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1. 发明申请

US20210041568A1 GM-APD ARRAY LIDAR IMAGING METHOD AND SYSTEM UNDER STRONG BACKGROUND NOISE 有权
公开(公告)号：US20210041568A1
公开(公告)日：2021-02-11
申请号：US16898404
申请日：2020-06-10
申请人： HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY
发明人： Tianxu Zhang , Hongshi Sang , Zhijian Tu , Yufeng Liu , Zongkai Cao , Li Li
IPC分类号： G01S17/89 , G01S7/4863 , G01S17/06
摘要： The disclosure discloses a Gm-APD array lidar imaging method under strong background noise, comprising following steps: respectively acquiring two sets of cumulative detection data of the Gm-APD array lidar at two different opening times of a range gate of the Gm-APD array lidar under strong background noise; respectively performing a statistic operation on the two sets of cumulative detection data of the Gm-APD array lidar with respect to all pixels, to obtain two cumulative detection result histograms of the Gm-APD array lidar; determining a range interval of the imaging target according to the two cumulative detection result histograms; and acquiring a lidar image by a peak discrimination method in the range interval of the imaging target. The Gm-APD an-ay lidar imaging method according to the present disclosure is capable of improving the laser image quality by eliminating the interference of strong background noise in other range intervals.

2. 发明授权

US09460363B2 Method for estimating rotation axis and mass center of spatial target based on binocular optical flows 有权
标题翻译：基于双目光学流量估算空间目标的旋转轴和质量中心的方法
公开(公告)号：US09460363B2
公开(公告)日：2016-10-04
申请号：US14711755
申请日：2015-05-13
申请人： Huazhong University of Science and Technology
发明人： Tianxu Zhang , Sufei Fan , Yimeng Chen , Yayun Zheng , Changsheng Chen , Zheng Wang , Huan Wu , Xudong He
IPC分类号： G06K9/00 , G06K9/46 , G06K9/48 , G06T7/00 , G06T7/20 , G06T7/60
CPC分类号： G06K9/4604 , G06K9/481 , G06T7/269 , G06T7/66 , G06T2200/04 , G06T2207/10012 , G06T2207/10021 , G06T2207/30241
摘要： A method for estimating a rotation axis and a mass center of a spatial target based on binocular optical flows. The method includes: extracting feature points from binocular image sequences sequentially and respectively, and calculating binocular optical flows formed thereby; removing areas ineffective for reconstructing a three-dimensional movement trajectory from the binocular optical flows of the feature points, whereby obtaining effective area-constrained binocular optical flows, and reconstructing a three-dimensional movement trajectory of a spatial target; and removing areas with comparatively large errors in reconstructing three-dimensional motion vectors from the optical flows by multiple iterations, estimating a rotation axis according to a three-dimensional motion vector sequence of each of the feature points obtained thereby, obtaining a spatial equation of an estimated rotation axis by weighted average of estimated results of the feature points, and obtaining spatial coordinates of a mass center of the target according to two estimated rotation axes.
摘要翻译：一种用于基于双目光学流量估计空间目标的旋转轴线和质量中心的方法。该方法包括：依次分别从双目图像序列中提取特征点，并计算由此形成的双目光学流; 从特征点的双目光流中去除重建三维运动轨迹的区域，从而获得有效面积约束的双目光学流，并重建空间目标的三维运动轨迹; 以及通过多次迭代从光流重建三维运动矢量中去除具有相对较大误差的区域，根据由其获得的每个特征点的三维运动矢量序列估计旋转轴，获得空间方程通过估计结果的特征点的加权平均值估计旋转轴，并且根据两个估计的旋转轴获得目标的质心的空间坐标。

3. 发明授权

US09286651B2 Aircraft-based infrared image recognition device for ground moving target 有权
标题翻译：用于地面移动目标的基于飞机的红外图像识别装置
公开(公告)号：US09286651B2
公开(公告)日：2016-03-15
申请号：US14693847
申请日：2015-04-22
申请人： Huazhong University of Science and Technology
发明人： Tianxu Zhang , Shiying Gao , Yuehuan Wang , Sheng Zhong , Luxin Yan , Pengxian Yu , Bin Lu , Hao Li
IPC分类号： G06K9/00 , G06T3/00 , G06T3/60 , H04N5/33
CPC分类号： G06T3/0068 , G06K9/00624 , G06K9/00986 , G06T3/60 , G06T2207/10016 , H04N5/33
摘要： An aircraft-based infrared image recognition device for a ground moving target, including an infrared non-uniformity correction module, an image rotation module, an image registration module, a multi-level filtering module, a connected domain labeling module, a target detection and feature recognition module, a process control module, and a FPGA-based interconnection module. The invention uses an ASIC/SoC chip for image processing and target recognition, the DSP processor and the FPGA processor, it is possible to enable a multi-level image processing and target recognition algorithm, to improve system parallel, and to facilitate an aircraft-based infrared image recognition method for a ground moving target. Meanwhile, embodiments of the invention effectively reduce power consumption of the device.
摘要翻译：一种用于地面移动目标的基于飞机的红外图像识别装置，包括红外不均匀性校正模块，图像旋转模块，图像配准模块，多级过滤模块，连接域标签模块，目标检测和特征识别模块，过程控制模块和基于FPGA的互连模块。本发明使用用于图像处理和目标识别的ASIC / SoC芯片，DSP处理器和FPGA处理器，可以实现多级图像处理和目标识别算法，以改进系统并行，并且促进飞机 - 基于地面移动目标的红外图像识别方法。同时，本发明的实施例有效地降低了设备的功耗。

