Non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data

Abstract

The present application discloses a non-cooperative ship trajectory dynamic completion and monitoring system that integrates remote sensing images and AIS data, and relates to the fields of ocean monitoring and ship management. The system comprises a spatiotemporal range determination module that determines two search ranges based on the AIS data sequences of non-cooperative ships; a target recognition module that obtains the annotation box information corresponding to the remote sensing images of each ship at each time within the two search ranges; a spatiotemporal position calculation and spatiotemporal matching module that determines the geographic coordinates of each ship at each time based on the annotation box information, and performs spatiotemporal matching to obtain the non-cooperative ship remote sensing image; an image matching module that uses the non-cooperative ship remote sensing image as a reference to perform image matching on the remote sensing image of the matching ship; a trajectory completion module that completes the AIS data sequence, and a dynamic monitoring and alarm module that monitors non-cooperative ships. The present application can realize dynamic completion and monitoring of the trajectory of non-cooperative ships, and can solve the problem of data loss caused by AIS shutdown.

Description

Technical Field

[0001] The present application relates to the field of ocean monitoring and ship management, and in particular to a non-cooperative ship trajectory dynamic completion and monitoring system that integrates remote sensing images and AIS data. Background Art

[0002] The Automatic Identification System (AIS) is the primary means of positioning and identification in current ship management systems. Existing ship monitoring systems rely heavily on AIS, which provides information such as a ship's identity, location, heading, and speed, enabling automatic identification and tracking of ships.

[0003] Some ships that disable their AIS for technical or human reasons are considered "non-cooperative." Traditional AIS-based monitoring methods are affected for ships without AIS, resulting in a lack of effective monitoring of these "non-cooperative" vessels. For ships without AIS, radar technology is often used as a supplementary means to detect the vessel's position. However, the application of radar technology has certain limitations. Radar's detection range is relatively limited, and is restricted by observation angles and image resolution. This makes radar relatively effective for detecting ships in near-shore areas. In contrast, for ships engaged in ocean-going voyages, radar's detection capabilities are significantly restricted, making effective long-range monitoring difficult. This situation poses significant challenges to maritime safety, regulation, and border protection. Therefore, a system is needed to dynamically complete and monitor the trajectories of non-cooperative vessels, addressing the data gaps caused by AIS closure and improving the accuracy and real-time nature of monitoring. Summary of the Invention

[0004] The purpose of this application is to provide a non-cooperative ship trajectory dynamic completion and monitoring system that integrates remote sensing images and AIS data, which can realize dynamic completion and monitoring of non-cooperative ship trajectories and solve the problem of data loss caused by AIS shutdown.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In the first aspect, the present application provides a non-cooperative ship trajectory dynamic completion and monitoring system that integrates remote sensing images and AIS data, including:

[0007] A time and space range determination module is configured to determine a first search range and a second search range based on the AIS data sequence of the non-cooperative vessel; the first search range is a time range and a space range where AIS data is not missing; the second search range is a time range and a space range where AIS data is missing; and the AIS data sequence of the non-cooperative vessel is missing AIS data at at least one time point;

[0008] a target recognition module, configured to process the remote sensing images of each ship within the first search range and the second search range at each time using a target detection algorithm to obtain annotation box information of the remote sensing images of each ship within the first search range and the second search range at each time; the annotation box information includes: coordinates of the center point, width, height, rotation angle, confidence level, and category;

[0009] a spatiotemporal position calculation and spatiotemporal matching module, configured to determine the geographic coordinates of each vessel at each time within the first search range and the second search range based on the annotation frame information of the remote sensing images of each vessel at each time within the first search range and the second search range, and to perform spatiotemporal matching on the geographic coordinates of each vessel at each time within the first search range with the AIS data sequence of the non-cooperative vessel to obtain the remote sensing image of the non-cooperative vessel corresponding to each time within the first search range;

[0010] An image matching module is configured to perform image matching on each remote sensing image in a set of remote sensing images of ships to be matched, using the remote sensing images of non-cooperative ships corresponding to each moment within the first search range as a reference; the set of remote sensing images of ships to be matched includes the remote sensing images of each ship at each moment within the second search range;

[0011] The trajectory completion module is used to complete the geographical coordinates and time corresponding to the remote sensing images with successful image matching in the remote sensing image set of the ship to be matched into the AIS data sequence of the non-cooperative ship; the geographical coordinates corresponding to the remote sensing images with successful image matching in the remote sensing image set of the ship to be matched are determined based on the annotation box information of the remote sensing images with successful image matching in the remote sensing image set of the ship to be matched;

[0012] The dynamic monitoring and alarm module is used to obtain the AIS data of non-cooperative ships in real time and issue an alarm when the AIS data of non-cooperative ships is obtained.

