulting in image blur. In order to maintain the motor scanning speed and the maximum adaptive speed-to-height ratio, the camera needs to have an image motion compensation function.

[0004] The commonly used image motion compensation methods such as mechanical, optical, electronic and image post-processing all have limitations in the application of wide-field infrared imaging systems. The mechanical mobile detector solution is not applicable due to the weight and fragility of the cooled long-wave infrared detector; although the optical method is feasible to add a fast mirror in front of the camera and the scanning mirror, it will greatly increase the overall structural complexity of the system including two cooled long-wave infrared cameras; the electronic method cannot apply traditional methods because the shelf-type infrared detector does not support charge transfer control; the image-based image motion compensation technology is not yet mature, and there is still a large gap between the processed image and the clear image. Summary of the invention

[0005] The purpose of the embodiments of the present invention is to provide a small image shift imaging method based on a wide-field-of-view infrared imaging system to overcome the shortcomings of existing image shift compensation technology, improve the quality of wide-field-of-view infrared imaging, and meet the needs of aviation and airborne fields for high-quality infrared images.

[0006] In order to achieve the above-mentioned purpose, an embodiment of the present invention provides a small image shift imaging method based on a wide-field-of-view infrared imaging system, comprising: based on the wide-field-of-view infrared imaging system, acquiring an image data set of a target environment area, and sorting the images in the image data set according to a time series; performing spatial registration on the images in the image data set according to the distribution characteristics of the sorted images; and using a wide-width low-rank matrix denoising algorithm to process the images in the image data set after spatial registration to obtain a clear image.

[0007] Optionally, the wide-field-of-view infrared imaging system is based on which the image data set of the target environment area is obtained, including: controlling a scanning unit to scan, the scanning unit including a scanning drive device and at least two reflective elements having a geometric shape and optical reflective characteristics, the scanning drive device being used to drive the reflective elements to rotate; controlling the infrared imaging unit to collect infrared energy and photoelectric conversion, and to collect image data of the target environment area, the infrared imaging unit including at least two infrared cameras; controlling a calibration unit to perform radiation calibration on the infrared camera; generating a rotation speed and steering command for driving the scanning drive device according to preset scanning path planning, imaging parameter settings, and environmental monitoring data, and collecting and processing image data from the infrared camera to obtain an image data set.

[0008] Optionally, the imaging period of the infrared camera is the minimum imaging period of the infrared camera, and the integration time is not greater than the time taken for the scanning field of view to move a preset pixel angular resolution.

[0009] Optionally, when collecting the image data of the target environment area, the position information and the angle value of the scanning mirror at the imaging moment of the image data are recorded.

[0010] Optionally, the spatial registration of images in the image data set based on the distribution characteristics of the sorted images includes: grouping the images in the acquired image data set according to the scanning line numbers; and processing each of the scanning line data using a wide-width low-rank matrix denoising algorithm.

[0011] Optionally, the scanning line is used to show the maximum adaptive speed-to-height ratio of the scanning driving device.

[0012] Optionally, the use of a wide-band low-rank matrix denoising algorithm to process the images in the image data set after spatial registration includes: for a single scan line, performing spatial registration on all images therein so that each pixel can obtain a set of corresponding time series; looping the following steps until all columns in the scan line are processed and a clear image is finally generated: selecting a column of pixels in the scanning direction, and converting the time series corresponding to each pixel into a row vector of an observation matrix Y; performing singular value decomposition on the observation matrix Y, and performing low-rank matrix similarity estimation based on a weighted SVT method to obtain a reconstructed matrix X; determining the average value of all row vectors of the reconstructed matrix X, and replacing the data of the corresponding column in the image based on the average value.

[0013] Optionally, performing spatial registration on all images in a single scan line includes: determining difference information between adjacent images based on distribution characteristics of the sorted images; extracting feature points in the images based on the difference information, and matching the feature points using a feature matching algorithm; and performing spatial registration on the images in the image data set based on the matching results.