4. 发明授权

US09759835B2 Infrared image-spectrum associated intelligent detection method and apparatus 有权
公开(公告)号：US09759835B2
公开(公告)日：2017-09-12
申请号：US15104921
申请日：2015-02-10
申请人： HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY
发明人： Tianxu Zhang , Xiangyan Liu , Xiaobing Dai , Li Liu , Hongtao Yu
IPC分类号： G06K9/00 , G01V8/10 , G01J3/45 , G01J5/20 , G02B13/14 , G06F17/30
CPC分类号： G01V8/10 , G01J3/0208 , G01J3/021 , G01J3/0294 , G01J3/2823 , G01J3/45 , G01J5/20 , G02B6/42 , G02B13/14 , G02B17/061 , G02B19/009 , G02B26/101 , G06F17/30259 , G06F17/3028 , G06K9/00624 , G06K9/2018 , G06K9/32 , G06K2009/00644 , G06T2207/10004 , G06T2207/10048
摘要： The present invention discloses an infrared image-spectrum associated intelligent detection method and apparatus, including: first searching for targets in a field of view (FOV), and performing image-spectrum associated intelligent identification sequentially on the searched targets, that is, first performing infrared image target identification on each target, and if a detection identification rate is greater than a set threshold, outputting an identification result and storing target image data; otherwise, acquiring an infrared spectrum of the target, and performing target identification based on infrared spectrum features. The present invention further discloses an apparatus for performing target detection using the above method, and the apparatus mainly includes a two-dimensional scanning mirror, a multiband infrared optical module, a long-wave infrared (LWIR) imaging unit, a broadband infrared spectrum measuring unit, and a processing and control unit. The method and apparatus of the present invention are improvements and enhancements of the conventional infrared target detection method and device, and may be used for infrared image detection, infrared image-spectrum associated detection of the target and infrared spectrum collection of the target. Compared with the conventional infrared detection device, the present invention has a higher performance cost ratio, and can significantly improve the detection identification rate of the target.

5. 发明授权

US09625611B2 Method for detecting zonal underground target in mountain land based on ridge heat radiation correction 有权
公开(公告)号：US09625611B2
公开(公告)日：2017-04-18
申请号：US15114651
申请日：2015-02-10
申请人： HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY
发明人： Tianxu Zhang , Cen Lu , Yuehuan Wang , Weidong Yang , Nong Sang , Wenxuan Ma , Longwei Hao
IPC分类号： G01V9/00 , G01C21/00 , G06K9/00
CPC分类号： G01V9/005 , G01C21/005 , G06K9/00 , G06K9/0063 , G06K2009/00644
摘要： The present invention discloses a method for detecting, recognizing, and positioning a zonal underground target in a mountain land environment by detecting a ridge position in the mountain land environment and carrying out energy correction. The method belongs to the interdisciplinary field of pattern recognition, remote sensing technology and terrain analysis. The zonal underground target can cause energy abnormity when the heat field thereof is different from that of a mountain mass, and the heat island effect of the ridge can also cause the energy of the mountain mass to be abnormal. However, the energy abnormity caused by the heat island effect is essentially different from the energy abnormity caused by the zonal underground target in the aspect of mode. Therefore, the present invention aims to achieve an effect of reducing a false alarm rate of detecting and recognizing a zonal underground target in the mountain land environment by eliminating the influence of the heat body effect generated by the ridge in the terrain on the weak energy abnormity mode presented by the zonal underground target. The present invention comprises steps of acquiring digital elevation information of terrain, performing de-noising pretreatment on the digital elevation information, detecting a ridge line, correcting energy at the ridge position, and detecting the zonal underground target.

