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Laser spot centroid extraction method based on gray threshold

A technology of laser spot and gray threshold, which is applied in the field of laser communication and laser information, can solve the problems of irregular shape of spot, difficulty in confirming the position of centroid of laser spot, and low accuracy of extracting centroid, so as to achieve simple method, easy implementation and high precision. high effect

Active Publication Date: 2021-09-21
ZHEJIANG LAB
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Problems solved by technology

[0003] The object of the present invention is to provide a laser spot centroid extraction method based on the gray scale threshold, which solves the difficulty in confirming the laser spot centroid position when the spot shape is irregular and the intensity is asymmetric in the method for determining the centroid position of the laser spot in the prior art, The problem that the accuracy of extracting the centroid is not high

Method used

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  • Laser spot centroid extraction method based on gray threshold
  • Laser spot centroid extraction method based on gray threshold
  • Laser spot centroid extraction method based on gray threshold

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Effect test

Embodiment 1

[0059] Calculating the coordinates of the center of mass of the spot using the gray-scale center of gravity method

[0060] Table 1 shows the coordinates of the center of mass of the spot calculated using the gray-scale center of gravity method

[0061] serial number horizontal coordinates vertical coordinates horizontal coordinate difference vertical coordinate difference 1 239.5222 279.2959 -1.0996 -0.3304 2 238.4226 278.9654 -1.5845 0.1121 3 236.8381 278.8775 -1.3193 -0.2199 4 235.5188 278.6576 -1.1202 -0.0034 5 234.3985 278.654 \ \ The maximum difference from the true value \ \ 0.2512 0.2199

Embodiment 2

[0063] Calculation of spot centroid coordinates using Gaussian fitting method

[0064] Table 2 Coordinates of spot centroid calculated using Gaussian fitting method

[0065] serial number horizontal coordinates vertical coordinates horizontal coordinate difference vertical coordinate difference 1 239.553 279.0744 -1.22979 -0.1241 2 238.3233 278.9503 -1.49112 0.0211 3 236.8321 278.9713 -1.28695 -0.1221 4 235.5452 278.8493 -1.26643 -0.0016 5 234.2788 278.8477 \ \ The maximum difference from the true value \ \ 0.15779 0.1221

Embodiment 3

[0067] Using the present invention to calculate the coordinates of the center of mass of the light spot

[0068] S1: Get the laser spot grayscale image, such as figure 2 Shown; do histogram statistics on the laser spot grayscale image, such as image 3 As shown, and the histogram information is counted, the gray interval value for distinguishing the background is 16.22959, and the gray interval value for the spot area is 128.1;

[0069] S2: The calculated gray threshold value is 72.16;

[0070] S3: Obtain a schematic diagram of effective pixel collection according to the gray threshold, such as Figure 4 As shown; according to the gray threshold for distinguishing the background and the spot area, the effective pixel point coordinate set of the spot centroid is calculated, and the effective pixel point coordinate set is calculated using the gray barycenter method and the Gaussian fitting method respectively to obtain the centroid coordinates ( x 1 , y 1 )with( x 2 , ...

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Abstract

The invention discloses a laser spot centroid extraction method based on a gray threshold. The method comprises the steps of S1 carrying out the statistics of the gray distribution characteristics of a laser spot gray image, and calculating a gray interval for distinguishing a background and a light spot region according to the distribution characteristics; S2 calculating a gray threshold value for distinguishing the background and the light spot region; S3 calculating an effective pixel point coordinate set of the light spot centroid according to the gray threshold value for distinguishing the background and the light spot region, and calculating the effective pixel point coordinate set by using a gray centroid method and a Gaussian fitting method respectively to obtain two centroid coordinates; and S4 by analyzing the characteristics of the centroid coordinates of the gray centroid method and the Gaussian fitting method, fusing the centroid coordinates of the two parts to obtain a light spot centroid coordinate. The method is higher in light spot centroid extraction precision, can effectively improve the light spot centroid extraction precision by using the gray threshold and centroid fusion method, is applied to the fields of inter-satellite laser communication and general laser communication, and is simple, high in precision and easy to implement.

Description

technical field [0001] The invention relates to the technical field of laser communication and laser information, in particular to a method for extracting the centroid of a laser spot based on a gray scale threshold. Background technique [0002] With the development of laser altimetry technology in China, the laser altimetry payloads carried on satellites are all equipped with footprint cameras, which can effectively image the energy distribution of laser spots and assist in determining the direction of the laser. Therefore, the method of studying the position of the center of mass of the laser spot is of great significance to the development of interstellar laser equipment and technology. Among them, the method of gray scale center of gravity is simple, but this method has great limitations when the spot shape is irregular and the intensity is asymmetric; curve fitting is also one of the more commonly used methods, but the selection of edge and threshold will affect the ce...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/66G06T7/90
CPCG06T7/66G06T7/90G06T2207/20221
Inventor 赵旋汪逸群余辉龙侯月黄雅莉
Owner ZHEJIANG LAB
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