Auxiliary focusing method and device of space camera, equipment, medium and program product

Abstract

The invention relates to the technical field of auxiliary focusing, in particular to an auxiliary focusing method and device for a space camera, equipment, a medium and a program product, and the method comprises the steps: obtaining multiple frames of continuous remote sensing images shot by the space camera at different focal lengths in different scenes, and corresponding camera pixel parameter information; calculating a definition score value, and extracting a remote sensing image meeting a certain definition from multiple frames of continuous remote sensing images; and adjusting the initial image distance by using the corresponding camera pixel parameter information to obtain a final image distance, and determining a final focal length. Therefore, the problems that in the related technology, due to the fact that adjustment rules set on the ground possibly cannot cover all possible shooting scenes and conditions, focal length adjustment is not in time or the adjustment effect is not ideal, the process that pictures are shot first and then analyzed and adjusted is tedious and needs to consume more time and resources, certain subjective factors exist, and the adjustment effect is poor are solved. And the accuracy is easily influenced.

Description

Technical Field

[0001] The present application relates to the field of auxiliary focusing technology, and in particular to an auxiliary focusing method, device, equipment, medium and program product for a space camera. Background Art

[0002] Space cameras are widely used. According to the actual use of the camera on the satellite and the characteristics of the detection object, they can be applied to forestry monitoring, agricultural investigation, meteorology, ocean observation, disaster prevention, topographic observation, military imaging reconnaissance and other fields. In the application process of space cameras, affected by factors such as satellite attitude, orbit and weather, the quality of the pictures taken by the space camera will be unclear. It is necessary to adjust the parameters to take high-quality remote sensing images. At the same time, due to the complexity of the space camera environment, a high-performance camera payload is required to ensure the quality of remote sensing images.

[0003] In the related technology, when the space camera is shooting, the focal length of the space camera can be adjusted according to the adjustment rules set on the ground, so as to obtain the corresponding remote sensing image; or when the space camera is in use, a picture can be taken first and sent to the ground equipment, and after the ground personnel analyze the picture, they send the adjustment instruction of the space camera to adjust the focal length of the space camera.

[0004] However, in the related art, the adjustment rules set on the ground may not cover all possible shooting scenes and conditions, resulting in untimely focal length adjustment or unsatisfactory adjustment effect. The process of taking pictures and then analyzing and adjusting them is not only cumbersome and requires more time and resources, but also involves certain subjective factors, and its accuracy is easily affected, which urgently needs to be improved. Summary of the invention

[0005] The present application provides an auxiliary focusing method, device, equipment, medium and program product for a space camera to solve the problem in the related art that the adjustment rules set on the ground may not cover all possible shooting scenes and conditions, resulting in untimely focal length adjustment or unsatisfactory adjustment effect, and the process of taking pictures first and then analyzing and adjusting is not only cumbersome and requires more time and resources, but also has certain subjective factors and its accuracy is easily affected.

[0006] A first aspect of the present application provides an auxiliary focusing method for a space camera, comprising the following steps: acquiring a plurality of frames of continuous remote sensing images taken by a space camera at different focal lengths in different scenes, and obtaining camera pixel parameter information corresponding to the plurality of frames of continuous remote sensing images based on the plurality of frames of continuous remote sensing images; calculating clarity score values ​​of the plurality of frames of continuous remote sensing images, and extracting remote sensing images that meet a preset clarity from the plurality of frames of continuous remote sensing images based on the clarity score values; adjusting an initial image distance of the space camera using the camera pixel parameter information corresponding to the remote sensing images that meet the preset clarity to obtain a final image distance of the space camera, and obtaining a final focal length of the space camera based on the final image distance and the different focal lengths.

[0007] Optionally, in one embodiment of the present application, calculating the clarity score values ​​of the multiple frames of continuous remote sensing images includes: inputting the multiple frames of continuous remote sensing images into a pre-trained matching model to obtain the clarity score values ​​of the multiple frames of continuous remote sensing images.

[0008] Optionally, in one embodiment of the present application, calculating the clarity score value of the multiple frames of continuous remote sensing images includes: obtaining the feature value of at least one image feature in the multiple frames of continuous remote sensing images; and calculating the first clarity score value of the multiple frames of continuous remote sensing images by combining the feature weight of the at least one image feature and the feature value.

[0009] Optionally, in an embodiment of the present application, the calculation formula of the first clarity score value may be but is not limited to:

[0010]

[0011] Among them, S t is the clarity score of the t-th frame remote sensing image, i and j are the i-th straight line feature and j-th circular feature in the t-th frame image, l is the straight line feature, c is the circular feature, m is the number of straight line features, n is the number of circular features, L i is the weight value of different straight line features, C j are the weights of different circular features.

[0012] Optionally, in one embodiment of the present application, calculating the clarity score value of the multiple frames of continuous remote sensing images includes: based on the multiple frames of continuous remote sensing images, obtaining regional images of different areas in each frame of continuous remote sensing images; based on the regional weights of the different areas and the regional images, calculating a second clarity score value of the multiple frames of continuous remote sensing images.