[0014] On the other hand, the present invention provides a control device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the small image shift imaging method based on a wide-field-of-view infrared imaging system as described above.

[0015] On the other hand, the present invention provides a readable storage medium having instructions stored thereon, wherein the instructions enable a machine to execute the above-mentioned small image shift imaging method based on a wide-field-of-view infrared imaging system.

[0016] The present invention provides a small image motion imaging method based on a wide-field infrared imaging system. This method does not rely on complex and limited mechanical, optical, or electronic image motion compensation methods, effectively avoiding applicability problems caused by detector characteristics or system structure problems, while overcoming the defect of insufficient image clarity caused by the immaturity of image-based image motion compensation technology. Through a unique image data set acquisition, sorting, spatial alignment, and wide-band low-rank matrix denoising algorithm processing flow, it can accurately deal with image motion problems caused by camera shaking, movement, and changes in imaging targets, ensuring that the impact of image motion on image quality can be minimized under various complex working conditions, so that the final imaging meets the small image motion standard, greatly improving the clarity and accuracy of the image.

[0017] The present invention provides a small image shift imaging method based on a wide field of view infrared imaging system, which optimizes the imaging efficiency. The hardware architecture and data acquisition characteristics of the wide field of view infrared imaging system are fully utilized to ensure the imaging quality without reducing the motor scanning speed, thereby maintaining a high maximum adaptive speed-to-height ratio index, thereby achieving efficient wide field of view imaging. This enables clear images of large target areas to be obtained quickly and accurately in application scenarios such as aviation and airborne applications that require extremely high imaging efficiency, providing strong support for timely target detection and analysis, and effectively improving the timeliness and reliability of task execution.

[0018] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings: Figure 1 is a flow chart of a small image shift imaging method based on a wide field of view infrared imaging system according to an embodiment of the present invention; Figure 2 It is a schematic diagram of the use of the present invention in a wide-field infrared imaging system; Figure 3 It is a schematic diagram of ground imaging field coverage comparing conventional large integration time imaging and small integration time high frequency imaging of the present invention; Figure 4 It is a schematic diagram showing that the wide-field infrared imaging system has a 6-line field of view coverage when the scanning mirror rotates one circle in the forward flight mode; Figure 5 is a schematic diagram of system modules of a wide-field infrared imaging system according to an embodiment of the present invention; Figure 6 is a front view of a system block diagram of a wide-field infrared imaging system according to an embodiment of the present invention; Figure 7 It is a top view of the system block diagram of the wide-field infrared imaging system according to an embodiment of the present invention.

[0020] Figure numerals: 1. left infrared camera; 2. right infrared camera; 3. left black body; 4. right black body; 5. scanning motor; 6. front triangular prism; 7. rear triangular prism; 8. scanning axis. DETAILED DESCRIPTION

[0021] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0022] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0023] Figure 1 1 is a flow chart of a small image shift imaging method based on a wide field of view infrared imaging system according to an embodiment of the present invention. Figure 1 As shown, the small image shift imaging method based on the wide field of view infrared imaging system may include the following steps: Step S100: Based on a wide-field infrared imaging system, an image data set of a target environment area is acquired, and images in the image data set are sorted according to a time series.

[0024] The wide-field infrared imaging system includes: a scanning unit, including a scanning drive device and at least two reflective elements with geometric shapes and optical reflective characteristics, the scanning drive device is used to drive the reflective elements to rotate to achieve a scanning function; an infrared imaging unit, including at least two infrared cameras, used for infrared energy collection and photoelectric conversion, and collecting image data of the target environment; a control module, used to coordinate the work of the scanning unit and the infrared imaging unit, generate a rotation speed and steering instruction for driving the scanning drive device according to preset scanning path planning, imaging parameter settings and environmental monitoring data, collect and process image data from the infrared camera to achieve scanning imaging; a calibration unit, including at least two black bodies, used to perform radiation calibration on the infrared camera to improve the radiation accuracy of the infrared imaging unit.

