A method and system for processing light source reflection points based on a fibonacci grid

Abstract

The application discloses a light source reflection point processing method and system based on a Fibonacci grid, relates to the technical field of image processing, and comprises the following steps: determining the number of grid points according to the resolution of an imaging device; determining a spherical model corresponding to a shooting area; generating Fibonacci spherical grid points in the spherical model according to the number of grid points; generating a light source incidence angle of the Fibonacci spherical grid points; generating a device grid point included angle of the imaging device, wherein the device grid point included angle comprises an included angle between a connecting line from the imaging device to the Fibonacci spherical grid point and a local perpendicular line of the Fibonacci spherical grid point; in response to the difference between the light source incidence angle and the device grid point included angle being less than a threshold value, determining the Fibonacci spherical grid point as a target light source reflection point; and converting the target light source reflection point into a projection point in an image plane of the imaging device, so as to process a shooting image based on the projection point. The application quickly processes light source reflection points in an image with the help of Fibonacci spherical grid points.

Description

Technical Field

[0001] This application relates to the field of image processing technology, and more specifically, to a method and system for processing light source reflection points based on Fibonacci grids. Background Technology

[0002] In the application of imaging equipment, such as monitors, drones, cameras, and remote sensing satellites, if there are light source reflection points in the shooting area where the imaging equipment is capturing images, the light emitted by the light source will be reflected by the light source reflection points, causing the imaging equipment to experience oversaturation, reducing image quality, and resulting in a large amount of noise in the generated image, affecting the subsequent application of the image. In order to avoid this situation, it is necessary to process the light source reflection points.

[0003] For example, ray tracing can be used to process light source reflection points. This method emits a large number of light samples from the light source and simulates the propagation and reflection of light on the surface of the imaging area according to the physical laws of light propagation. When a ray intersects with the surface model of the imaging area, it determines whether the reflection condition is met. If so, it calculates the direction of the reflected ray and continues to trace the reflected ray until it reaches the imaging device. By tracing and statistically analyzing a large number of light samples, the possible locations of light source reflection points are determined. Although this method can simulate the light propagation process relatively realistically, it is computationally intensive, requiring a large amount of computing resources and time, especially when dealing with high-resolution imaging area models and a large number of light samples, where its computational efficiency is low.

[0004] In summary, how to quickly process the light source reflection points in an image is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a light source reflection point processing method based on Fibonacci grids, which can solve, to some extent, the technical problem of how to quickly process light source reflection points in images. This application also provides a light source reflection point processing system based on Fibonacci grids.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] A method for processing light source reflection points based on Fibonacci grids, comprising:

[0008] The number of grid points is determined based on the resolution of the imaging device;

[0009] Determine the spherical model corresponding to the shooting area;

[0010] In the spherical model, Fibonacci spherical grid points are generated according to the number of grid points;

[0011] Generate the light source incident angle of the Fibonacci spherical mesh points;

[0012] Generate the device grid point angle of the imaging device, wherein the device grid point angle includes the angle between the line connecting the imaging device to the Fibonacci spherical grid point and the local perpendicular line of the Fibonacci spherical grid point;

[0013] If the difference between the incident angle of the light source and the angle between the grid point of the device is less than a threshold, then the Fibonacci spherical grid point is determined as the reflection point of the target light source;

[0014] The reflection point of the target light source is converted into a projection point in the image plane of the imaging device, so as to process the image captured by the imaging device based on the projection point.

[0015] Preferably, generating Fibonacci spherical mesh points in the spherical model according to the number of mesh points includes:

[0016] Using the grid point generation formula, Fibonacci spherical grid points are generated in the spherical model according to the number of grid points;

[0017] The grid point generation formula includes:

[0018] ; ; ;

[0019] in, Represents the covariance of the i-th Fibonacci spherical grid point; This represents the longitude of the i-th Fibonacci spherical grid point; express The non-integer part; N represents the number of grid points; Represents the golden ratio; This represents the inverse cosine function.

[0020] Preferably, the incident angle of the light source used to generate the Fibonacci spherical grid points includes:

[0021] For each point on the Fibonacci sphere mesh, determine the position vector of the light source and the position vector of the center of the sphere model;

[0022] A first vector is generated based on the position vector of the light source and the positions of the Fibonacci spherical grid points.

[0023] A second vector is generated based on the sphere center position vector and the positions of the Fibonacci sphere grid points;

[0024] The complementary angle between the first vector and the second vector is taken as the incident angle of the light source at the Fibonacci spherical grid point.

[0025] Preferably, the generation of the device grid point angle of the imaging device includes:

[0026] Determine the position vector of the imaging device;

[0027] A third vector is generated based on the position vector of the imaging device and the positions of the Fibonacci spherical grid points.

[0028] The angle between the third vector and the second vector is taken as the angle between the device grid points of the imaging device.

[0029] Preferably, converting the reflection point of the target light source into a projection point in the image plane of the imaging device includes:

[0030] The target light source reflection point is transformed from the Earth inertial coordinate system to the camera coordinate system of the imaging device to obtain the camera system transformed coordinates;

[0031] The camera coordinate system is transformed from the camera coordinate system to the image plane coordinate system of the imaging device to obtain the projection point of the target light source reflection point in the image plane of the imaging device.