[0013] Optionally, in one embodiment of the present application, the calculation formula of the second clarity score value may be but is not limited to:

[0014]

[0015] Where x is the number of regions in the t-th frame remote sensing image, w k is the weight value for each region.

[0016] Optionally, in one embodiment of the present application, the calculating of the clarity score value of the multiple frames of continuous remote sensing images includes: obtaining a target feature of at least one target in the multiple frames of continuous remote sensing images; and calculating a third clarity score value of the multiple frames of continuous remote sensing images based on a target weight of the target feature and the target feature; wherein the calculation formula of the third clarity score value may be, but is not limited to,:

[0017]

[0018] Among them, w k is the weight value of the kth region in the tth frame remote sensing image, A is the type of the target in the tth frame remote sensing image, B is the weight value of the target in the tth frame remote sensing image, and D is the confidence of the target in the tth frame remote sensing image.

[0019] A second aspect of the present application provides an auxiliary focusing device for a space camera, including: an acquisition module, used to acquire multiple frames of continuous remote sensing images taken by a space camera at different focal lengths in different scenes, and obtain camera pixel parameter information corresponding to the multiple frames of continuous remote sensing images based on the multiple frames of continuous remote sensing images; a calculation module, used to calculate clarity score values ​​of the multiple frames of continuous remote sensing images, and extract remote sensing images that meet a preset clarity from the multiple frames of continuous remote sensing images based on the clarity score values; a generation module, used to adjust the initial image distance of the space camera using the camera pixel parameter information corresponding to the remote sensing image that meets the preset clarity to obtain the final image distance of the space camera, and obtain the final focal length of the space camera based on the final image distance and the different focal lengths.

[0020] Optionally, in one embodiment of the present application, the calculation module includes: an input unit, used to input the multiple frames of continuous remote sensing images into a pre-trained matching model to obtain clarity score values ​​of the multiple frames of continuous remote sensing images.

[0021] Optionally, in one embodiment of the present application, the calculation module includes: a first acquisition unit, used to obtain the characteristic value of at least one image feature in the multiple frames of continuous remote sensing images; a first calculation unit, used to calculate the first clarity score value of the multiple frames of continuous remote sensing images by combining the feature weight of the at least one image feature and the characteristic value.

[0022] Optionally, in an embodiment of the present application, the calculation formula of the first clarity score value may be but is not limited to:

[0023]

[0024] Among them, S t is the clarity score of the t-th frame remote sensing image, i and j are the i-th straight line feature and j-th circular feature in the t-th frame image, l is the straight line feature, c is the circular feature, m is the number of straight line features, n is the number of circular features, L i is the weight value of different straight line features, C j are the weights of different circular features.

[0025] Optionally, in one embodiment of the present application, the calculation module includes: a second acquisition unit, used to acquire regional images of different areas in each frame of continuous remote sensing images based on the multiple frames of continuous remote sensing images; a second calculation unit, used to calculate a second clarity score value of the multiple frames of continuous remote sensing images based on the regional weights of the different areas and the regional images.

[0026] Optionally, in one embodiment of the present application, the calculation formula of the second clarity score value may be but is not limited to:

[0027]

[0028] Where x is the number of regions in the t-th frame remote sensing image, w k is the weight value for each region.

[0029] Optionally, in one embodiment of the present application, the calculation module includes: a third acquisition unit, used to obtain a target feature of at least one target in the multiple frames of continuous remote sensing images; a third calculation unit, used to calculate a third clarity score value of the multiple frames of continuous remote sensing images based on a target weight of the target feature and the target feature; wherein the calculation formula of the third clarity score value may be, but is not limited to,:

[0030]

[0031] Among them, w k is the weight value of the kth region in the tth frame remote sensing image, A is the type of the target in the tth frame remote sensing image, B is the weight value of the target in the tth frame remote sensing image, and D is the confidence of the target in the tth frame remote sensing image.

[0032] A third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the auxiliary focusing method of the space camera as described in the above embodiment.

[0033] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, which, when executed by a processor, implements the auxiliary focusing method of a space camera as described above.

[0034] A fifth aspect of the present application provides a computer program product, including a computer program, which, when executed, implements the auxiliary focusing method of the space camera as described above.

[0035] The embodiment of the present application can obtain a remote sensing image that meets a certain clarity based on multiple frames of continuous remote sensing images taken by a space camera at different focal lengths in different scenes, the corresponding camera pixel parameter information and the clarity score value, and then use the camera pixel parameter information corresponding to the remote sensing image that meets a certain clarity to adjust the initial image distance of the space camera to obtain the final image distance, thereby determining the final focal length of the space camera, which can adapt to the shooting requirements under different scenes and focal lengths, ensure that the space camera can capture high-quality remote sensing images under different conditions, improve the automation level of remote sensing image processing, and reduce manual intervention and errors. Thus, it solves the problem that the adjustment rules set on the ground in the related art may not cover all possible shooting scenes and conditions, resulting in untimely focal length adjustment or unsatisfactory adjustment effect, and the process of taking pictures first and then analyzing and adjusting them is not only cumbersome and requires more time and resources, but also has certain subjective factors, and its accuracy is easily affected.

