阅读说明：本技术 图像单元确定方法、小目标检测方法及计算机设备 (Image unit determination method, small target detection method and computer equipment ) 是由 张永伟 于 2019-02-11 设计创作，主要内容包括：本发明提供一种图像单元确定方法、小目标检测方法及计算机设备,通过获取待测图片以及待测图片对应的视场尺寸,并获取待测小目标的实际尺寸；然后根据待测小目标的实际尺寸、所述视场尺寸和预设的分辨比例,确定切分数量,其中,所述分辨比例用于指示在所述待测图片的每个图像单元的像素尺寸中所述待测小目标的像素尺寸的占比；根据所述切分数量切分所述待测图片,得到用于小目标检测的多个图像单元,在图像单元切分过程中引入视场尺寸和小目标的实际尺寸,以使得到的图像单元满足分辨比例,提高图像单元的切分可靠性,从而提高小目标检测的准确性和效率。(The invention provides an image unit determination method, a small target detection method and computer equipment, wherein the actual size of a small target to be detected is obtained by obtaining a picture to be detected and the field size corresponding to the picture to be detected; determining the segmentation quantity according to the actual size of the small target to be detected, the field of view size and a preset resolution ratio, wherein the resolution ratio is used for indicating the proportion of the pixel size of the small target to be detected in the pixel size of each image unit of the picture to be detected; and segmenting the picture to be detected according to the segmentation quantity to obtain a plurality of image units for detecting the small target, and introducing the field size and the actual size of the small target in the image unit segmentation process so as to enable the obtained image units to meet the resolution ratio, improve the segmentation reliability of the image units and further improve the accuracy and the efficiency of the small target detection.)

1. An image unit determination method, comprising:

acquiring a picture to be detected and a view field size corresponding to the picture to be detected, and acquiring the actual size of a small target to be detected;

determining the segmentation quantity according to the actual size of the small target to be detected, the field of view size and a preset resolution ratio, wherein the resolution ratio is used for indicating the proportion of the pixel size of the small target to be detected in the pixel size of each image unit of the picture to be detected;

and segmenting the picture to be detected according to the segmentation quantity to obtain a plurality of image units for small target detection.

2. The method of claim 1, wherein the obtaining the picture to be measured and the field size corresponding to the picture to be measured, and obtaining the actual size of the small target to be measured comprises:

acquiring a picture to be detected shot by an unmanned aerial vehicle and shooting information of the picture to be detected;

and determining the view field size corresponding to the picture to be detected according to the shooting information.

3. The method according to claim 2, wherein the photographing information includes a photographing height, a camera lateral field angle, a camera longitudinal field angle, and a camera tilt angle;

determining the view field size corresponding to the picture to be detected according to the shooting information, wherein the determining comprises the following steps:

if the camera inclination angle is 0, determining the view field size corresponding to the picture to be detected according to a formula I:

wherein S is_xyIs the field size, h is the shooting height, theta_xFor the camera transverse field angle, θ_yThe angle of view is the longitudinal angle of view of the camera.

4. The method according to claim 3, wherein the segmenting the picture to be detected according to the segmentation quantity to obtain a plurality of image units for small target detection comprises:

and uniformly segmenting the picture to be detected according to the segmentation quantity to obtain a plurality of image units for small target detection.

5. The method according to claim 3, wherein the determining the field size corresponding to the picture to be measured according to the shooting information further comprises:

if the inclination angle of the camera is larger than 0, sequentially determining a plurality of sub-field areas along the inclination direction of the camera;

respectively acquiring the size of each sub-field of view region;

and taking the sum of the sizes of the plurality of sub-view field areas as the view field size corresponding to the picture to be detected.

6. The method of claim 5, wherein the number of subfields is 4 subfields;

the respectively acquiring the size of each sub-field of view region comprises:

upon determining that the camera tilt angle is greater than 0 and less than or equal toThen, the sizes of the 4 sub-field-of-view regions are sequentially obtained according to a formula two:

wherein S is_1y、S_2y、S_3y、S_4ySequentially the sizes of the 4 sub-field-of-view regions, β the camera inclination angle, h the shooting height, and theta_xFor the camera transverse field angle, θ_yThe longitudinal field angle of the camera is set;

the taking the sum of the sizes of the plurality of sub-viewing field areas as the corresponding viewing field size of the picture to be detected comprises the following steps:

determining the field size corresponding to the picture to be detected according to a formula III:

wherein S is_xyIs the size of the field of view.