[0032] Preferably, the step of transforming the target light source reflection point from the Earth inertial coordinate system to the camera coordinate system of the imaging device to obtain the camera system transformed coordinates includes:

[0033] Convert the imaging model of the imaging device into a lens model;

[0034] The optical center of the lens model is taken as the origin of the camera coordinate system of the imaging device;

[0035] The optical axis of the lens model is used as the Z-axis of the camera coordinate system, and the Z-axis includes an axis pointing towards the spherical model;

[0036] The X-axis of the camera coordinate system is set to be parallel to the horizontal direction of the image plane of the lens model;

[0037] The Y-axis of the camera coordinate system is set to be parallel to the direction perpendicular to the image plane of the lens model;

[0038] A fourth vector is generated based on the position of the target light source reflection point and the position vector of the imaging device;

[0039] Determine the attitude rotation matrix based on the attitude angle of the imaging device;

[0040] The fourth vector is processed based on the attitude rotation matrix to obtain the camera frame transformation coordinates.

[0041] Preferably, the step of transforming the camera coordinate system from the camera coordinate system to the image plane coordinate system of the imaging device to obtain the projection point of the target light source reflection point in the image plane of the imaging device includes:

[0042] By using a transformation formula, the camera coordinate system is transformed from the camera coordinate system to the image plane coordinate system of the imaging device to obtain the initial image plane physical coordinates;

[0043] Distortion correction is performed on the physical coordinates of the initial image plane to obtain the projection point of the target light source reflection point in the image plane of the imaging device;

[0044] The conversion formula includes:

[0045] ; ;

[0046] in, Represents the physical coordinates of the initial image plane; This indicates the coordinate transformation of the camera system; This indicates the focal length of the lens model; The coordinates of the optical center of the lens are indicated.

[0047] Preferably, the step of correcting the distortion of the initial image plane physical coordinates to obtain the projection point of the target light source reflection point in the image plane of the imaging device includes:

[0048] By using the distortion correction formula, the physical coordinates of the initial image plane are distorted to obtain the projection point of the target light source reflection point in the image plane of the imaging device.

[0049] The distortion correction formula includes:

[0050] ;

[0051] ;

[0052] ;

[0053] in, Indicates the projection point; , Indicates the distortion coefficient; This represents the distortion factor.

[0054] Preferably, after converting the target light source reflection point into a projection point in the image plane of the imaging device, the method further includes:

[0055] Convert the projection points into pixel coordinates.

[0056] A light source reflection point processing system based on Fibonacci grids, comprising:

[0057] The grid point quantity determination module is used to determine the number of grid points based on the resolution of the imaging device.

[0058] The spherical model determination module is used to determine the spherical model corresponding to the shooting area;

[0059] A mesh point generation module is used to generate Fibonacci spherical mesh points in the spherical model according to the number of mesh points;

[0060] The light source incident angle generation module is used to generate the light source incident angle of the Fibonacci spherical grid points;

[0061] The device grid point angle generation module is used to generate the device grid point angle of the imaging device, wherein the device grid point angle includes the angle between the line connecting the imaging device to the Fibonacci spherical grid point and the local perpendicular line of the Fibonacci spherical grid point;

[0062] The light source reflection point screening module is used to determine the Fibonacci spherical grid point as the target light source reflection point in response to the difference between the incident angle of the light source and the angle between the grid point of the device being less than a threshold.

[0063] The light source reflection point conversion module is used to convert the reflection point of the target light source into a projection point in the image plane of the imaging device, so as to process the image captured by the imaging device based on the projection point.

[0064] This application provides a method for processing light source reflection points based on Fibonacci grids. The method involves: determining the number of grid points based on the resolution of the imaging device; determining the spherical model corresponding to the shooting area; generating Fibonacci spherical grid points in the spherical model according to the number of grid points; generating the light source incident angle of the Fibonacci spherical grid points; generating the device grid point angle of the imaging device, which includes the angle between the line connecting the imaging device to the Fibonacci spherical grid point and the local perpendicular of the Fibonacci spherical grid point; determining the Fibonacci spherical grid point as the target light source reflection point if the difference between the light source incident angle and the device grid point angle is less than a threshold; and converting the target light source reflection point into a projection point in the image plane of the imaging device, thereby processing the image captured by the imaging device based on the projection point. In this application, the number of grid points is determined based on the resolution of the imaging device. Since the number of grid points is used for subsequent selection of light source reflection points, it ensures that the selection process is compatible with the resolution of the imaging device, providing a foundation for accurate processing of light source reflection points. Because the spherical Fibonacci grid has the characteristics of uniform point distribution, approximately equal grid area, simple calculation, and ease of implementation, converting the shooting area into a Fibonacci spherical grid improves modeling efficiency, allowing for rapid processing of light source reflection points based on the Fibonacci spherical grid. Furthermore, by simply generating the incident angle of the light source and comparing it with the angle between the device grid points, the target light source reflection points can be selected and converted into projection points on the image plane of the imaging device. This simplified process improves the efficiency of processing light source reflection points in images. The light source reflection point processing system based on the Fibonacci grid provided in this application also solves the corresponding technical problems. Attached Figure Description

[0065] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0066] Figure 1 A flowchart illustrating a light source reflection point processing method based on a Fibonacci grid, provided for embodiments of this application;

[0067] Figure 2 This is a diagram illustrating the mapping process of the Fibonacci grid from a plane to a sphere.

[0068] Figure 3 This is a diagram showing the distribution of the spherical Fibonacci grid.

[0069] Figure 4 This is a schematic diagram illustrating the Earth's division into Fibonacci spherical grids.

[0070] Figure 5 A schematic diagram showing parallel rays of sunlight.