[0036] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0038] Figure 1 A block diagram of a camera system for auxiliary focusing of a space camera provided according to an embodiment of the present application;

[0039] Figure 2 A flowchart of an auxiliary focusing method for a space camera provided according to an embodiment of the present application;

[0040] Figure 3 A flowchart of an auxiliary focusing method for a space camera provided according to an embodiment of the present application;

[0041] Figure 4 A flowchart of an auxiliary focusing method for a space camera provided according to another embodiment of the present application;

[0042] Figure 5is a flow chart of an auxiliary focusing method for a space camera provided according to yet another embodiment of the present application;

[0043] Figure 6 A block diagram of an auxiliary focusing device for a space camera provided according to an embodiment of the present application;

[0044] Figure 7 It is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0045] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0046] The following describes the auxiliary focusing method, device, equipment, medium and program product of the space camera of the embodiment of the present application with reference to the accompanying drawings. The adjustment rules of the ground settings mentioned in the above background technology may not cover all possible shooting scenes and conditions, resulting in untimely adjustment of the focal length or unsatisfactory adjustment effect. The process of taking pictures first and then analyzing and adjusting them is not only cumbersome, but also requires more time and resources. There are also certain subjective factors, and its accuracy is easily affected. The present application provides an auxiliary focusing method for a space camera, in which a remote sensing image that meets a certain clarity can be obtained according to multiple frames of continuous remote sensing images taken by a space camera at different focal lengths in different scenes, corresponding camera pixel parameter information and clarity score values, and then the initial image distance of the space camera is adjusted using the camera pixel parameter information corresponding to the remote sensing image that meets a certain clarity, and the final image distance is obtained, thereby determining the final focal length of the space camera, which can adapt to the shooting requirements under different scenes and focal lengths, ensure that the space camera can capture high-quality remote sensing images under different conditions, improve the automation level of remote sensing image processing, and reduce manual intervention and errors. Thereby, the problem in the related technology that the adjustment rules set on the ground may not cover all possible shooting scenes and conditions, resulting in untimely focal length adjustment or unsatisfactory adjustment effect, and the process of taking pictures and then analyzing and adjusting them is not only cumbersome and requires more time and resources, but also has certain subjective factors and its accuracy is easily affected.

[0047] Before introducing the auxiliary focusing method of a space camera proposed in an embodiment of the present application, a camera system for auxiliary focusing of a space camera involved in an embodiment of the present application is first explained.

[0048] Specifically, Figure 1The present invention is a block diagram of a camera system for auxiliary focusing of a space camera provided according to an embodiment of the present application.

[0049] like Figure 1 As shown, the space camera auxiliary focusing camera system 10 includes: a satellite management system 101, a camera payload 102 and an intelligent processing unit 103.

[0050] Among them, the satellite management system 101 can accept the detection information of the intelligent processing unit 103, and adjust and control the various subsystems of the satellite platform according to the detection information. For example, the satellite can be attitude controlled according to the detection information so that the satellite's camera is facing the appropriate angle. At the same time, the camera equipment in the camera payload 102 subsystem can be switched on and off, and the parameter settings of the camera equipment can be adjusted.

[0051] Illustratively, the satellite management system 101 of the embodiment of the present application can record the state parameters corresponding to multiple frames of continuous remote sensing images taken by the camera payload 102, including camera pixel parameters, etc., which are not specifically limited in the present application; the camera pixel parameter information corresponding to the clear remote sensing image with a clarity score value greater than a certain clarity value can also be sent to the camera payload 102, etc., which can be specifically set by technicians in this field according to actual conditions, and is not specifically limited in the present application.

[0052] The camera payload 102 may include, but is not limited to, various optical payloads of satellites, such as infrared cameras, high-resolution cameras, etc., and this application does not impose any specific limitations.

[0053] Furthermore, in an embodiment of the present application, when the camera payload 102 is turned on to shoot multiple frames of continuous remote sensing images, continuous zoom shooting can be performed to obtain multiple frames of continuous remote sensing images with continuously changing image distances; in addition, the camera payload 102 in an embodiment of the present application receives the camera pixel parameters sent by the satellite management system 101 to adjust the initial image distance, and zooms and obtains multiple frames of continuous remote sensing images according to the camera pixel parameters.

[0054] As an intelligent autonomous machine, the intelligent processing unit 103 carries complex image processing algorithms, receives multiple frames of continuous remote sensing images sent by the camera payload 102 through a data interface, and processes the multiple frames of continuous remote sensing images in real time, thereby obtaining detection information of targets or areas of interest and sending the detection information to the satellite management system 101.

[0055] Exemplarily, the intelligent processing unit 103 of the embodiment of the present application can obtain multiple frames of continuous remote sensing images taken by the camera payload 102, and process the multiple frames of continuous remote sensing images, and analyze and determine whether the clarity score value of the multiple frames of continuous remote sensing images in the continuous frame period is greater than a preset clarity value.