7. The method of claim 5, wherein the number of subfields is 4 subfields;

the respectively acquiring the size of each sub-field of view region comprises:

upon determining that the camera tilt angle is greater thanThen, the sizes of the 4 sub-field-of-view regions are sequentially obtained according to the formula four:

wherein S is_1y、S_2y、S_3y、S_4ySequentially the sizes of the 4 sub-field-of-view regions, β the camera inclination angle, h the shooting height, and theta_xFor the camera transverse field angle, θ_yThe longitudinal field angle of the camera is set;

the taking the sum of the sizes of the plurality of sub-viewing field areas as the corresponding viewing field size of the picture to be detected comprises the following steps:

determining the field size corresponding to the picture to be detected according to a formula V:

wherein S is_xyIs the size of the field of view.

8. The method according to any one of claims 1 to 7, wherein the determining the segmentation quantity according to the actual size of the small target to be measured, the size of the field of view and a preset resolution ratio comprises:

determining the segmentation quantity corresponding to the picture to be detected according to a formula six:

wherein N is the number of divisions, S_xyIs the size of the field of view, C is the actual size of the small object to be measured,is the preset resolution ratio.

9. A small target detection method, comprising:

the image unit determination method according to any one of claims 1 to 8, obtaining a plurality of image units for small target detection in a picture to be detected;

and detecting the small targets to be detected one by one for the plurality of image units to obtain the detection results of the small targets.

10. A computer device, characterized by a memory, a processor and a computer program, the computer program being stored in the memory, the processor running the computer program to perform the steps of:

acquiring a picture to be detected and a view field size corresponding to the picture to be detected, and acquiring the actual size of a small target to be detected;

determining the segmentation quantity according to the actual size of the small target to be detected, the field of view size and a preset resolution ratio, wherein the resolution ratio is used for indicating the proportion of the pixel size of the small target to be detected in the pixel size of each image unit of the picture to be detected;

and segmenting the picture to be detected according to the segmentation quantity to obtain a plurality of image units for small target detection.

11. A computer device, comprising: a memory, a processor, and a computer program, the computer program stored in the memory, the processor executing the computer program to perform the steps of:

the image unit determination method according to any one of claims 1 to 8, obtaining a plurality of image units for small target detection in a picture to be detected;

and detecting the small targets to be detected one by one for the plurality of image units to obtain the detection results of the small targets.

12. A readable storage medium, in which a computer program is stored which, when being executed by a processor, is adapted to carry out the image unit determination method of any one of claims 1 to 8.

13. A readable storage medium, in which a computer program is stored which, when being executed by a processor, is adapted to carry out the small object detection method of claim 9.

Technical Field

The invention relates to the technical field of computers, in particular to an image unit determining method, a small target detecting method and computer equipment.

Background

An Unmanned Aerial Vehicle (UAV) is a powered, controllable, Unmanned Aerial Vehicle that can carry multiple task devices, perform multiple tasks, and be reused. Along with the continuous improvement of the performance of the unmanned aerial vehicle, and the advantages of small size, flexibility, difficulty in finding and the like of the unmanned aerial vehicle, the unmanned aerial vehicle has great application potential in military and civil special fields such as investigation, patrol, building reconnaissance, aerial map drawing, obstacle clearing under dangerous environments and the like. Wherein, because unmanned aerial vehicle is mainly for long distance shooting image, the field of view scope is great usually, therefore unmanned aerial vehicle can be used for realizing the detection and the tracking to specific little target.

The existing small target detection methods comprise the schemes of traditional machine vision, deep learning and the like, for example, a stable image of an image is generated, then a significance map is obtained by comparing an LAB color space pixel by pixel, and finally a false alarm is removed by fusing the stable image and the significance map, so that the detection of small targets such as pedestrians and vehicles is realized.

However, the inventor finds that in the research and development process, the small target detection method in the prior art has overlarge calculation amount and low detection efficiency.

Disclosure of Invention

The embodiment of the invention provides an image unit determining method, a small target detecting method and computer equipment, which improve the reliability of an image unit and further improve the accuracy of small target detection.

According to a first aspect of the present invention, there is provided an image unit determination method comprising:

acquiring a picture to be detected and a view field size corresponding to the picture to be detected, and acquiring the actual size of a small target to be detected;

determining the segmentation quantity according to the actual size of the small target to be detected, the field of view size and a preset resolution ratio, wherein the resolution ratio is used for indicating the proportion of the pixel size of the small target to be detected in the pixel size of each image unit of the picture to be detected;

and segmenting the picture to be detected according to the segmentation quantity to obtain a plurality of image units for small target detection.

Optionally, in a possible implementation manner of the first aspect, the acquiring a picture to be measured and a field size corresponding to the picture to be measured, and acquiring an actual size of the small target to be measured includes:

acquiring a picture to be detected shot by an unmanned aerial vehicle and shooting information of the picture to be detected;

and determining the view field size corresponding to the picture to be detected according to the shooting information.