[0071] Figure 6 A schematic diagram of the optical path of sunlight reflected to a remote sensing satellite;

[0072] Figure 7 This is a projection of the latitude and longitude grid points representing the sunlight reflection zone onto the sensor image plane.

[0073] Figure 8 A flowchart for processing light source reflection points of remote sensing satellites;

[0074] Figure 9 A schematic diagram of a light source reflection point processing system based on a Fibonacci grid, provided for an embodiment of this application;

[0075] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0076] Figure 11 This is another structural schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0077] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0078] Please see Figure 1 , Figure 1 A flowchart illustrating a light source reflection point processing method based on a Fibonacci grid, provided for an embodiment of this application.

[0079] This application provides a method for processing light source reflection points based on a Fibonacci grid, which may include:

[0080] Step S101: Determine the number of grid points based on the resolution of the imaging device.

[0081] In practical applications, the resolution of an imaging device determines its ability to distinguish details in the shooting area. The higher the resolution, the finer the details in the shooting area that can be distinguished. If too few analysis points are selected, the number of light source reflection points captured will undoubtedly decrease. Therefore, in order to accurately capture possible light source reflection points, more grid points are needed to divide the shooting area. In other words, the number of grid points used for light source reflection point analysis needs to be determined according to the resolution of the imaging device in order to achieve the adaptation between the selected grid points to be analyzed and the resolution of the imaging device, and to identify as many light source reflection points as possible.

[0082] In specific application scenarios, when determining the number of grid points based on the resolution of the imaging device, the technical parameters of the sensor in the imaging device, such as pixel size, can be analyzed. Combined with the requirements for coverage of the shooting area, specific calculation formulas or empirical rules can be used to determine the appropriate number of grid points. For example, without affecting the judgment of the light source reflection point, the number of grid points can be determined by taking 10 to 50 pixels according to the distance between two adjacent grid points.

[0083] Step S102: Determine the spherical model corresponding to the shooting area.

[0084] Step S103: In the spherical model, generate Fibonacci spherical mesh points according to the number of mesh points.

[0085] In practical applications, spherical Fibonacci meshes are widely used in model building and numerical integration due to their uniform point distribution, approximately equal mesh area, simple calculation, and ease of implementation. Therefore, this application utilizes spherical Fibonacci meshes to filter light source reflection points. Specifically, the spherical model corresponding to the imaging area can be determined first. The imaging area can be flexibly determined according to the application scenario; for example, if the imaging device is a monitor, the imaging area can be the area covered by the monitor; if the imaging device is a remote sensing satellite, the imaging area can be the Earth's surface area, etc. Then, Fibonacci spherical mesh points are generated in the spherical model according to the number of mesh points, so that the spherical model carrying the Fibonacci spherical mesh points can be used to filter light source reflection points in subsequent applications.

[0086] It should be noted that the Fibonacci sequence Its defining formula is In the Fibonacci sequence (0, 1, 1, 2, 3, 5, 8, 13, ...), each number is the sum of the two preceding numbers. Furthermore, the limit of the ratio of each preceding number to the next number in the Fibonacci sequence is... ,in This is called the golden ratio, and the corresponding golden angle is... or ,in Therefore, it is also the golden angle, with corresponding angles of 222.5° or 137.5°. Research has found that Fibonacci grid points have a uniform distribution on a plane. Through specific area-preserving transformations, such as Lambert azimuthal equal-area projection, the Fibonacci grid on the plane can be projected onto a sphere, thus obtaining a spherical Fibonacci grid, such as... Figure 2 As shown. The N Fibonacci grids on the sphere follow a certain distribution pattern: they are evenly distributed along the meridian according to the total number of points N, and the longitude increases by a golden angle with the increase of the covariant latitude. The formula for generating the coordinates of the grid midpoint is: , , ,in and This represents the coordinate latitude and longitude of a point in the i-th grid. This represents the non-integer part of x, such as the case where a Fibonacci grid of N=642 is tiled across the entire sphere. Figure 3 As shown, compared with the traditional equal latitude and longitude division, the spherical Fibonacci grid has better uniformity. Under the same fine-grained division conditions, this method can significantly reduce the number of spherical sampling points and effectively improve data processing efficiency. Therefore, if the spherical Fibonacci grid is used to screen light source reflection points, the screening efficiency of light source reflection points can be improved.

[0087] In an exemplary embodiment, according to the Fibonacci spherical mesh generation algorithm, during the process of generating Fibonacci spherical mesh points in the spherical model according to the number of mesh points, Fibonacci spherical mesh points can be generated in the spherical model according to the number of mesh points using a mesh point generation formula; the mesh point generation formula includes:

[0088] ; ; ;

[0089] in, Represents the covariance of the i-th Fibonacci spherical grid point; This represents the longitude of the i-th Fibonacci spherical grid point; express The non-integer part; N represents the number of grid points; Represents the golden ratio; This represents the inverse cosine function. Using the grid point generation formula, a series of grid points uniformly distributed on the sphere can be obtained, forming a Fibonacci spherical grid. Assuming the imaging area is Earth, the result of dividing the Earth into a Fibonacci spherical grid is as follows: Figure 4 As shown.

[0090] Step S104: Generate the light source incident angle of the Fibonacci spherical mesh points.

[0091] Step S105: Generate the device grid point angle of the imaging device, which includes the angle between the line connecting the imaging device to the Fibonacci spherical grid point and the local perpendicular line of the Fibonacci spherical grid point.