[0056] In addition, it should be noted that the space camera auxiliary focusing camera system 10 may also include: a satellite platform and a power subsystem, etc., which are not specifically limited in this application. Among them, the satellite platform of the embodiment of the present application may also include a measurement and control subsystem, a power subsystem and an attitude control subsystem, etc., which are not specifically limited in this application.

[0057] In addition, in an embodiment of the present application, the satellite management system 101, the camera payload 102 and the intelligent processing unit 103 can be connected through system lines, such as a CAN (Controller Area Network) bus connection method, which can be specifically set by technicians in this field according to actual conditions, and this application does not impose any specific restrictions.

[0058] Specifically, Figure 2 The present invention is a flowchart of an auxiliary focusing method for a space camera provided according to an embodiment of the present application.

[0059] like Figure 2 As shown, the auxiliary focusing method of the space camera includes the following steps:

[0060] In step S201, a plurality of continuous remote sensing images captured by a space camera at different focal lengths in different scenes are acquired, and camera pixel parameter information corresponding to the plurality of continuous remote sensing images is obtained based on the plurality of continuous remote sensing images.

[0061] It can be understood that the different scenarios of the embodiments of the present application may include but are not limited to: scenes of different terrains such as mountains, oceans, plains, etc., which can be specifically set by technical personnel in this field according to actual conditions, and this application does not impose specific limitations.

[0062] As a possible implementation method, the embodiment of the present application can obtain multiple frames of continuous remote sensing images taken by a space camera at different focal lengths in different scenes, and can also obtain camera pixel parameter information corresponding to the multiple frames of continuous remote sensing images.

[0063] For example, in some embodiments, the present application can be implemented as follows: Figure 3 The process shown in the figure obtains the camera pixel parameter information, and the main contents are:

[0064] Step S301: The camera is turned on to take pictures and the image distance is continuously adjusted.

[0065] It can be understood that, combined with Figure 1 When the space camera of the embodiment of the present application is turned on to shoot remote sensing images, zooming is achieved by continuously adjusting the image distance, thereby obtaining a remote sensing image with a continuously changing image distance.

[0066] Step S302: The satellite management system records the camera state parameters when the camera captures the corresponding image frame.

[0067] It can be understood that, combined with Figure 1 When a space camera is used to capture multiple frames of continuous remote sensing images, the embodiment of the present application may utilize a satellite management system to record camera pixel parameter information corresponding to the multiple frames of continuous remote sensing images.

[0068] In addition, it should be noted that in the embodiment of the present application, each frame of remote sensing image taken by the space camera will have corresponding auxiliary data, and the relevant parameters recorded during shooting can be recorded in the auxiliary data, which can be specifically set by technicians in this field according to actual conditions, and this application does not impose any specific restrictions.

[0069] Optionally, in one embodiment of the present application, calculating the clarity score of multiple frames of continuous remote sensing images includes: obtaining a feature value of at least one image feature in the multiple frames of continuous remote sensing images; and calculating a first clarity score of the multiple frames of continuous remote sensing images by combining a feature weight and a feature value of the at least one image feature. The calculation formula of the first clarity score may be, but is not limited to,:

[0070]

[0071] Among them, S t is the clarity score of the t-th frame remote sensing image, i and j are the i-th straight line feature and j-th circular feature in the t-th frame image, l is the straight line feature, c is the circular feature, m is the number of straight line features, n is the number of circular features, L i is the weight value of different straight line features, C j are the weights of different circular features.

[0072] It can be understood that in the embodiments of the present application, the image features may include but are not limited to circular features, straight line features, etc., which can be specifically set by technicians in this field according to actual conditions, and the present application does not impose any specific limitations.

[0073] In some embodiments, the contents of calculating the clarity score values ​​of multiple frames of continuous remote sensing images in the embodiments of the present application may include:

[0074] In the embodiment of the present application, by extracting the feature value of each frame of remote sensing image, such as the straight line feature l or the circular feature c, etc., and calculating the number of features of each frame of remote sensing image, such as the number of straight line features m and the number of circular features n, and assigning different weights to different image features, such as L and C, etc., the present application does not make specific restrictions, and then obtaining the first clarity score value of multiple frames of continuous remote sensing images. The calculation formula of the first clarity score value can be, but is not limited to, as follows:

[0075]

[0076] Among them, S tis the clarity score of the t-th frame remote sensing image, i and j are the i-th straight line feature and j-th circular feature in the t-th frame image, l is the straight line feature, c is the circular feature, m is the number of straight line features, n is the number of circular features, L i is the weight value of different straight line features, C j are the weights of different circular features.

[0077] Optionally, in one embodiment of the present application, calculating the clarity score of multiple frames of continuous remote sensing images includes: based on the multiple frames of continuous remote sensing images, obtaining regional images of different regions in each frame of continuous remote sensing images; and calculating a second clarity score of the multiple frames of continuous remote sensing images based on regional weights and regional images of different regions. The calculation formula of the second clarity score may be, but is not limited to,:

[0078]

[0079] Where x is the number of regions in the t-th frame remote sensing image, w k is the weight value for each region.