[0013] Optionally, the non-cooperative ship trajectory dynamic completion and monitoring system that integrates remote sensing images and AIS data also includes: a data acquisition module, used to obtain the AIS data sequence of non-cooperative ships, the remote sensing images of each ship in the first search range at each time, and the remote sensing images of each ship in the second search range at each time.

[0014] Optionally, the spatiotemporal position calculation and spatiotemporal matching module includes:

[0015] a first spatiotemporal position calculation unit, configured to determine the geographic coordinates of each vessel at each moment within the first search range using a geographic coordinate conversion algorithm based on the labeling frame information corresponding to the remote sensing image of each vessel at each moment within the first search range and the position coordinates corresponding to the remote sensing image of each vessel at each moment within the first search range;

[0016] The second spatiotemporal position calculation unit is used to determine the geographic coordinates of each ship at each moment in the second search range based on the annotation box information corresponding to the remote sensing image of each ship at each moment in the second search range and the position coordinates corresponding to the remote sensing image of each ship at each moment in the second search range using a geographic coordinate conversion algorithm.

[0017] Optionally, the spatiotemporal position calculation and spatiotemporal matching module includes:

[0018] a spatiotemporal matching unit configured to perform spatiotemporal matching on the spatiotemporal data of each ship within the first search range with the AIS data sequence of the non-cooperative ship at any time within the first search range, to obtain a ship with successful spatiotemporal matching; the spatiotemporal data of the ship within the first search range being the geographic coordinates of the ship within the first search range at the time and the time;

[0019] The non-cooperative ship image determining unit is configured to determine the remote sensing image of the ship with successful spatiotemporal matching within the first search range at the said moment as the non-cooperative ship remote sensing image corresponding to the said moment within the first search range.

[0020] Optionally, the target detection algorithm is mmrotate to rotate the target detection framework.

[0021] Optionally, the image matching module includes:

[0022] The image matching unit is used to perform image matching on each remote sensing image in the remote sensing image set of the matching ship, using the remote sensing image of the non-cooperative ship corresponding to any moment in the first search range as a benchmark.

[0023] Optionally, the image matching unit includes:

[0024] The image matching subunit is used to use an image matching algorithm to perform image matching on each remote sensing image in the set of matching ship remote sensing images, using the non-cooperative ship remote sensing image corresponding to any moment in the first search range as a benchmark.

[0025] Optionally, the non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data further includes:

[0026] The data storage and preprocessing module is used to store the AIS data of non-cooperative ships in chronological order to obtain an AIS data sequence of non-cooperative ships, and is also used to preprocess the remote sensing images of each ship at each time in the first search range and the remote sensing images of each ship at each time in the second search range.

[0027] Optionally, the non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data further includes:

[0028] The trajectory visualization module is used to visualize the completed AIS data sequence of non-cooperative ships obtained by the trajectory completion module.

[0029] According to the specific embodiments provided in this application, this application has the following technical effects:

[0030] The present application provides a non-cooperative ship trajectory dynamic completion and monitoring system that integrates remote sensing images and AIS data. The remote sensing image data can cover a large area of ​​sea, and can realize all-day and all-weather monitoring of the ocean without weather and time restrictions. It can actively monitor ships without AIS signals. By integrating remote sensing images and AIS data, the present application can realize dynamic completion of non-cooperative ship trajectories, solve the problem of data missing due to AIS shutdown, thereby improving the accuracy and real-time nature of monitoring, and realize monitoring of non-cooperative ships through dynamic monitoring and alarm modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A block diagram of a non-cooperative ship trajectory dynamic completion and monitoring system that integrates remote sensing imagery and AIS data, provided in one embodiment of the present application;

[0033] Figure 2 A flowchart of a non-cooperative ship trajectory dynamic completion and monitoring system that integrates remote sensing imagery and AIS data is provided in one embodiment of the present application. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0035] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0036] In an exemplary embodiment, Figure 1 As shown in FIG, a non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data is provided, including:

[0037] The time and space range determination module is used to determine a first search range and a second search range based on the AIS data sequence of the non-cooperative ship; the first search range is the time range and space range where the AIS data is not missing; the second search range is the time range and space range where the AIS data is missing; the AIS data sequence of the non-cooperative ship is missing AIS data at at least one moment.