[0092] Step S106: In response to the difference between the incident angle of the light source and the angle between the grid points of the device being less than a threshold, the Fibonacci spherical grid points are determined as the reflection points of the target light source.

[0093] In practical applications, considering the divergence of light rays, the calculation of light propagation paths and reflections becomes extremely complex, involving numerous difficult-to-solve nonlinear equations. However, by adopting the assumption of parallel light rays, the propagation of light can be simplified to a geometric problem based on parallel light rays, according to the laws of reflection and refraction in geometric optics. For example, when calculating the location of sunlight reflection points on the ground, a relatively simple mathematical model can be established using the geometric relationships between parallel light rays, the Earth's surface, and satellite sensors, such as... Figure 5 As shown, solving for the coordinates of the reflection point using conventional mathematical methods such as trigonometric functions greatly reduces computational complexity and improves computational efficiency. Specifically, during the selection of light source reflection points, the incident angle of the light source at the Fibonacci spherical grid points can be generated. The incident angle is defined as the angle between the local perpendicular of the latitude and longitude grid point corresponding to the Fibonacci spherical grid point and the ray emitted by the light source. The light source in this application can be a natural light source such as the sun, or other artificial light sources. The device grid point angle of the imaging device is also generated, including the angle between the line connecting the imaging device to the Fibonacci spherical grid point and the local perpendicular of the Fibonacci spherical grid point. After this, if the incident angle of the light source coincides with the device grid point angle... The light reflected from the light source reflection point will directly hit the imaging device, forming a strong reflection point. Therefore, the strong reflection point can be screened by comparing the incident angle of the light source with the angle between the grid points of the device. In this process, considering the deviation between the incident angle of the light source and the angle between the grid points of the device, a threshold can be set for comparison. That is, if the difference between the incident angle of the light source and the angle between the grid points of the device is less than the threshold, the threshold can be determined according to the instantaneous angular resolution of the imaging device. Then, the shooting area represented by the latitude and longitude grid point can be considered as a strong reflection point of light, and the Fibonacci spherical grid point can be determined as the target light source reflection point.

[0094] For ease of understanding, let's assume the imaging device is a remote sensing satellite and the light source is the sun. The light path of sunlight reflected to the remote sensing satellite is as follows: Figure 6 As shown, in an ideal scenario, the incident angle of the light source at the Fibonacci spherical grid points is... equal to the angle of reflection of the light source That is, if light rays are incident perpendicularly on an ideal plane, the reflected rays will return along the original path, and the angle of reflection equals the angle of incidence. When considering the complex terrain of the Earth's surface, although the actual situation is not a perfectly ideal plane for reflection, based on the local plane approximation assumption, the angle of reflection can still be considered equal to the angle of incidence when calculating the reflection at grid points. The incident angle of the light source is defined as the angle between the local perpendicular at the corresponding latitude and longitude grid point and the sunlight, and the reflection angle of the light source is defined as the angle between the local perpendicular at the corresponding latitude and longitude grid point and the reflected sunlight. Therefore, when... That is, the incident angle of the light source is equal to the angle between the grid points of the device. In this case, the surface area represented by the latitude and longitude grid point can be considered a point of strong sunlight reflection, wherein the difference between the sunlight reflection angle and the angle between the satellite grid point is set to be less than a threshold. When the threshold is reached, the two can be considered equal. The settings can be referenced from the instantaneous angular resolution of remote sensing satellites.

[0095] In an exemplary embodiment, during the process of generating the light source incident angle for each Fibonacci spherical grid point, the position vector of the light source can be determined for each Fibonacci spherical grid point. and the center position vector of the spherical model The position vector of the light source can be calculated using astronomical algorithms, combined with date, time, and parameters of Earth's revolution and rotation; based on the position vector of the light source and the positions of points on the Fibonacci spherical grid. Generate the first vector A second vector is generated based on the center position vector and the positions of the Fibonacci spherical grid points. The complementary angle between the first and second vectors is used as the incident angle of the light source at the Fibonacci spherical grid point, for example, using the vector dot product formula. Generate light source incident angle .

[0096] In an exemplary embodiment, the position vector of the imaging device can be determined during the process of generating the included angle of the device grid points. A third vector is generated based on the position vector of the imaging device and the positions of the Fibonacci spherical grid points. The angle between the third vector and the second vector is used as the angle between the device grid points of the imaging device, for example, through the vector dot product formula. Generate the angle of the grid points of the device. .

[0097] It is important to note that during calculations, the spatial relationship between the light source, imaging device, and grid points in the shooting area should conform to the relationship of sunlight reflection. For example, the grid points in the shooting area should be simultaneously within the visible field of view of the imaging device and the illuminated field of view of the light source, with no obstruction between them, meaning the grid points in the shooting area should maintain visibility to both the light source and the imaging device; the three should not be on the same straight line, and should coexist in the same plane with the Earth's center, etc.

[0098] Step S107: Convert the reflection point of the target light source into a projection point in the image plane of the imaging device, so as to process the image captured by the imaging device based on the projection point.

[0099] In practical applications, the reflection point of the target light source can affect the imaging effect of the imaging device. Therefore, the image captured by the imaging device needs to be processed based on the reflection point of the target light source. However, the latitude and longitude of the reflection point of the target light source is determined based on the spherical model and is not within the image plane of the imaging device. Therefore, the reflection point of the target light source needs to be converted into a projection point in the image plane of the imaging device so that the image captured by the imaging device can be processed based on the projection point. For example, illumination compensation or light source avoidance can be performed on the captured image based on the projection point.