[0080] In some embodiments, the contents of calculating the clarity score values ​​of multiple frames of continuous remote sensing images in the embodiments of the present application may include:

[0081] In the embodiment of the present application, different regional weights are assigned to different regions of each frame of remote sensing image, and each frame of remote sensing image is divided into regional images of different regions, such as x regions, and the regional weights of each region are w k , and then obtain the second clarity score value of multiple frames of continuous remote sensing images. The calculation formula of the second clarity score value can be but is not limited to:

[0082]

[0083] Where x is the number of regions in the t-th frame remote sensing image, w k is the weight value for each region.

[0084] Optionally, in one embodiment of the present application, calculating the clarity score of multiple frames of continuous remote sensing images includes: obtaining a target feature of at least one target in the multiple frames of continuous remote sensing images; and calculating a third clarity score of the multiple frames of continuous remote sensing images based on a target weight and the target feature. The calculation formula of the third clarity score may be, but is not limited to,:

[0085]

[0086] Among them, w kis the weight value of the kth region in the tth frame remote sensing image, A is the type of the target in the tth frame remote sensing image, B is the weight value of the target in the tth frame remote sensing image, and D is the confidence of the target in the tth frame remote sensing image.

[0087] It is understandable that the target features of the embodiments of the present application may include but are not limited to the type, quantity, weight and confidence of the target, and the present application does not impose any specific limitations.

[0088] In some embodiments, the contents of calculating the clarity score values ​​of multiple frames of continuous remote sensing images in the embodiments of the present application may include:

[0089] In the embodiment of the present application, the target features of multiple frames of continuous remote sensing images can be extracted by a deep learning method, and the target of each frame of continuous remote sensing images can be detected. The third clarity score value of the multiple frames of continuous remote sensing images can be obtained by calculating the type, quantity, weight and confidence of the target. The calculation formula of the third clarity score value can be but is not limited to:

[0090]

[0091] Among them, w k is the weight value of the kth region in the tth frame remote sensing image, A is the type of the target in the tth frame remote sensing image, B is the weight value of the target in the tth frame remote sensing image, and D is the confidence of the target in the tth frame remote sensing image.

[0092] In step S202, the clarity scores of the multiple frames of continuous remote sensing images are calculated, and remote sensing images that meet a preset clarity are extracted from the multiple frames of continuous remote sensing images based on the clarity scores.

[0093] In the actual implementation process, the embodiment of the present application can extract remote sensing images that meet a certain clarity based on the clarity score values ​​of multiple frames of continuous remote sensing images. The certain clarity can be set by technicians in this field according to actual conditions, and this application does not make any specific restrictions.

[0094] For example, in some embodiments, the present application can be implemented as follows: Figure 3 The process shown extracts remote sensing images that meet a certain definition. The main contents are:

[0095] Step S303: the intelligent processing unit acquires continuous image frame data.

[0096] Step S304: Process and analyze the continuous frame images to obtain the best frame number.

[0097] It can be understood that the embodiment of the present application can utilize an intelligent processing unit to process and analyze multiple frames of continuous remote sensing images, and based on the clarity score value of each frame of the remote sensing image, determine whether the clarity score value of the remote sensing image meets certain clarity conditions, thereby obtaining a remote sensing image that meets a certain clarity, and use the corresponding frame number as the optimal frame number.

[0098] That is to say, the method for the intelligent processing unit in the embodiment of the present application to determine the optimal frame number is: by detecting multiple frames of continuous remote sensing images, obtaining clarity score values ​​of the multiple frames of continuous remote sensing images according to calculation, and selecting the remote sensing image with the highest relative score value as the best frame, and then obtaining the optimal frame number.

[0099] Optionally, in one embodiment of the present application, calculating the clarity score values ​​of multiple frames of continuous remote sensing images includes: inputting the multiple frames of continuous remote sensing images into a pre-trained matching model to obtain the clarity score values ​​of the multiple frames of continuous remote sensing images.

[0100] It is understandable that in the embodiment of the present application, the matching model may include, but is not limited to, models of different terrain modes such as mountains, oceans, and plains, which may be specifically set by a technician in the field according to actual conditions, and the present application does not impose specific restrictions. Further, in the embodiment of the present application, the method of training the matching model may be to first collect image data sets of different terrains, classify and annotate the image data sets respectively, and then use the annotated image data sets to train the matching models respectively, which may be specifically set by a technician in the field according to actual conditions, and the present application does not impose specific restrictions.

[0101] In addition, it should be noted that in the embodiments of the present application, the matching model can be a matching model of a specific target, such as a companion satellite or a companion target of a satellite. At this time, the distance between the space camera and the shooting target is only tens to hundreds of meters, compared with the shooting distance of hundreds of kilometers when shooting ground targets. At this time, it is also necessary to adjust the image distance of the space camera to shoot specific targets. The specific setting can be made by technicians in this field according to actual conditions, and this application does not impose any specific restrictions.

[0102] As a possible implementation method, the embodiment of the present application can obtain the clarity score values ​​of multiple frames of continuous remote sensing images through a pre-trained matching model.

[0103] For example, in some embodiments, the present application can be implemented as follows: Figure 4 The process shown extracts remote sensing images that meet a certain definition. The main contents are:

[0104] Step S401: Prepare a matching mode (eg, mountain, ocean, plain, etc. terrain mode).