[0025] In a preferred embodiment of the present invention, step S100 may include: controlling the scanning unit to scan, the scanning unit includes a scanning drive device, at least two reflective elements with geometric shapes and optical reflective characteristics, and the scanning drive device is used to drive the reflective elements to rotate; controlling the infrared imaging unit to collect infrared energy and photoelectric conversion, and collect image data of the target environment area, the infrared imaging unit includes at least two infrared cameras; controlling the calibration unit to perform radiation calibration on the infrared camera; generating a rotation speed and steering command to drive the scanning drive device according to preset scanning path planning, imaging parameter settings and environmental monitoring data, and collecting and processing image data from the infrared camera to obtain an image data set.

[0026] In a preferred embodiment of the present invention, the imaging period of the infrared camera is the minimum imaging period of the infrared camera, and the integration time is no greater than the time taken for the scanning field to move a preset pixel angular resolution. For example, the time taken for the preset pixel angular resolution is the time taken for 0.3 pixel angular resolution.

[0027] In a preferred embodiment of the present invention, when collecting image data of the target environment area, the position information and the angle value of the scanning mirror at the time of imaging the image data are recorded.

[0028] Step S200: performing spatial registration on the images in the image data set according to the distribution characteristics of the sorted images.

[0029] In a preferred embodiment of the present invention, step S200 may include: grouping the images in the acquired image data set according to the scan line sequence number; and processing each of the scan line data using a wide-band low-rank matrix denoising algorithm.

[0030] The scanning line is used to show the maximum adaptive speed-to-height ratio of the scanning driving device.

[0031] Step S300: using a wide-band low-rank matrix denoising algorithm to process the images in the image data set after spatial registration to obtain a clear image.

[0032] In a preferred embodiment of the present invention, step S300 may include: S1. For a single scan line, perform spatial registration on all images in it so that each pixel can obtain a set of corresponding time series; S2, select a column of pixels in the scanning direction, and convert the time series corresponding to each pixel into a row vector of the observation matrix Y; S3, performing singular value decomposition on the measurement matrix Y, and performing low-rank matrix similarity estimation based on the weighted SVT method to obtain a reconstructed matrix X; S4, determining the average value of all row vectors of the reconstructed matrix X, and replacing the data of the corresponding columns in the image based on the average value; S5. Execute steps S2 to S4 in a loop until all columns in the scan line are processed and a clear image is finally generated.

[0033] The wide-width low-rank matrix denoising algorithm is mainly aimed at the scene with strong background and weak target. It is a low-noise wide-width imaging technology based on the low-rank matrix approximation theory. It uses the area array scanning method to realize wide-width scanning imaging and construct a strict observation matrix. It can extract the original signal as accurately as possible from the noisy and redundant observation matrix to reduce image noise.

[0034] In a preferred embodiment of the present invention, for a single scan line, performing spatial registration on all images therein includes: determining difference information between adjacent images based on distribution characteristics of the sorted images; extracting feature points in the images based on the difference information, and matching the feature points using a feature matching algorithm; and based on the matching results, performing spatial registration on the images in the image data set.

[0035] In a preferred embodiment of the present invention, the small image shift imaging method based on the wide field of view infrared imaging system can be understood as being implemented by the following steps: Controls the wide field of view infrared imaging system to scan.

[0036] The two cameras are controlled in sequence according to the imaging requirements of the camera's downward field of view. The imaging period is the minimum imaging period of the detector, and the integration time is not greater than the time taken for the scanning field of view to move 0.3 pixel angular resolution.

[0037] During imaging, the position information and the angle value of the scanning mirror at the imaging moment are recorded.

[0038] After the scan is completed, all the acquired data are grouped according to the scan line number. One rotation of the motor generates 6 groups of scan lines, and m rotations generate 6m groups of scan line data.