[0100] In an exemplary embodiment, in the process of converting the reflection point of the target light source into a projection point in the image plane of the imaging device, the reflection point of the target light source can first be converted from the Earth inertial coordinate system to the camera coordinate system of the imaging device to obtain the camera system transformed coordinates; then the camera system transformed coordinates can be converted from the camera coordinate system to the image plane coordinate system of the imaging device to obtain the projection point of the reflection point of the target light source in the image plane of the imaging device.

[0101] In an exemplary embodiment, to improve computational efficiency, the main part of the imaging model of the imaging device sensor can be replaced by a lens model. The lens model can directly reuse the inherent parameters calibrated by the imaging device (such as focal length and distortion coefficients), reducing approximation errors in coordinate transformation. While improving computational accuracy, the real-time computation load is reduced by preloading calibration parameters, ultimately achieving a dual optimization of efficiency and accuracy. Figure 7 As shown, in the process of transforming the target light source reflection point from the Earth's inertial coordinate system to the camera coordinate system of the imaging device, the imaging model of the imaging device can be converted into a lens model. The optical center of the lens model is taken as the origin of the camera coordinate system of the imaging device; the optical axis of the lens model is taken as the Z-axis of the camera coordinate system, which includes the axis pointing towards the spherical model; the X-axis of the camera coordinate system is set to be parallel to the horizontal direction of the image plane of the lens model; the Y-axis of the camera coordinate system is set to be parallel to the vertical direction of the image plane of the lens model; based on the position of the target light source reflection point and the position vector of the imaging device, a fourth vector is generated. Determine the attitude rotation matrix R based on the attitude angle of the imaging device; process the fourth vector based on the attitude rotation matrix to obtain the camera system transformation coordinates.

[0102] In an exemplary embodiment, due to the object distance during imaging by the imaging device Much larger than the focal length Therefore, the object distance term can be ignored, and the formula can be simplified to: Based on the principle of similar triangles in lens imaging (the ratio of object size to image size is equal to the ratio of object distance to image distance), the coordinates of the reflection point in the camera system are... Image plane physical coordinates satisfy: Considering the "object-image inversion" characteristic (the object and image are in opposite directions in actual imaging), after adding a negative sign correction, we obtain the distortion-free coordinate formula: , In other words, in the process of transforming the camera coordinate system from the camera coordinate system to the image plane coordinate system of the imaging device to obtain the projection point of the target light source reflection point on the image plane of the imaging device, the initial physical coordinates of the image plane can be obtained by using a transformation formula. Since actual lenses exhibit radial distortion due to "outward offset of edge pixels," distortion correction is needed on the initial physical coordinates of the image plane to obtain the projection point of the target light source reflection point on the image plane of the imaging device. The transformation formula includes:

[0103] ; ;

[0104] in, Represents the initial physical coordinates of the image plane; Indicates the camera system coordinate transformation; Indicates the focal length of the lens model; The coordinates of the optical center of the lens are indicated.

[0105] In specific application scenarios, during the process of correcting the distortion of the initial physical coordinates of the image plane to obtain the projection point of the target light source reflection point on the image plane of the imaging device, the distortion correction formula can be used to correct the distortion of the initial physical coordinates of the image plane and obtain the projection point of the target light source reflection point on the image plane of the imaging device. The distortion correction formula includes:

[0106] ;

[0107] ;

[0108] ;

[0109] in, Indicates the projection point; , Indicates the distortion coefficient; This represents the distortion factor.

[0110] In an exemplary embodiment, after converting the reflection point of the target light source into a projection point in the image plane of the imaging device, the projection point can also be converted into pixel coordinates, i.e., the final projection point position, for direct use in image matching or reflection point localization.

[0111] This application provides a method for processing light source reflection points based on Fibonacci grids. The method involves: determining the number of grid points based on the resolution of the imaging device; determining the spherical model corresponding to the shooting area; generating Fibonacci spherical grid points in the spherical model according to the number of grid points; generating the light source incident angle of the Fibonacci spherical grid points; generating the device grid point angle of the imaging device, which includes the angle between the line connecting the imaging device to the Fibonacci spherical grid point and the local perpendicular of the Fibonacci spherical grid point; determining the Fibonacci spherical grid point as the target light source reflection point if the difference between the light source incident angle and the device grid point angle is less than a threshold; and converting the target light source reflection point into a projection point in the image plane of the imaging device, thereby processing the image captured by the imaging device based on the projection point. In this application, the number of grid points is determined based on the resolution of the imaging device. Since the number of grid points is used for subsequent selection of light source reflection points, the number of grid points ensures that the selection process is compatible with the resolution of the imaging device, providing a foundation for accurate processing of light source reflection points. Because the spherical Fibonacci grid has the characteristics of uniform point distribution, approximately equal grid area, simple calculation, and easy implementation, converting the shooting area into Fibonacci spherical grid points can improve modeling efficiency, thereby enabling rapid processing of light source reflection points based on the Fibonacci spherical grid points. Furthermore, by simply generating the incident angle of the light source and comparing the angle between the grid points of the device, the target light source reflection points can be selected and converted into projection points in the image plane of the imaging device. The processing is simple and improves the efficiency of processing light source reflection points in the image.