Optionally, in another possible implementation manner of the first aspect, the shooting information includes a shooting height, a camera lateral field angle, a camera longitudinal field angle, and a camera tilt angle;

determining the view field size corresponding to the picture to be detected according to the shooting information, wherein the determining comprises the following steps:

determining the camera inclination angle to be 0, and then determining the view field size corresponding to the picture to be detected according to a formula I:

wherein S is_xyIs the field size, h is the shooting height, theta_xFor the camera transverse field angle, θ_yThe angle of view is the longitudinal angle of view of the camera.

Optionally, in another possible implementation manner of the first aspect, the segmenting the picture to be detected according to the segmentation number to obtain a plurality of image units for small target detection includes:

and uniformly segmenting the picture to be detected according to the segmentation quantity to obtain a plurality of image units for small target detection.

Optionally, in another possible implementation manner of the first aspect, the determining, according to the shooting information, a field size corresponding to the picture to be detected further includes:

determining that the inclination angle of the camera is larger than 0, and sequentially determining a plurality of sub-field areas along the inclination direction of the camera;

respectively acquiring the size of each sub-field of view region;

and taking the sum of the sizes of the plurality of sub-view field areas as the view field size corresponding to the picture to be detected.

Optionally, in yet another possible implementation manner of the first aspect, the number of sub-field-of-view regions is 4 sub-field-of-view regions;

the respectively acquiring the size of each sub-field of view region comprises:

upon determining that the camera tilt angle is greater than 0 and less than or equal toThen, the sizes of the 4 sub-field-of-view regions are sequentially obtained according to a formula two:

wherein S is_1y、S_2y、S_3y、S_4ySequentially the sizes of the 4 sub-field-of-view regions, β the camera inclination angle, h the shooting height, and theta_xFor the camera transverse field angle, θ_yThe longitudinal field angle of the camera is set;

the taking the sum of the sizes of the plurality of sub-viewing field areas as the corresponding viewing field size of the picture to be detected comprises the following steps:

determining the field size corresponding to the picture to be detected according to a formula III:

wherein S is_xyIs the size of the field of view.

Optionally, in yet another possible implementation manner of the first aspect, the number of sub-field-of-view regions is 4 sub-field-of-view regions;

the respectively acquiring the size of each sub-field of view region comprises:

upon determining that the camera tilt angle is greater thanThen, the sizes of the 4 sub-field-of-view regions are sequentially obtained according to the formula four:

wherein S is_1y、S_2y、S_3y、S_4ySequentially the sizes of the 4 sub-field-of-view regions, β the camera inclination angle, h the shooting height, and theta_xFor the camera transverse field angle, θ_yThe longitudinal field angle of the camera is set;

the taking the sum of the sizes of the plurality of sub-viewing field areas as the corresponding viewing field size of the picture to be detected comprises the following steps:

determining the field size corresponding to the picture to be detected according to a formula V:

wherein S is_xyIs the size of the field of view.

Optionally, in another possible implementation manner of the first aspect, the determining the segmentation number according to the actual size of the small target to be measured, the size of the field of view, and a preset resolution ratio includes:

determining the segmentation quantity corresponding to the picture to be detected according to a formula six:

wherein N is the number of divisions, S_xyIs the size of the field of view, C is the actual size of the small object to be measured,is the preset resolution ratio.

According to a second aspect of the present invention, there is provided a small target detection method, comprising:

according to the image unit determination method of the first aspect of the present invention and any one of its various possible implementations, a plurality of image units for small target detection are obtained in a picture to be detected;

and detecting the small targets to be detected one by one for the plurality of image units to obtain the detection results of the small targets.

According to a third aspect of the invention, there is provided a computer apparatus, a memory, a processor and a computer program, the computer program being stored in the memory, the processor running the computer program to perform the steps of:

acquiring a picture to be detected and a view field size corresponding to the picture to be detected, and acquiring the actual size of a small target to be detected;

determining the segmentation quantity according to the actual size of the small target to be detected, the field of view size and a preset resolution ratio, wherein the resolution ratio is used for indicating the proportion of the pixel size of the small target to be detected in the pixel size of each image unit of the picture to be detected;

and segmenting the picture to be detected according to the segmentation quantity to obtain a plurality of image units for small target detection.

Optionally, in a possible implementation manner of the third aspect, the processor is further configured to perform the following steps:

acquiring a picture to be detected shot by an unmanned aerial vehicle and shooting information of the picture to be detected;

and determining the view field size corresponding to the picture to be detected according to the shooting information.

Optionally, in another possible implementation manner of the third aspect, the processor is further configured to perform the following steps:

the shooting information comprises shooting height, a camera transverse field angle, a camera longitudinal field angle and a camera inclination angle;

determining the view field size corresponding to the picture to be detected according to the shooting information, wherein the determining comprises the following steps:

determining the camera inclination angle to be 0, and then determining the view field size corresponding to the picture to be detected according to a formula I:

wherein S is_xyIs the field size, h is the shooting height, theta_xFor the camera transverse field angle, θ_yThe angle of view is the longitudinal angle of view of the camera.