[0038] The target recognition module uses a target detection algorithm to process the remote sensing images of each vessel within the first and second search ranges at each time, obtaining labeled box information for each vessel within the first and second search ranges at each time. This labeled box information includes the coordinates of the center point, width, height, rotation angle, confidence level, and category. Obtaining the labeled box information for the remote sensing images through the target detection algorithm provides more accurate and efficient input data for the subsequent image matching process.

[0039] The spatiotemporal position calculation and spatiotemporal matching module is used to determine the geographic coordinates of each ship at each time within the first search range and the second search range based on the annotation box information of the remote sensing images of each ship at each time within the first search range and the second search range, and to perform spatiotemporal matching on the geographic coordinates of each ship at each time within the first search range with the AIS data sequence of the non-cooperative ship to obtain the remote sensing image of the non-cooperative ship corresponding to each time within the first search range.

[0040] The image matching module is used to perform image matching on each remote sensing image in the remote sensing image set of the ship to be matched, using the remote sensing image of the non-cooperative ship corresponding to each moment in the first search range as a benchmark; the remote sensing image set of the ship to be matched includes the remote sensing image of each ship at each moment in the second search range.

[0041] The trajectory completion module is used to complete the geographic coordinates and time corresponding to the remote sensing images with successful image matching in the remote sensing image set of the ship to be matched into the AIS data sequence of the non-cooperative ship; the geographic coordinates corresponding to the remote sensing images with successful image matching in the remote sensing image set of the ship to be matched are determined according to the annotation box information of the remote sensing images with successful image matching in the remote sensing image set of the ship to be matched.

[0042] The dynamic monitoring and alarm module is used to obtain AIS data of non-cooperative vessels in real time and issue an alarm when the AIS data of non-cooperative vessels is obtained. The system provides dynamic monitoring functions based on data completion and immediately triggers an alarm if a non-cooperative vessel is detected.

[0043] In another exemplary embodiment of the present application, the non-cooperative ship trajectory dynamic completion and monitoring system that integrates remote sensing images and AIS data also includes: a data acquisition module for acquiring AIS data sequences of non-cooperative ships, remote sensing images of each ship at each time within the first search range, and remote sensing images of each ship at each time within the second search range.

[0044] In another exemplary embodiment of the present application, the spatiotemporal position calculation and spatiotemporal matching module includes:

[0045] The first spatiotemporal position calculation unit is configured to determine the geographic coordinates of each vessel within the first search range at each time instant based on the labeled frame information corresponding to the remote sensing image of each vessel within the first search range at each time instant and the position coordinates corresponding to the remote sensing image of each vessel within the first search range at each time instant (the position coordinates of the remote sensing image). This process is well known and generally comprises the following steps: first, obtaining the pixel coordinates of each vessel in the remote sensing image using the labeled frame information; then, using the geographic coordinate conversion algorithm, processing the GDAL geospatial data processing library and the remote sensing image to convert the pixel coordinates into WGS84 geographic coordinates.

[0046] The second spatiotemporal position calculation unit is used to determine the geographic coordinates of each ship at each moment in the second search range based on the annotation box information corresponding to the remote sensing image of each ship at each moment in the second search range and the position coordinates corresponding to the remote sensing image of each ship at each moment in the second search range using a geographic coordinate conversion algorithm.

[0047] In another exemplary embodiment of the present application, the spatiotemporal position calculation and spatiotemporal matching module includes:

[0048] The spatiotemporal matching unit is configured to perform spatiotemporal matching on the spatiotemporal data of each ship within the first search range with the AIS data sequence of a non-cooperative ship at any given moment in time, to obtain a ship with a successful spatiotemporal matching; the spatiotemporal data of a ship within the first search range is the geographic coordinates of the ship within the first search range at the said moment and the said time. Specifically, the spatiotemporal matching is performed on the spatiotemporal data of each ship within the first search range with the AIS data sequence of a non-cooperative ship to determine whether each ship within the first search range meets the trajectory characteristics of a non-cooperative target. If the spatiotemporal matching result corresponding to a particular ship is within a certain threshold (the longitude matching range is set to 0.01, the latitude matching range is set to 0.01, and the time matching range is set to 60 seconds), the ship is determined to be a successfully spatiotemporal matching ship; otherwise, the ship is discarded. One moment corresponds to one successfully spatiotemporal matching ship.