[0112] To facilitate understanding of the Fibonacci grid-based light source reflection point processing scheme provided in this application, and considering that remote sensing satellites have been widely used in meteorological monitoring, resource exploration, environmental monitoring, and disaster early warning due to their advantages such as wide coverage, short observation cycle, and convenient data acquisition, the following points are crucial considerations. However, during remote sensing satellite detection, sunlight reflection points on Earth can severely interfere with satellite detection. The strong light generated by these reflection points can cause oversaturation of satellite sensors, reducing image quality and resulting in a large amount of noise in the acquired remote sensing data. This affects subsequent identification, analysis, and information extraction of target objects in the images, thereby impacting the accuracy and reliability of various applications based on remote sensing data. Therefore, to overcome the shortcomings of existing technologies and improve the quality and efficiency of remote sensing satellite data acquisition, the light source reflection point processing scheme based on the Fibonacci grid provided in this application is used to process remote sensing satellite data. Figure 8 As shown, it includes the following steps:

[0113] Step 1: Referencing the Earth resolution of remote sensing satellite sensors, divide the global surface into a network to determine the number of Fibonacci spherical grid points N.

[0114] Step Two: Targeting the first latitude and longitude grid points ( ), calculate the angle of incidence of sunlight respectively. Angle with satellite grid points .

[0115] Step 3: Refer to the instantaneous angular resolution of remote sensing satellites to set a judgment threshold. Determine latitude and longitude grid points Is this a point of sunlight reflection? If so, mark it. The value is 1.

[0116] Step 4: Target the flag bits For grid points with a value of 1, their projection points on the image plane are calculated using a simplified imaging model.

[0117] The steps can be explained in the above embodiments. In order to facilitate understanding of the effect of the solution of this application, a large-area array remote sensing satellite in a geosynchronous orbit is set up using STK (Satellite Tools Kit) software. The report function provided by STK is used to obtain solar position and satellite position data (both are provided at 10-minute intervals for 24 hours). After rapid calculation, the latitude and longitude of the ground sunlight reflection point and its corresponding image plane projection for the four hours from 10:00 to 14:00 (UTC time) on April 4, 2025 are obtained, as shown in Table 1.

[0118] Table 1. Latitude and longitude of ground sunlight reflection points and their corresponding image plane projections

[0119]

[0120] Using a standard laptop (i7 7600, 16GB RAM) and Matlab 2013r software, calculating the ground sunlight reflection point of a remote sensing satellite and its projection position on the image plane within 4 hours, as shown in Table 1, takes only a few seconds. Furthermore, the reflection point changes slowly over time on Earth, and its projection position on the satellite image plane also changes slowly. The calculation results conform to the relative motion laws of the satellite, Earth, and Sun. In other words, the scheme provided in this application, through the assumption of parallel sunlight, a simplified remote sensing satellite imaging model, and a more uniform and efficient Fibonacci spherical mesh generation method, can quickly calculate the ground sunlight reflection point faced by the remote sensing satellite and its position on the image plane, providing technical support for applications such as remote sensing satellite sun avoidance.

[0121] Please see Figure 9 , Figure 9 This is a schematic diagram of a light source reflection point processing system based on a Fibonacci grid, provided as an embodiment of this application.

[0122] This application provides a light source reflection point processing system based on a Fibonacci grid, which may include:

[0123] The grid point number determination module 101 is used to determine the grid point number according to the resolution of the imaging device;

[0124] The spherical model determination module 102 is used to determine the spherical model corresponding to the shooting area;

[0125] Mesh point generation module 103 is used to generate Fibonacci spherical mesh points in the spherical model according to the number of mesh points;

[0126] The light source incident angle generation module 104 is used to generate the light source incident angle of the Fibonacci spherical grid points;

[0127] The device grid point angle generation module 105 is used to generate the device grid point angle of the imaging device. The device grid point angle includes the angle between the line connecting the imaging device to the Fibonacci spherical grid point and the local perpendicular line of the Fibonacci spherical grid point.

[0128] The light source reflection point screening module 106 is used to determine the Fibonacci spherical grid point as the target light source reflection point in response to the difference between the incident angle of the light source and the angle between the grid point of the device being less than a threshold.

[0129] The light source reflection point conversion module 107 is used to convert the reflection point of the target light source into a projection point in the image plane of the imaging device, so as to process the image captured by the imaging device based on the projection point.

[0130] This application provides a light source reflection point processing system based on a Fibonacci grid. The grid point generation module may include:

[0131] The mesh point generation unit is used to generate Fibonacci spherical mesh points in the spherical model according to the number of mesh points using the mesh point generation formula.

[0132] The formulas for generating grid points include:

[0133] ; ; ;

[0134] in, Represents the covariance of the i-th Fibonacci spherical grid point; This represents the longitude of the i-th Fibonacci spherical grid point; express The non-integer part; N represents the number of grid points; Represents the golden ratio; This represents the inverse cosine function.

[0135] This application provides a light source reflection point processing system based on a Fibonacci grid, wherein the light source incident angle generation module may include:

[0136] The first position determination unit is used to determine the position vector of the light source and the position vector of the center of the sphere model for each Fibonacci sphere grid point.

[0137] The first vector generation unit is used to generate a first vector based on the position vector of the light source and the position of the Fibonacci spherical grid points.

[0138] The second vector generation unit is used to generate a second vector based on the sphere center position vector and the position of the Fibonacci sphere grid points;

[0139] The light source incident angle generation unit is used to take the complementary angle of the angle between the first vector and the second vector as the light source incident angle of the Fibonacci spherical grid point.