[0039] Each row of data is processed using a wide-width low-rank matrix denoising algorithm to obtain the final clear image.

[0040] like Figure 2 As shown, Figure 2 This is a schematic diagram of the use of the present invention in a wide-field infrared imaging system. A set of image sequences is generated in a single field scanning line of the wide-field infrared imaging system, and any point in the field of view realizes n consecutive images with a small integration time.

[0041] like Figure 3 As shown, Figure 3 It is a schematic diagram of ground imaging field coverage comparing conventional large integration time imaging and small integration time high frequency imaging of the present invention.

[0042] like Figure 4 As shown, Figure 4 It is a schematic diagram of the wide-field-of-view infrared imaging system in forward flight mode, where the scanning mirror rotates one circle and the ground imaging has a coverage of 6 lines of field of view.

[0043] The small image shift imaging method of the present invention has small image shift and clear imaging: the image shift within the imaging integration time does not exceed 0.3 spatial angular resolution, and the image shift is small. After multi-frame image registration, wide-width low-rank matrix denoising is performed to make up for the disadvantages of short integration time and insufficient energy of single-frame images.

[0044] The small image shift imaging method of the present invention has a simple auxiliary structure and does not require an additional mechanism to achieve image shift compensation: the present invention mainly adopts imaging control technology and image processing technology, and does not require an additional image shift compensation mechanism, which greatly simplifies the hardware system and reduces the requirements for space, weight, and power consumption, making the wide-field-of-view infrared imaging system have a wider range of installation possibilities and adaptability.

[0045] The present invention provides a control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the small image shift imaging method based on a wide-field-of-view infrared imaging system as described above.

[0046] An embodiment of the present invention provides a readable storage medium, on which instructions are stored, and the instructions enable a machine to execute the small image shift imaging method based on a wide-field-of-view infrared imaging system as described above.

[0047] The following is an example description of a wide-field infrared imaging system provided by an embodiment of the present invention: Figure 5 Schematic diagram of a wide-field infrared imaging system according to an embodiment of the present invention. Figure 5 As shown, the wide-field infrared imaging system includes: a scanning unit, including a scanning drive device and at least two reflective elements with geometric shapes and optical reflective characteristics, the scanning drive device is used to drive the reflective elements to rotate to achieve a scanning function; an infrared imaging unit, including at least two infrared cameras, used for infrared energy collection and photoelectric conversion, and collecting image data of the target environment; a calibration unit, including at least two black bodies, used to perform radiation calibration on the infrared camera to improve the radiation accuracy of the infrared imaging unit; a control module, used to coordinate the work of each unit, generate a rotation speed and steering command for driving the scanning drive device according to a preset scanning path planning, imaging parameter settings and environmental monitoring data, collect and process image data from the infrared camera, so as to achieve scanning imaging.

[0048] In a preferred embodiment of the present invention, the reflective element is a triangular prism with an equilateral triangle cross section and an infrared reflector on the side.

[0049] Reference Figure 6 and Figure 7 , Figure 6 This is the front view of the wide field of view infrared imaging system. Figure 7 This is a top view of the wide-field infrared imaging system. As an example, the two reflective elements may be a front triangular prism 6 and a rear triangular prism 7 , and the scanning drive device may be a scanning motor 5 .

[0050] In a preferred embodiment of the present invention, there is a difference in the cross-sectional angles of the two triangular prisms, and the central axes of the two triangular prisms coincide with each other and are arranged front to back in the direction of the central axis. The central axis is used to show that the optical axes of the two infrared cameras are respectively collinear with the axial center points of the two reflective elements.

[0051] In a preferred embodiment of the present invention, the axis center point of the output axis of the scanning drive device is colinear with the central axis.