[0049] The non-cooperative ship image determining unit is configured to determine the remote sensing image of the ship with successful spatiotemporal matching within the first search range at the said moment as the non-cooperative ship remote sensing image corresponding to the said moment within the first search range.

[0050] In another exemplary embodiment of the present application, the target detection algorithm is mmrotate rotation target detection framework.

[0051] In another exemplary embodiment of the present application, the image matching module includes:

[0052] The image matching unit is configured to perform image matching on each remote sensing image in the set of matching ship remote sensing images, using the remote sensing image of the non-cooperative ship corresponding to any time within the first search range as a reference, and determine the degree of image matching between the two images based on a matching degree evaluation criterion.

[0053] In another exemplary embodiment of the present application, the image matching unit includes:

[0054] The image matching subunit is used to use an image matching algorithm to perform image matching on each remote sensing image in the set of matching ship remote sensing images, using the non-cooperative ship remote sensing image corresponding to any moment in the first search range as a benchmark.

[0055] In another exemplary embodiment of the present application, the non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data further includes:

[0056] The data storage and preprocessing module is used to store the AIS data of non-cooperative ships in chronological order to obtain the AIS data sequence of non-cooperative ships, establish the time and space range index, and also to preprocess the remote sensing images of each ship at each time in the first search range and the remote sensing images of each ship at each time in the second search range (image denoising, enhancement and ship target detection to ensure the accuracy of target recognition).

[0057] In another exemplary embodiment of the present application, the non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data further includes:

[0058] The trajectory visualization module is used to visualize the completed AIS data sequence of non-cooperative ships obtained by the trajectory completion module.

[0059] This application can solve the problem of missing AIS data by dynamically completing the trajectory of non-cooperative ships through remote sensing image recognition and positioning.

[0060] This application uses spatiotemporal matching and data fusion technology to achieve accurate dynamic monitoring of multi-source data.

[0061] This application supports real-time data updates, alarm push, and trajectory visualization, making it easier for managers to monitor ship movements in real time.

[0062] This application uses remote sensing imagery to supplement missing AIS data, effectively improving the ship monitoring system's tracking capabilities and response speed to uncooperative vessels. The system's real-time alarm function provides strong support for maritime supervision.

[0063] like Figure 2 As shown, the workflow of the system is to obtain the original AIS data, i.e., the above-mentioned AIS data sequence; perform data conversion (storage by day); determine the spatiotemporal range of the known trajectory, and determine the first search range based on the spatiotemporal range of the known trajectory; retrieve remote sensing images within the first search range; perform ship target detection on the ships within the first search range based on the remote sensing images within the first search range; calculate the spatiotemporal positions of the ships within the first search range based on the ship target detection results within the first search range; perform spatiotemporal matching based on the calculation results to obtain the target ship images at each time (i.e., the non-cooperative ship remote sensing images mentioned above).

[0064] Determine the spatiotemporal range of the unknown trajectory, and determine a second search range based on the spatiotemporal range of the unknown trajectory; retrieve remote sensing images within the second search range; perform ship target detection on ships within the second search range based on the remote sensing images within the second search range; calculate the spatiotemporal positions of ships within the second search range based on the ship target detection results within the second search range; and determine the remote sensing images within the second search range as the ship images to be matched.

[0065] Image matching is performed on the target ship image at any moment and the image of the ship to be matched. It is determined whether the matching is successful. If successful, the spatiotemporal position corresponding to the image of the ship to be matched that has successfully matched is added to the original AIS data. Then, it is determined whether the target ship images at each moment have been matched. If there are any that have not been matched, one of the target ship images that have not been matched is selected and image matched with the image of the ship to be matched, until all the target ship images at each moment have been matched. If the matching is unsuccessful, it is determined whether the target ship images at each moment have been matched. If there are any that have not been matched, one of the target ship images that have not been matched is selected and image matched with the image of the ship to be matched, until all the target ship images at each moment have been matched.

[0066] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0067] In this application, all actions to obtain signals, information or data are carried out in compliance with the relevant data protection laws and policies of the country where they are located and with the authorization given by the owner of the corresponding device.