[0140] This application provides a light source reflection point processing system based on a Fibonacci grid. The device grid point angle generation module may include:

[0141] The second position determination unit is used to determine the position vector of the imaging device;

[0142] The third vector generation unit is used to generate a third vector based on the position vector of the imaging device and the position of the Fibonacci spherical grid points.

[0143] The device grid point angle generation unit is used to take the angle between the third vector and the second vector as the device grid point angle of the imaging device.

[0144] This application provides a light source reflection point processing system based on a Fibonacci grid. The light source reflection point conversion module may include:

[0145] The camera system transformation unit is used to transform the reflection point of the target light source from the Earth inertial coordinate system to the camera coordinate system of the imaging device, thereby obtaining the camera system transformed coordinates.

[0146] The image plane transformation unit is used to transform the camera coordinate system from the camera coordinate system to the image plane coordinate system of the imaging device, so as to obtain the projection point of the target light source reflection point in the image plane of the imaging device.

[0147] This application provides a light source reflection point processing system based on a Fibonacci grid. The camera system transformation unit can be used to: convert the imaging model of the imaging device into a lens model; use the optical center of the lens model as the origin of the camera coordinate system of the imaging device; use the optical axis of the lens model as the Z-axis of the camera coordinate system, the Z-axis including an axis pointing towards the spherical model; set the X-axis of the camera coordinate system to be parallel to the horizontal direction of the image plane of the lens model; set the Y-axis of the camera coordinate system to be parallel to the vertical direction of the image plane of the lens model; generate a fourth vector based on the position of the target light source reflection point and the position vector of the imaging device; determine the attitude rotation matrix according to the attitude angle of the imaging device; and process the fourth vector based on the attitude rotation matrix to obtain the camera system transformed coordinates.

[0148] This application provides a light source reflection point processing system based on a Fibonacci grid. The image plane transformation unit can be used to: transform the camera coordinate system from the camera coordinate system to the image plane coordinate system of the imaging device through a transformation formula to obtain the initial image plane physical coordinates; and perform distortion correction on the initial image plane physical coordinates to obtain the projection point of the target light source reflection point in the image plane of the imaging device.

[0149] The conversion formulas include:

[0150] ; ;

[0151] in, Represents the initial physical coordinates of the image plane; Indicates the camera system coordinate transformation; Indicates the focal length of the lens model; The coordinates of the optical center of the lens are indicated.

[0152] This application provides a light source reflection point processing system based on Fibonacci grids. The image plane transformation unit can be used to: correct the distortion of the initial image plane physical coordinates using a distortion correction formula to obtain the projection point of the target light source reflection point in the image plane of the imaging device.

[0153] The distortion correction formulas include:

[0154] ;

[0155] ;

[0156] ;

[0157] in, Indicates the projection point; , Indicates the distortion coefficient; This represents the distortion factor.

[0158] The light source reflection point processing system based on a Fibonacci grid provided in this application embodiment may further include:

[0159] The pixel conversion module is used to convert the target light source reflection point into a projection point on the image plane of the imaging device after the light source reflection point conversion module converts the projection point into pixel coordinates.

[0160] This application also provides an electronic device and a computer-readable storage medium, both of which have the corresponding effects of the light source reflection point processing method based on a Fibonacci grid provided in the embodiments of this application. Please refer to... Figure 10 , Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0161] An electronic device provided in this application includes a memory 201 and a processor 202. The memory 201 stores a computer program, and when the processor 202 executes the computer program, it implements the steps of the light source reflection point processing method based on Fibonacci grid as described in any of the above embodiments.

[0162] Please see Figure 11Another electronic device provided in this application embodiment may further include: an input port 203 connected to the processor 202 for transmitting commands input from the outside to the processor 202; a display unit 204 connected to the processor 202 for displaying the processing results of the processor 202 to the outside; and a communication module 205 connected to the processor 202 for enabling communication between the electronic device and the outside. The display unit 204 may be a display panel, a laser scanning display, etc.; the communication method adopted by the communication module 205 includes, but is not limited to, Mobile High-Definition Link (MHL), Universal Serial Bus (USB), High-Definition Multimedia Interface (HDMI), wireless connection: Wireless Fidelity (WiFi), Bluetooth communication technology, Bluetooth Low Energy communication technology, and communication technology based on IEEE 802.11s.

[0163] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the steps of the light source reflection point processing method based on Fibonacci grid as described in any of the above embodiments.

[0164] The computer-readable storage media involved in this application include random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs (compact disc read-only memory), or any other form of storage media known in the art.

[0165] This application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the light source reflection point processing method based on Fibonacci grid as described in any of the above embodiments.

[0166] For descriptions of relevant parts in the Fibonacci grid-based light source reflection point processing system, electronic device, and computer-readable storage medium provided in this application, please refer to the detailed description of the corresponding parts in the Fibonacci grid-based light source reflection point processing method provided in this application, which will not be repeated here. Furthermore, parts of the technical solutions provided in this application that are consistent with the implementation principles of corresponding technical solutions in the prior art have not been described in detail to avoid excessive elaboration.

[0167] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0168] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for processing light source reflection points based on Fibonacci grids, characterized in that, include: The number of grid points is determined based on the resolution of the imaging device; Determine the spherical model corresponding to the shooting area; In the spherical model, Fibonacci spherical grid points are generated according to the number of grid points; Generate the light source incident angle of the Fibonacci spherical mesh points; Generate the device grid point angle of the imaging device, wherein the device grid point angle includes the angle between the line connecting the imaging device to the Fibonacci spherical grid point and the local perpendicular line of the Fibonacci spherical grid point; If the difference between the incident angle of the light source and the angle between the grid point of the device is less than a threshold, then the Fibonacci spherical grid point is determined as the reflection point of the target light source; The reflection point of the target light source is converted into a projection point in the image plane of the imaging device, so as to process the image captured by the imaging device based on the projection point.