[0105] It can be understood that the embodiments of the present application can be combined with Figure 1 , using the intelligent processing unit to obtain different scenes when the space camera is shooting, and then matching different matching models.

[0106] Step S402: The camera continuously zooms and captures continuous frame images.

[0107] It can be understood that the embodiments of the present application are combined with Figure 1 , through continuous zooming of the space camera, multiple frames of continuous remote sensing images are obtained.

[0108] Step S403: The satellite management system records parameters of continuous frame images.

[0109] It can be understood that the embodiments of the present application are combined with Figure 1 ,The satellite management system is used to record the camera pixel parameter information corresponding to multiple frames of continuous remote sensing images.

[0110] Step S404: the intelligent processing unit acquires continuous image frames.

[0111] Step S405: Use the matching model to determine the best frame number for processing.

[0112] It can be understood that the embodiment of the present application utilizes an intelligent processing unit to obtain multiple frames of continuous remote sensing images, and compares and matches the captured multiple frames of continuous remote sensing images through a pre-trained matching model, processes the multiple frames of continuous remote sensing images, and then obtains a remote sensing image that meets a certain clarity, and uses the corresponding frame number as the optimal frame number.

[0113] In step S203, the initial image distance of the space camera is adjusted using the camera pixel parameter information corresponding to the remote sensing image that meets the preset clarity to obtain the final image distance of the space camera, and the final focal length of the space camera is obtained based on the final image distance and different focal lengths.

[0114] As a possible implementation method, the embodiment of the present application can adjust the initial image distance of the space camera based on the camera pixel parameter information of the remote sensing image that meets a certain clarity, thereby obtaining the final image distance, and determine the final focal length of the space camera based on the final image distance.

[0115] For example, Figure 3 As shown, the content of adjusting the focal length in the embodiment of the present application may be:

[0116] Step S305: Send the best frame number information to the space camera.

[0117] Step S306: The camera is adjusted to an image distance corresponding to the best frame number.

[0118] It can be understood that the embodiment of the present application can send the best frame number information obtained by the satellite management system and the camera pixel parameter information corresponding to the best frame number to the space camera. The space camera receives the camera pixel parameter information sent by the satellite management system to adjust the initial image distance of the space camera, and obtains the final image distance of the space camera, and then determines the final focal length of the space camera, and uses the final focal length to reacquire multiple frames of continuous remote sensing images.

[0119] The auxiliary focusing method of the space camera proposed in the embodiment of the present application is introduced below in combination with multiple embodiments.

[0120] Embodiment 1:

[0121] A schematic diagram of the working principle of a method for realizing auxiliary focusing of a space camera provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the main content will not be repeated here.

[0122] Embodiment 2:

[0123] A schematic diagram of the working principle of another auxiliary focusing method for a space camera provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the main content will not be repeated here.

[0124] Embodiment three:

[0125] A schematic diagram of the working principle of another method for implementing auxiliary focusing of a space camera provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the main contents are:

[0126] Step S501: Start shooting and continuously adjust the image distance.

[0127] It can be understood that the embodiment of the present application can obtain multiple frames of continuous remote sensing images taken by a space camera at different focal lengths in different scenes.

[0128] Step S502: Record the camera status parameters corresponding to when the camera captures the image.

[0129] It can be understood that the embodiment of the present application can record the camera pixel parameter information corresponding to multiple frames of continuous remote sensing images when shooting with a space camera.

[0130] Step S503: Acquire and process continuous image frame data.

[0131] It can be understood that the embodiment of the present application can calculate the clarity score value of multiple frames of continuous remote sensing images, and the calculation process is as shown above and will not be repeated here.

[0132] Step S504: Determine the best frame number.

[0133] Step S505: Check whether the definition is satisfactory.

[0134] It can be understood that the embodiment of the present application can obtain the clarity score values ​​of multiple frames of continuous remote sensing images, select the remote sensing image with the highest relative score as the best frame, and then obtain the best frame number, and obtain the remote sensing image that meets a certain clarity. If the clarity is not satisfied, step S506 is executed; if it is satisfied, step S508 is executed.

[0135] Step S506: the camera continuously adjusts the image distance in the vicinity of the predetermined pixel.

[0136] Step S507: Record information such as the image distance value when the camera takes continuous frame images.

[0137] It can be understood that when the clarity score value of the remote sensing image does not meet a certain clarity condition, multiple frames of continuous remote sensing images can be re-acquired, and the image distance of the space camera can be continuously adjusted until there is a remote sensing image with a clarity score value that meets a certain clarity condition in the multiple frames of continuous remote sensing images.

[0138] Step S508: Send the best frame number information to the camera payload.

[0139] Step S509: When the camera is adjusted to the optimal frame number, shooting is performed according to the image distance.

[0140] It can be understood that the embodiments of the present application can use the camera pixel parameter information of the remote sensing image that meets a certain clarity to adjust the initial image distance of the space camera, and obtain the final image distance of the space camera, and then determine the final focal length of the space camera, and use the final focal length to reacquire multiple frames of continuous remote sensing images.