[0052] For example, the front triangular prism 6 and the rear triangular prism 7 are both triangular prisms with equilateral triangle cross sections and infrared reflectors on the sides. The two triangular prisms differ in cross-sectional angle by 30°, and their central axes overlap and are arranged front and back in the scanning axis direction. The optical axes of the left infrared camera 1 and the right infrared camera 2 are collinear with the axial center points of the front triangular prism 6 and the rear triangular prism 7, respectively. The central axis serves as the scanning axis 8, and a scanning motor 5 is installed at one end thereof. The scanning module composed of the front triangular prism 6, the rear triangular prism 7, and the scanning motor 5 realizes the rotation control and light path reflection.

[0053] In the embodiment of the present invention, the cross-sectional angles of the two triangular prisms differ by 30°, the central axes overlap and are arranged front and back in the scanning axis direction, and the optical axes of the left infrared camera 1 and the right infrared camera 2 are collinear with the axial center points of the front triangular prism 6 and the rear triangular prism 7, respectively. The central axis serves as the scanning axis 8, and a scanning motor 5 is installed at one end thereof. The scanning motor 5 is equipped with an angle measuring encoder to realize closed-loop control of the rotation of the scanning motor 5.

[0054] In a preferred embodiment of the present invention, the optical axes of the two infrared cameras are opposite to each other and are arranged front to back in the direction of the central axis.

[0055] Continue to refer to Figure 6 and Figure 7 The two infrared cameras may be a left infrared camera 1 and a right infrared camera 2. For example, the left infrared camera 1 and the right infrared camera 2 use the same movement and lens design. Their optical axes are opposite and arranged front and back in the scanning axis direction. The infrared imaging unit composed of the left infrared camera 1 and the right infrared camera 2 realizes infrared energy collection and photoelectric conversion.

[0056] In the preferred embodiment of the present invention, both black bodies are made of TEC semiconductor to achieve temperature control of heating or cooling; the two black bodies serve as calibration sources for two infrared cameras respectively.

[0057] For example, the two black bodies can be left black body 3 and right black body 4. The left black body 3 is responsible for the calibration source for the left infrared camera 1, and the right black body 4 is responsible for the calibration source for the right infrared camera 2. Both black bodies use TEC semiconductors to achieve high-precision temperature control for heating or cooling. The black body module composed of the left black body 3 and the right black body 4 can perform radiation calibration on the camera at regular intervals during the scanning process, thereby ensuring the absolute radiation accuracy of the camera.

[0058] In the preferred embodiment of the present invention, the left infrared camera 1, the right infrared camera 2, the scanning motor 5, the front triangular prism 6, the rear triangular prism 7, the left black body 3 and the right black body 4 are installed in the supporting frame.

[0059] The present invention also provides a control method for a wide-field infrared imaging system, comprising: constructing a control logic based on a PID three-loop control algorithm; driving a scanning drive device to drive the reflective element to rotate according to the control logic to realize a scanning function; determining the imaging timing of the infrared camera in the scanning process according to the control logic to realize imaging; regulating the black body temperature according to the control logic, and performing radiation calibration on the infrared camera to improve the radiation accuracy of the infrared imaging unit; that is, using the classic PID three-loop control algorithm in the control field, driving the scanning motor 5 to drive the front triangular prism 6 and the rear triangular prism 7 to synchronously realize rotation scanning, controlling the two infrared cameras to realize imaging at a suitable scanning position, and controlling the black body temperature to change periodically to realize multi-point calibration, and the following steps can be adopted: (1) The wide field scanning imaging control requirements are converted into uniform rotation control commands to control the scanning motor 5 to rotate at a uniform speed, and the rotation period is 1 / 6 of the required line imaging period.

[0060] (2) In step (1), an imaging pulse sequence is generated according to the rotation angle command, so that the corresponding rotation angle command difference of adjacent pulses is the single imaging field of view of the infrared camera, and the imaging pulse is sent to the left infrared camera 1 and the right infrared camera 2 to achieve synchronous imaging.

[0061] (3) The blackbody module periodically changes the temperature control value. The temperature control value takes a number of arithmetic step values, and the value range can cover the temperature range of the ground object.