6. 发明授权

US09582885B2 Zonal underground structure detection method based on sun shadow compensation 有权
标题翻译：基于太阳影子补偿的区域地下结构检测方法
公开(公告)号：US09582885B2
公开(公告)日：2017-02-28
申请号：US15106686
申请日：2015-02-10
申请人： HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY
发明人： Tianxu Zhang , Longwei Hao , Wenxuan Ma , Cen Lu , Heng Yao , Yuehuan Wang , Nong Sang , Weidong Yang
IPC分类号： G06T7/00 , G01V9/00 , G06K9/46 , G06T7/60
CPC分类号： G06T7/73 , G01V9/005 , G06K9/0063 , G06K9/4652 , G06K9/4661 , G06T5/008 , G06T5/30 , G06T7/60 , G06T2207/10032 , G06T2207/10048
摘要： A zonal underground structure detection method based on sun shadow compensation is provided, which belongs to the crossing field of remote sensing technology, physical geography and pattern recognition, and is used to carry out compensation processing after a shadow is detected, to improve the identification rate of zonal underground structure detection and reduce the false alarm rate. The present invention comprises steps of acquiring DEM terrain data of a designated area, acquiring an image shadow position by using DEM, a solar altitude angle and a solar azimuth angle, processing and compensating a shadow area, and detecting a zonal underground structure after the shadow area is corrected. In the present invention, the acquired DEM terrain data is used to detect the shadow in the designated area; and the detected shadow area is processed and compensated, to reduce influence of the shadow area on zonal underground structure detection; finally, the zonal underground structure is detected by using a remote sensing image after shadow compensation, so that the accuracy of zonal underground structure detection is improved and the false alarm rate is reduced compared with zonal underground structure detection using a remote sensing image without shadow compensation processing.
摘要翻译：提供了一种基于太阳影子补偿的区域性地下结构检测方法，属于遥感技术交叉领域，物理地理和模式识别，用于在检测到阴影后进行补偿处理，提高识别率区域地下结构检测，降低误报率。本发明包括以下步骤：获取指定区域的DEM地形数据，通过使用DEM，太阳高度角和太阳方位角获取图像阴影位置，处理和补偿阴影区域，以及在阴影之后检测区域地下结构区域被更正。在本发明中，获取的DEM地形数据用于检测指定区域中的阴影; 并对被检测的阴影区域进行处理和补偿，以减少阴影区域对区域地下结构检测的影响; 最后，通过在阴影补偿后使用遥感图像来检测区域性地下结构，从而提高了区域地下结构检测的准确性，并且与使用无影像补偿的遥感图像的区域性地下结构检测相比，误报率降低处理。

7. 发明授权

US09557177B2 Multi-sensor merging based super-close distance autonomous navigation apparatus and method 有权
标题翻译：基于多传感器合并的超近距离自主导航设备及方法
公开(公告)号：US09557177B2
公开(公告)日：2017-01-31
申请号：US15105459
申请日：2015-02-10
申请人： HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY
发明人： Tianxu Zhang , Sufei Fan , Yimeng Chen , Heng Yao , Zhengtao Li , Zheng Wang , Wei Huang , Zhenghua Huang
IPC分类号： G01C21/20
CPC分类号： G01C21/20 , B64G1/24 , G01C3/14 , G01S17/023 , G01S17/08 , G01S17/875 , G06T7/70 , G06T2207/10021 , G06T2207/30261
摘要： The present invention discloses a multi-sensor merging based super-close distance autonomous navigation apparatus and method. The apparatus includes a sensor subsystem, an information merging subsystem, a sensor scanning structure, and an orientation guiding structure, wherein a visible light imaging sensor and an infrared imaging sensor are combined together, and data are acquired by combining a passive measurement mode composed of an optical imaging sensor and an active measurement mode composed of a laser distance measuring sensor. Autonomous navigation is divided into three stages, that is, a remote distance stage, implemented by adopting a navigation mode where a binocular visible light imaging sensor and a binocular infrared imaging sensor are combined, a close distance stage, implemented by adopting a navigation mode where a binocular visible light imaging sensor, a binocular infrared imaging sensor and a laser distance measuring sensor array are combined, and an ultra-close distance stage, implemented by adopting a navigation mode of a laser distance measuring sensor array. Through the present invention, the field of view and the exploration range are widened, the problem of shielding existing in passive measurement is effectively solved, the precision of data measurement is ensured, and the navigation efficiency and the safety and reliability of navigation are improved.
摘要翻译：本发明公开了一种基于多传感器合并的超近距离自主导航装置和方法。该装置包括传感器子系统，信息合并子系统，传感器扫描结构和定向引导结构，其中可见光成像传感器和红外成像传感器组合在一起，并且通过组合由光学成像传感器和由激光测距传感器组成的主动测量模式。自主导航分为三个阶段，即通过采用双目可见光成像传感器和双目红外成像传感器组合的导航模式实现的远距离舞台，近距离舞台，采用导航模式将双目可见光成像传感器，双目红外成像传感器和激光距离测量传感器阵列组合在一起，并采用激光测距传感器阵列的导航模式实现的超近距离级。通过本发明，扩大了视野和探索范围，有效解决了被动测量中存在的屏蔽问题，确保了数据测量的精度，提高了导航效率和导航的安全可靠性。