[0141] According to the auxiliary focusing method of the space camera proposed in the embodiment of the present application, a remote sensing image that meets a certain clarity can be obtained based on multiple frames of continuous remote sensing images taken by the space camera at different focal lengths in different scenes, the corresponding camera pixel parameter information and the clarity score value, and then the initial image distance of the space camera is adjusted using the camera pixel parameter information corresponding to the remote sensing image that meets a certain clarity, and the final image distance is obtained, thereby determining the final focal length of the space camera, which can adapt to the shooting requirements under different scenes and focal lengths, ensure that the space camera can capture high-quality remote sensing images under different conditions, improve the automation level of remote sensing image processing, and reduce manual intervention and errors. Thus, the problem that the adjustment rules set on the ground in the related art may not cover all possible shooting scenes and conditions, resulting in untimely adjustment of the focal length or unsatisfactory adjustment effect, and the process of taking pictures first and then analyzing and adjusting them is not only cumbersome and requires more time and resources, but also has certain subjective factors, and its accuracy is easily affected.

[0142] Next, the auxiliary focusing device of the space camera proposed in the embodiment of the present application is described with reference to the accompanying drawings.

[0143] Figure 6 It is a block diagram of an auxiliary focusing device of a space camera provided according to an embodiment of the present application.

[0144] like Figure 6 As shown, the auxiliary focusing device 60 of the space camera includes: an acquisition module 601, a calculation module 602 and a generation module 603.

[0145] Among them, the acquisition module 601 is used to acquire multiple frames of continuous remote sensing images taken by a space camera at different focal lengths in different scenes, and obtain camera pixel parameter information corresponding to the multiple frames of continuous remote sensing images based on the multiple frames of continuous remote sensing images.

[0146] The calculation module 602 is used to calculate the clarity score values ​​of the multiple frames of continuous remote sensing images, and extract remote sensing images that meet the preset clarity from the multiple frames of continuous remote sensing images based on the clarity score values.

[0147] The generation module 603 is used to adjust the initial image distance of the space camera using the camera pixel parameter information corresponding to the remote sensing image that meets the preset clarity to obtain the final image distance of the space camera, and obtain the final focal length of the space camera based on the final image distance and different focal lengths.

[0148] Optionally, in one embodiment of the present application, the calculation module 302 includes: an input unit.

[0149] The input unit is used to input multiple frames of continuous remote sensing images into a pre-trained matching model to obtain clarity score values ​​of the multiple frames of continuous remote sensing images.

[0150] Optionally, in one embodiment of the present application, the calculation module 602 includes: a first acquisition unit and a first calculation unit.

[0151] Wherein, the first acquisition unit is used to acquire the feature value of at least one image feature in multiple frames of continuous remote sensing images.

[0152] The first calculation unit is used to calculate a first clarity score value of multiple frames of continuous remote sensing images by combining a feature weight and a feature value of at least one image feature.

[0153] Optionally, in one embodiment of the present application, the calculation formula of the first clarity score value may be but is not limited to:

[0154]

[0155] Among them, S tis the clarity score of the t-th frame remote sensing image, i and j are the i-th straight line feature and j-th circular feature in the t-th frame image, l is the straight line feature, c is the circular feature, m is the number of straight line features, n is the number of circular features, L i is the weight value of different straight line features, C j are the weights of different circular features.

[0156] Optionally, in one embodiment of the present application, the calculation module 602 includes: a second acquisition unit and a second calculation unit.

[0157] The second acquisition unit is used to acquire regional images of different regions in each frame of continuous remote sensing images based on multiple frames of continuous remote sensing images.

[0158] The second calculation unit is used to calculate the second clarity score value of multiple frames of continuous remote sensing images based on the regional weights and regional images of different regions.

[0159] Optionally, in one embodiment of the present application, the calculation formula of the second clarity score value may be but is not limited to:

[0160]

[0161] Where x is the number of regions in the t-th frame remote sensing image, w k is the weight value for each region.

[0162] Optionally, in one embodiment of the present application, the calculation module 602 includes: a third acquisition unit and a third calculation unit.

[0163] Wherein, the third acquisition unit is used to acquire the target feature of at least one target in multiple frames of continuous remote sensing images.

[0164] A third calculation unit, used for calculating a third clarity score value of the multiple frames of continuous remote sensing images based on the target weight and the target feature of the target feature;

[0165] The calculation formula of the third clarity score value may be, but is not limited to,:

[0166]

[0167] Among them, w k is the weight value of the kth region in the tth frame remote sensing image, A is the type of the target in the tth frame remote sensing image, B is the weight value of the target in the tth frame remote sensing image, and D is the confidence of the target in the tth frame remote sensing image.

[0168] It should be noted that the aforementioned explanation of the embodiment of the auxiliary focusing method for a space camera is also applicable to the auxiliary focusing device for a space camera of this embodiment, and will not be repeated here.