Optionally, in yet another possible implementation manner of the third aspect, the processor is further configured to perform the following steps:

and uniformly segmenting the picture to be detected according to the segmentation quantity to obtain a plurality of image units for small target detection.

Optionally, in yet another possible implementation manner of the third aspect, the processor is further configured to perform the following steps:

determining that the inclination angle of the camera is larger than 0, and sequentially determining a plurality of sub-field areas along the inclination direction of the camera;

respectively acquiring the size of each sub-field of view region;

and taking the sum of the sizes of the plurality of sub-view field areas as the view field size corresponding to the picture to be detected.

Optionally, in yet another possible implementation manner of the third aspect, the processor is further configured to perform the following steps: the plurality of sub-field-of-view regions are 4 sub-field-of-view regions;

upon determining that the camera tilt angle is greater than 0 and less than or equal toThen, the sizes of the 4 sub-field-of-view regions are sequentially obtained according to a formula two:

wherein S is_1y、S_2y、S_3y、S_4ySequentially the sizes of the 4 sub-field-of-view regions, β the camera inclination angle, h the shooting height, and theta_xFor the camera transverse field angle, θ_yThe longitudinal field angle of the camera is set;

the taking the sum of the sizes of the plurality of sub-viewing field areas as the corresponding viewing field size of the picture to be detected comprises the following steps:

determining the field size corresponding to the picture to be detected according to a formula III:

wherein S is_xyIs the size of the field of view.

Optionally, in yet another possible implementation manner of the third aspect, the processor is further configured to perform the following steps: the plurality of sub-field-of-view regions are 4 sub-field-of-view regions;

upon determining that the camera tilt angle is greater thanThen, the sizes of the 4 sub-field-of-view regions are sequentially obtained according to the formula four:

wherein S is_1y、S_2y、S_3y、S_4ySequentially the sizes of the 4 sub-field-of-view regions, β the camera inclination angle, h the shooting height, and theta_xFor the camera transverse field angle, θ_yThe longitudinal field angle of the camera is set;

the taking the sum of the sizes of the plurality of sub-viewing field areas as the corresponding viewing field size of the picture to be detected comprises the following steps:

determining the field size corresponding to the picture to be detected according to a formula V:

wherein S is_xyIs the size of the field of view.

Optionally, in yet another possible implementation manner of the third aspect, the processor is further configured to perform the following steps:

determining the segmentation quantity corresponding to the picture to be detected according to a formula six:

wherein N is the number of divisions, S_xyIs the size of the field of view, C is the actual size of the small object to be measured,is the preset resolution ratio.

According to a fourth aspect of the present invention, there is provided a computer apparatus comprising: a memory, a processor, and a computer program, the computer program stored in the memory, the processor executing the computer program to perform the steps of:

according to the image unit determination method of the first aspect of the present invention and any one of its various possible implementations, a plurality of image units for small target detection are obtained in a picture to be detected;

and detecting the small targets to be detected one by one for the plurality of image units to obtain the detection results of the small targets.

According to a fifth aspect of the present invention, there is provided a readable storage medium having stored therein a computer program for implementing the image unit determination method of the first aspect of the present invention and any of its various possible implementations when executed by a processor.

According to a sixth aspect of the present invention, there is provided a readable storage medium having stored therein a computer program for implementing the small object detection method according to the second aspect of the present invention when executed by a processor.

According to the image unit determining method, the small target detecting method and the computer equipment, the actual size of the small target to be detected is obtained by obtaining the picture to be detected and the view field size corresponding to the picture to be detected; determining the segmentation quantity according to the actual size of the small target to be detected, the field of view size and a preset resolution ratio, wherein the resolution ratio is used for indicating the proportion of the pixel size of the small target to be detected in the pixel size of each image unit of the picture to be detected; and segmenting the picture to be detected according to the segmentation quantity to obtain a plurality of image units for detecting the small target, and introducing the field size and the actual size of the small target in the image unit segmentation process so as to enable the obtained image units to meet the resolution ratio, improve the segmentation reliability of the image units and further improve the efficiency of detecting the small target.

Drawings

Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present invention;

FIG. 2 is a flowchart illustrating an image unit determining method according to an embodiment of the present invention;

FIG. 3 is a diagram of a camera with a tilt angle larger than 0 and smaller than 0 according to an embodiment of the present inventionA schematic diagram of (a);

FIG. 4 shows a camera with a tilt angle larger than that of the camera according to an embodiment of the present inventionAnd is less thanA schematic diagram of (a);

FIG. 5 shows a camera with a tilt angle larger than that of the camera according to an embodiment of the present inventionA schematic diagram of (a);

FIG. 6 is a schematic hardware structure diagram of a computer device according to an embodiment of the present invention;

fig. 7 is a schematic hardware structure diagram of a computer device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.