2. The method according to claim 1, characterized in that, The process of generating Fibonacci spherical grid points in the spherical model according to the number of grid points includes: Using the grid point generation formula, Fibonacci spherical grid points are generated in the spherical model according to the number of grid points. The grid point generation formula includes: ； ； ； in, Represents the covariance of the i-th Fibonacci spherical grid point; This represents the longitude of the i-th Fibonacci spherical grid point; express The non-integer part; N represents the number of grid points; Represents the golden ratio; This represents the inverse cosine function.

3. The method according to claim 2, characterized in that, The incident angle of the light source used to generate the Fibonacci spherical grid points includes: For each point on the Fibonacci sphere grid, determine the position vector of the light source and the position vector of the center of the sphere model; A first vector is generated based on the position vector of the light source and the positions of the Fibonacci spherical grid points. A second vector is generated based on the sphere center position vector and the positions of the Fibonacci sphere grid points; The complementary angle between the first vector and the second vector is taken as the incident angle of the light source at the Fibonacci spherical grid point.

4. The method according to claim 3, characterized in that, The generation of the device grid point angles of the imaging device includes: Determine the position vector of the imaging device; A third vector is generated based on the position vector of the imaging device and the positions of the Fibonacci spherical grid points. The angle between the third vector and the second vector is taken as the angle between the device grid points of the imaging device.

5. The method according to claim 4, characterized in that, The step of converting the reflection point of the target light source into a projection point in the image plane of the imaging device includes: The target light source reflection point is transformed from the Earth inertial coordinate system to the camera coordinate system of the imaging device to obtain the camera system transformed coordinates; The camera coordinate system is transformed from the camera coordinate system to the image plane coordinate system of the imaging device to obtain the projection point of the target light source reflection point in the image plane of the imaging device.

6. The method according to claim 5, characterized in that, The step of transforming the target light source reflection point from the Earth inertial coordinate system to the camera coordinate system of the imaging device to obtain the camera system transformed coordinates includes: Convert the imaging model of the imaging device into a lens model; The optical center of the lens model is taken as the origin of the camera coordinate system of the imaging device; The optical axis of the lens model is used as the Z-axis of the camera coordinate system, and the Z-axis includes an axis pointing towards the spherical model; The X-axis of the camera coordinate system is set to be parallel to the horizontal direction of the image plane of the lens model; The Y-axis of the camera coordinate system is set to be parallel to the direction perpendicular to the image plane of the lens model; A fourth vector is generated based on the position of the target light source reflection point and the position vector of the imaging device; Determine the attitude rotation matrix based on the attitude angle of the imaging device; The fourth vector is processed based on the attitude rotation matrix to obtain the camera frame transformation coordinates.

7. The method according to claim 6, characterized in that, The step of transforming the camera coordinate system from the camera coordinate system to the image plane coordinate system of the imaging device, to obtain the projection point of the target light source reflection point in the image plane of the imaging device, includes: By using a transformation formula, the camera coordinate system is transformed from the camera coordinate system to the image plane coordinate system of the imaging device to obtain the initial image plane physical coordinates; Distortion correction is performed on the initial image plane physical coordinates to obtain the projection point of the target light source reflection point in the image plane of the imaging device; The conversion formula includes: ； ； in, Represents the physical coordinates of the initial image plane; This indicates the coordinate transformation of the camera system; This indicates the focal length of the lens model; The coordinates of the optical center of the lens are indicated.

8. The method according to claim 7, characterized in that, The step of correcting the distortion of the initial image plane physical coordinates to obtain the projection point of the target light source reflection point in the image plane of the imaging device includes: By using the distortion correction formula, the physical coordinates of the initial image plane are distorted to obtain the projection point of the target light source reflection point in the image plane of the imaging device. The distortion correction formula includes: ； ； ； in, Indicates the projection point; , Indicates the distortion coefficient; This represents the distortion factor.

9. The method according to claim 8, characterized in that, After converting the target light source reflection point into a projection point in the image plane of the imaging device, the method further includes: Convert the projection points into pixel coordinates.

10. A light source reflection point processing system based on Fibonacci grids, characterized in that, include: The grid point quantity determination module is used to determine the number of grid points based on the resolution of the imaging device. The spherical model determination module is used to determine the spherical model corresponding to the shooting area; A mesh point generation module is used to generate Fibonacci spherical mesh points in the spherical model according to the number of mesh points; The light source incident angle generation module is used to generate the light source incident angle of the Fibonacci spherical grid points; The device grid point angle generation module is used to generate the device grid point angle of the imaging device, wherein the device grid point angle includes the angle between the line connecting the imaging device to the Fibonacci spherical grid point and the local perpendicular line of the Fibonacci spherical grid point; The light source reflection point screening module is used to determine the Fibonacci spherical grid point as the target light source reflection point in response to the difference between the incident angle of the light source and the angle between the grid point of the device being less than a threshold. The light source reflection point conversion module is used to convert the reflection point of the target light source into a projection point in the image plane of the imaging device, so as to process the image captured by the imaging device based on the projection point.

Images