8. 发明授权

US11474251B2 Gm-APD array lidar imaging method and system under strong background noise 有权
公开(公告)号：US11474251B2
公开(公告)日：2022-10-18
申请号：US16898404
申请日：2020-06-10
申请人： HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY
发明人： Tianxu Zhang , Hongshi Sang , Zhijian Tu , Yufeng Liu , Zongkai Cao , Li Li
IPC分类号： G01S17/89 , G01S7/4863 , G01S17/06
摘要： The disclosure discloses a Gm-APD array lidar imaging method under strong background noise, comprising following steps: respectively acquiring two sets of cumulative detection data of the Gm-APD array lidar at two different opening times of a range gate of the Gm-APD array lidar under strong background noise; respectively performing a statistic operation on the two sets of cumulative detection data of the Gm-APD array lidar with respect to all pixels, to obtain two cumulative detection result histograms of the Gm-APD array lidar; determining a range interval of the imaging target according to the two cumulative detection result histograms; and acquiring a lidar image by a peak discrimination method in the range interval of the imaging target. The Gm-APD array lidar imaging method according to the present disclosure is capable of improving the laser image quality by eliminating the interference of strong background noise in other range intervals.

9. 发明授权

US10127641B2 Contrast constrained aerothermal radiation correction method 有权
公开(公告)号：US10127641B2
公开(公告)日：2018-11-13
申请号：US15562887
申请日：2016-04-13
申请人： HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY
发明人： Tianxu Zhang , Chuan Zhang , Xuan Hou , Li Liu , Quan Chen , Ao Zhong , Mingxing Xu , Yutian Zhou
IPC分类号： G06K9/40 , G06T5/00 , G06T5/50 , G06T7/00
摘要： Disclosed in the present invention is a contrast constrained aerothermal radiation correction method. By analyzing features of images at different intensities of aerothermal radiation, it has been discovered that the stronger the aerothermal radiation effect is, the smaller the image contrast becomes, and when thermal radiation correction is performed using a gradient fitting algorithm, it has been discovered that time consumption thereof grows exponentially with an increase in a degree of a fitting surface and with an increase in an image size. The present invention can rapidly and effectively restore an aerothermal radiation image, remarkably improving a signal to noise ratio and quality of the image.

10. 发明授权

US09869793B2 Multiband common-optical-path image-spectrum associated remote sensing measurement system and method 有权
公开(公告)号：US09869793B2
公开(公告)日：2018-01-16
申请号：US15108175
申请日：2014-09-02
申请人： HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY
发明人： Tianxu Zhang , Xiaobing Dai , Xiangyan Liu , Jianfei Ji , Xudong He , Pengcheng Gao
IPC分类号： G01V8/10 , G01J3/02 , G01J3/453 , G01J3/28
CPC分类号： G01V8/10 , G01J3/0208 , G01J3/453 , G01J2003/2826
摘要： The present invention relates to a multiband common-optical-path image-spectrum associated remote sensing measurement system and method. The system includes an infrared window (1), a two-dimensional rotating mirror (2), a planar reflector (3), a reflective multiband infrared lens system (4), a Fourier interference spectrum module (5), an image-spectrum associated processing module (6), a power supply module (7), a refrigerating module (8), and a display module (9); the incident light enters from the infrared window (1), is reflected by the two-dimensional rotating mirror (2), and then is reflected by the planar reflector (3) to the reflective multiband infrared lens system (4) and then is split by a spectroscope (42); the transmitted light is focused by means of a convergent lens and is imaged on an infrared detector (43); the reflected light is focused on an infrared optical fiber coupler (44) and enters the Fourier interference spectrum module (5) through an infrared optical fiber to form an interference pattern, and further, spectrum data is obtained through Fourier transformation; the image-spectrum associated processing module (6) effectively combines broadband spectrum imaging and non-imaging spectrum data, and controls the two-dimensional rotating mirror (2) to point to a target, thereby implementing intelligent remote sensing measurement. The present invention has capabilities of performing local scene region spectrum measurement and multi-target tracking spectrum measurement, has high speed, an appropriate data amount, and low cost.

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