北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (3): 444-453.doi: 10.13700/j.bh.1001-5965.2017.0188

• 论文 • 上一篇    下一篇

火星沙尘环境光学图像增强方法

李海波1, 曹云峰2, 丁萌3, 庄丽葵2   

  1. 1. 南京航空航天大学自动化学院, 南京 210016;
    2. 南京航空航天大学 航天学院, 南京 210016;
    3. 南京航空航天大学 民航学院, 南京 210016
  • 收稿日期:2017-03-29 出版日期:2018-03-20 发布日期:2018-03-30
  • 通讯作者: 曹云峰 E-mail:cyfac@nuaa.edu.cn
  • 作者简介:李海波,男,博士研究生。主要研究方向:深空探测GNC技术、计算机视觉;曹云峰,男,教授,博士生导师。主要研究方向:深空探测GNC技术、无人机飞行控制与导航、计算机视觉。
  • 基金资助:
    国家自然科学基金(61673211);江苏省研究生培养创新工程(KYLX_0282)

Optical image enhancement method in dust environment on Mars

LI Haibo1, CAO Yunfeng2, DING Meng3, ZHUANG Likui2   

  1. 1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
    2. College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
    3. College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
  • Received:2017-03-29 Online:2018-03-20 Published:2018-03-30
  • Supported by:
    National Natural Science Foundation of China (61673211); Funding of Jiangsu Innovation Program for Graduate Education (KYLX_0282)

摘要: 针对火星探测器着陆时沙尘天气对机器视觉的影响,提出一种去除沙尘天气对光学成像影响的方法,为视觉系统提供清晰输入图像。首先对受沙尘天气影响的图像建立模型,然后求取模型中大气光值与透射系数值。对于大气光值的计算采用基于四叉树细分的方法,在最小值图像上搜寻指定阈值面积中灰度均值最大的区域,在初始图像中相同区域计算各通道均值,作为大气光值。在此基础上计算透射系数,完成清晰图像的恢复。通过对受沙尘影响图像测试表明,该方法能够将受沙尘影响的图像恢复成清晰的图像。即使在复杂的环境中,该方法对光照变化、沙尘强度变化和场景变化等仍具有较好的效果。与其他方法相比,本文方法在去除沙尘对光学图像影响方面效果较好,在恢复图像评价指标等方面优于其他方法,能够进一步提高图像清晰度,为光学图像的后期处理提供更丰富信息。

关键词: 图像增强, 沙尘环境, 四叉树, 大气光估计, 火星

Abstract: For dust impact on machine vision of the probe landing in Mars, a method was brought forward to remove the effect of dust on optical image and provide clear input image for the visual system. First, a model was built for the dust image. Then, the values of the atmospheric light and the transmission coefficient of the model were obtained by calculation. Among them, a quadtree subdivision approach was employed to calculate the value of the atmospheric light. The computing method was to search the maximal average region of the specified threshold area on the minimum image. Then the mean values of each channel on the same position of the original image were calculated as the estimation value of atmosphere light. And on this basis, the calculation of transmission coefficient was performed. At last, the recovery of the clear picture was finished. Test on dust images indicates that the dust image can be restored to clear image by the proposed method. Even in the complex environment, this method has high robustness to illumination variations, dust intensity change and scene change. Compared to other methods, this method has better effect in removing dust impact on optical images and is superior to other methods in terms of the restoring image evaluation index. It can further improve the clearness of dust images and provide more abundant information for post-processing.

Key words: image enhancement, dust environment, quadtree, atmospheric light estimation, Mars

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