[0068] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0069] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data, characterized by: The non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data includes: A time and space range determination module is configured to determine a first search range and a second search range based on the AIS data sequence of the non-cooperative vessel; the first search range is a time range and a space range where AIS data is not missing; the second search range is a time range and a space range where AIS data is missing; and the AIS data sequence of the non-cooperative vessel is missing AIS data at at least one time point; a target recognition module, configured to process the remote sensing images of each ship within the first search range and the second search range at each time using a target detection algorithm to obtain annotation box information of the remote sensing images of each ship within the first search range and the second search range at each time; the annotation box information includes: coordinates of the center point, width, height, rotation angle, confidence level, and category; a spatiotemporal position calculation and spatiotemporal matching module, configured to determine the geographic coordinates of each vessel at each time within the first search range and the second search range based on the annotation frame information of the remote sensing images of each vessel at each time within the first search range and the second search range, and to perform spatiotemporal matching on the geographic coordinates of each vessel at each time within the first search range with the AIS data sequences of the non-cooperative vessels, thereby obtaining the remote sensing images of the non-cooperative vessels corresponding to each time within the first search range; An image matching module is configured to perform image matching on each remote sensing image in a set of remote sensing images of ships to be matched, using the remote sensing images of non-cooperative ships corresponding to each moment within the first search range as a reference; the set of remote sensing images of ships to be matched includes the remote sensing images of each ship at each moment within the second search range; The trajectory completion module is used to complete the geographical coordinates and time corresponding to the remote sensing images with successful image matching in the remote sensing image set of the ship to be matched into the AIS data sequence of the non-cooperative ship; the geographical coordinates corresponding to the remote sensing images with successful image matching in the remote sensing image set of the ship to be matched are determined based on the annotation box information of the remote sensing images with successful image matching in the remote sensing image set of the ship to be matched; The dynamic monitoring and alarm module is used to obtain the AIS data of non-cooperative ships in real time and issue an alarm when the AIS data of non-cooperative ships is obtained.

2. The non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data according to claim 1 is characterized in that: The non-cooperative ship trajectory dynamic completion and monitoring system that integrates remote sensing images and AIS data also includes: a data acquisition module for acquiring AIS data sequences of non-cooperative ships, remote sensing images of each ship at each time within the first search range, and remote sensing images of each ship at each time within the second search range.

3. The non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data according to claim 1 is characterized in that: The spatiotemporal position calculation and spatiotemporal matching module includes: a first spatiotemporal position calculation unit, configured to determine the geographic coordinates of each vessel at each moment within the first search range using a geographic coordinate conversion algorithm based on the labeling frame information corresponding to the remote sensing image of each vessel at each moment within the first search range and the position coordinates corresponding to the remote sensing image of each vessel at each moment within the first search range; The second spatiotemporal position calculation unit is used to determine the geographic coordinates of each ship at each moment in the second search range based on the annotation box information corresponding to the remote sensing image of each ship at each moment in the second search range and the position coordinates corresponding to the remote sensing image of each ship at each moment in the second search range using a geographic coordinate conversion algorithm.

4. The non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data according to claim 1 is characterized in that: The spatiotemporal position calculation and spatiotemporal matching module includes: a spatiotemporal matching unit configured to perform spatiotemporal matching on the spatiotemporal data of each ship within the first search range with the AIS data sequence of the non-cooperative ship at any time within the first search range, to obtain a ship with successful spatiotemporal matching; the spatiotemporal data of the ship within the first search range being the geographic coordinates of the ship within the first search range at the time and the time; The non-cooperative ship image determining unit is configured to determine the remote sensing image of the ship with successful spatiotemporal matching within the first search range at the said moment as the non-cooperative ship remote sensing image corresponding to the said moment within the first search range.

5. The non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data according to claim 1 is characterized in that: The target detection algorithm is the mmrotate rotation target detection framework.

6. The non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data according to claim 1 is characterized in that: The image matching module includes: The image matching unit is used to perform image matching on each remote sensing image in the remote sensing image set of the matching ship, using the remote sensing image of the non-cooperative ship corresponding to any moment in the first search range as a benchmark.

7. The non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data according to claim 6 is characterized in that: The image matching unit includes: The image matching subunit is used to use an image matching algorithm to perform image matching on each remote sensing image in the set of matching ship remote sensing images, using the non-cooperative ship remote sensing image corresponding to any moment in the first search range as a benchmark.

8. The non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data according to claim 1 is characterized in that: The non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data also includes: The data storage and preprocessing module is used to store the AIS data of non-cooperative ships in chronological order to obtain an AIS data sequence of non-cooperative ships, and is also used to preprocess the remote sensing images of each ship at each time in the first search range and the remote sensing images of each ship at each time in the second search range.

9. The non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data according to claim 1 is characterized in that: The non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data also includes: The trajectory visualization module is used to visualize the completed AIS data sequence of non-cooperative ships obtained by the trajectory completion module.

Images