[0169] According to the auxiliary focusing device of the space camera proposed in the embodiment of the present application, a remote sensing image that meets a certain clarity can be obtained based on multiple frames of continuous remote sensing images taken by the space camera at different focal lengths in different scenes, the corresponding camera pixel parameter information and the clarity score value, and then the initial image distance of the space camera is adjusted using the camera pixel parameter information corresponding to the remote sensing image that meets a certain clarity, and the final image distance is obtained, thereby determining the final focal length of the space camera, which can adapt to the shooting requirements under different scenes and focal lengths, ensure that the space camera can capture high-quality remote sensing images under different conditions, improve the automation level of remote sensing image processing, and reduce manual intervention and errors. Thus, the problem that the adjustment rules set on the ground in the related art may not cover all possible shooting scenes and conditions, resulting in untimely adjustment of the focal length or unsatisfactory adjustment effect, and the process of taking pictures first and then analyzing and adjusting them is not only cumbersome and requires more time and resources, but also has certain subjective factors, and its accuracy is easily affected.

[0170] Figure 7 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. The electronic device may include:

[0171] A memory 701 , a processor 702 , and a computer program stored in the memory 701 and executable on the processor 702 .

[0172] When the processor 702 executes the program, the auxiliary focusing method of the space camera provided in the above embodiment is implemented.

[0173] Furthermore, the electronic device further comprises:

[0174] The communication interface 703 is used for communication between the memory 701 and the processor 702 .

[0175] The memory 701 is used to store computer programs that can be executed on the processor 702 .

[0176] The memory 701 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0177] If the memory 701, the processor 702 and the communication interface 703 are implemented independently, the communication interface 703, the memory 701 and the processor 702 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0178] Optionally, in a specific implementation, if the memory 701, the processor 702 and the communication interface 703 are integrated on a chip, the memory 701, the processor 702 and the communication interface 703 can communicate with each other through an internal interface.

[0179] The processor 702 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0180] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the auxiliary focusing method of a space camera as described above.

[0181] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed, implements the auxiliary focusing method of the space camera as described above.

[0182] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0183] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0184] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0185] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0186] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of multiple of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0187] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0188] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0189] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An auxiliary focusing method for a space camera, characterized in that: The following steps are involved: Acquire multiple frames of continuous remote sensing images taken by a space camera at different focal lengths in different scenes, and obtain camera pixel parameter information corresponding to the multiple frames of continuous remote sensing images based on the multiple frames of continuous remote sensing images; Calculating clarity scores of the multiple frames of continuous remote sensing images, and extracting remote sensing images that meet preset clarity from the multiple frames of continuous remote sensing images based on the clarity scores; The initial image distance of the space camera is adjusted using the camera pixel parameter information corresponding to the remote sensing image that meets the preset clarity to obtain the final image distance of the space camera, and the final focal length of the space camera is obtained based on the final image distance and the different focal lengths.

2. The method according to claim 1, characterized in that The calculating the clarity score values ​​of the multiple frames of continuous remote sensing images comprises: The multiple frames of continuous remote sensing images are input into a pre-trained matching model to obtain clarity score values ​​of the multiple frames of continuous remote sensing images.

3. The method according to claim 1, characterized in that The calculating the clarity score values ​​of the multiple frames of continuous remote sensing images comprises: Acquire a feature value of at least one image feature in the plurality of frames of continuous remote sensing images; The first clarity score value of the multiple frames of continuous remote sensing images is calculated by combining the feature weight and the feature value of the at least one image feature.

4. The method according to claim 3, characterized in that The calculation formula of the first clarity score is: Among them, S t is the clarity score of the t-th frame remote sensing image, i and j are the i-th straight line feature and j-th circular feature in the t-th frame image, l is the straight line feature, c is the circular feature, m is the number of straight line features, n is the number of circular features, L i is the weight value of different straight line features, C j are the weights of different circular features.

5. The method according to claim 1, characterized in that The calculating the clarity score values ​​of the multiple frames of continuous remote sensing images comprises: Based on the multiple frames of continuous remote sensing images, obtaining regional images of different regions in each frame of continuous remote sensing images; Based on the regional weights of the different regions and the regional images, a second clarity score value of the multiple frames of continuous remote sensing images is calculated.

6. The method according to claim 5, characterized in that The calculation formula of the second clarity score is: Where x is the number of regions in the t-th frame remote sensing image, w k is the weight value for each region.

7. The method according to claim 1, characterized in that The calculating the clarity score values ​​of the multiple frames of continuous remote sensing images comprises: Acquire target features of at least one target in the multiple frames of continuous remote sensing images; Calculating a third clarity score value of the multiple frames of continuous remote sensing images based on the target weight of the target feature and the target feature; The calculation formula of the third clarity score is: Among them, w k is the weight value of the kth region in the tth frame remote sensing image, A is the type of the target in the tth frame remote sensing image, B is the weight value of the target in the tth frame remote sensing image, and D is the confidence of the target in the tth frame remote sensing image.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the auxiliary focusing method for a space camera according to any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the auxiliary focusing method of a space camera as described in any one of claims 1 to 7.

10. A computer program product, characterized in that It comprises a computer program, which, when executed, is used to implement the auxiliary focusing method of a space camera as claimed in any one of claims 1 to 7.

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