[0062] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0063] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0064] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0065] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0066] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0067] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0068] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0069] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0070] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the present application.

Claims

1. A small image shift imaging method based on a wide field of view infrared imaging system, characterized in that: include: Based on a wide-field infrared imaging system, an image data set of a target environment area is acquired, and images in the image data set are sorted according to a time series; According to the distribution characteristics of the sorted images, spatially registering the images in the image data set; A wide-band low-rank matrix denoising algorithm is used to process the images in the image data set after spatial registration to obtain clear images.

2. The small image shift imaging method based on a wide field of view infrared imaging system according to claim 1, characterized in that: The method of acquiring an image data set of a target environment area based on a wide-field infrared imaging system includes: Controlling a scanning unit to scan, the scanning unit comprising a scanning drive device and at least two reflective elements having a geometric shape and optical reflective characteristics, the scanning drive device being used to drive the reflective elements to rotate; Controlling an infrared imaging unit to collect infrared energy and photoelectric conversion, and acquire image data of a target environment area, wherein the infrared imaging unit includes at least two infrared cameras; Controlling the calibration unit to perform radiation calibration on the infrared camera; According to the preset scanning path planning, imaging parameter settings and environmental monitoring data, the rotation speed and steering instructions for driving the scanning driving device are generated, and the image data from the infrared camera is collected and processed to obtain an image data set.

3. The small image shift imaging method based on a wide field of view infrared imaging system according to claim 2, characterized in that: The imaging period of the infrared camera is the minimum imaging period of the infrared camera, and the integration time is not greater than the time taken for the scanning field to move the preset pixel angular resolution.

4. The small image shift imaging method based on a wide field of view infrared imaging system according to claim 2, characterized in that: When collecting the image data of the target environment area, the position information of the image data at the imaging moment and the angle value of the scanning mirror are recorded.

5. The small image shift imaging method based on a wide field of view infrared imaging system according to claim 1, characterized in that: The performing spatial registration of the images in the image data set according to the distribution characteristics of the sorted images comprises: Grouping the images in the acquired image data set according to the scan line sequence number; The data of each scanning line is processed using a wide-band low-rank matrix denoising algorithm.

6. The small image shift imaging method based on a wide field of view infrared imaging system according to claim 5, characterized in that: The scanning line is used to show the maximum adaptive speed-to-height ratio of the scanning driving device.

7. The small image shift imaging method based on a wide field of view infrared imaging system according to claim 1, characterized in that: The adopting of a wide low-rank matrix denoising algorithm to process the images in the spatially registered image data set comprises: For a single scan line, all images in it are spatially aligned so that each pixel can obtain a set of corresponding time series; The following steps are executed in a loop until all columns in the scanned row are processed and a clear image is finally generated: Select a column of pixels in the scanning direction, and convert the time series corresponding to each pixel into a row vector of the observation matrix Y; Perform singular value decomposition on the measurement matrix Y, perform low-rank matrix similarity estimation based on the weighted SVT method, and obtain a reconstructed matrix X; Determine the average value of all row vectors of the reconstructed matrix X and replace the data in the corresponding columns in the image based on the average value.

8. The small image shift imaging method based on a wide field of view infrared imaging system according to claim 7, characterized in that: The performing spatial registration on all images in a single scan line comprises: Determine difference information between adjacent images according to distribution characteristics of the sorted images; Extracting feature points in the image according to the difference information, and matching the feature points using a feature matching algorithm; Based on the matching results, the images in the image dataset are spatially registered.

9. A control device, characterized in that: The control device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the small image shift imaging method based on a wide-field-of-view infrared imaging system according to any one of claims 1 to 8.

10. A readable storage medium, characterized in that: The readable storage medium stores instructions, which enable the machine to execute the small image shift imaging method based on a wide-field-of-view infrared imaging system according to any one of claims 1-8.

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