Target positioning method for Tian-shaped four-aperture infrared biomimetic compound eyes

CHEN Ying; LUO Lin; JIN Weiqi; GUO Hong; ZHAO Siyuan; YANG Jianguo

doi:10.37188/OPE.20243212.1836

您当前的位置：

首页 >

文章列表页 >

Target positioning method for Tian-shaped four-aperture infrared biomimetic compound eyes

Modern Applied Optics | 更新时间：2024-07-26

- Target positioning method for Tian-shaped four-aperture infrared biomimetic compound eyes
- Optics and Precision Engineering Vol. 32, Issue 12, Pages: 1836-1848(2024)
- 作者机构：
  
  北京理工大学光电学院光电成像技术与系统教育部重点实验室，北京 100081
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.20243212.1836
  CLC： TP394.1;TH691.9
- Published：25 June 2024，
  
  Received：22 March 2024，
  
  Revised：26 April 2024，
- 稿件说明：
移动端阅览
陈颖,罗琳,金伟其等.田字型四孔径红外仿生复眼的目标定位[J].光学精密工程,2024,32(12):1836-1848.

CHEN Ying,LUO Lin,JIN Weiqi,et al.Target positioning method for Tian-shaped four-aperture infrared biomimetic compound eyes[J].Optics and Precision Engineering,2024,32(12):1836-1848.
陈颖,罗琳,金伟其等.田字型四孔径红外仿生复眼的目标定位[J].光学精密工程,2024,32(12):1836-1848. DOI： 10.37188/OPE.20243212.1836.

CHEN Ying,LUO Lin,JIN Weiqi,et al.Target positioning method for Tian-shaped four-aperture infrared biomimetic compound eyes[J].Optics and Precision Engineering,2024,32(12):1836-1848. DOI： 10.37188/OPE.20243212.1836.

摘要

为了探索仿生复眼在目标定位领域的应用，以视场部分重叠的“田”字型四孔径红外仿生复眼成像系统为基础，对其空间目标定位的方法进行研究。根据四个子孔径的空间分布关系分析了“田”字型四目立体视觉的成像过程，和各子孔径与世界坐标系之间的转换关系，并推导出四孔径红外仿生复眼的空间目标定位方法，提出了多孔径约束下的逆成像光路定位方法，使用交错法和点向法解算待定位的目标点坐标；通过对现有四孔径红外仿生复眼实验系统的标定，确定了四个孔径的相对位姿，进而进行了四孔径系统及其部分双孔径子系统的空间目标定位实验，结果表明：相似的孔径空间分布下，“田”字型四孔径对2 720 mm距离处的目标的定位误差为40 mm，双目定位的误差为76 mm，四孔径定位相比双目定位的误差减小约一半，能更精确地定位目标。系统在1 750 mm处的定位误差不超过2%，水平方向定位精度高于垂直方向。

Abstract

In order to explore the application of bionic compound eyes in the field of target positioning， we have studied the spatial target positioning method of the Tian- shaped four-aperture infrared biomimetic compound eyes imaging system with partially overlapping field of view. Based on the spatial distribution relationship of the four sub apertures， the imaging process of the Tian-shaped four-eye stereo vision was analyzed， and the conversion relationship between each sub aperture and the world coordinate system was derived. We have proposed the spatial target positioning method of the four-aperture infrared biomimetic compound eyes and an inverse imaging optical path positioning method under multiple apertures constraints. The coordinates of the target points to be located were calculated using the interleaving method and the point-direction method； By calibrating the existing four-aperture infrared biomimetic compound eyes experimental system， the relative poses of the four apertures were determined， and then we have conducted spatial target positioning experiments on the four-aperture system and some binocular subsystems. The results show that under similar aperture spatial distribution， the positioning error of Tian-shaped four-aperture for targets at a distance of 2 720 mm is 40 mm， and the error of binocular positioning is 76 mm. Compared to binocular positioning， the error of four-aperture is reduced by about twice， which can more accurately locate the target. The positioning error at 1 750 mm does not exceed 2%， and the accuracy of horizontal positioning is higher than vertical direction.

关键词

红外仿生复眼田字型四孔径目标定位交错法点向法

Keywords

infrared bionic compound eyestian-shaped four-aperturetarget positioninginterleaving methodpoint-direction method

references

OGATA S， ISHIDA J， SASANO T. Optical sensor array in an artificial compound eye［J］. Optical Engineering， 1994， 33： 3649-3655. doi: 10.1117/12.179889http://dx.doi.org/10.1117/12.179889

SANDERS J S. Design and analysis of apposition compound eye optical sensors［J］. Optical Engineering， 1995， 34（1）： 222. doi: 10.1117/12.183393http://dx.doi.org/10.1117/12.183393

HAMANAKA K， KOSHI H. An artificial compound eye using a microlens array and its application to scale-invariant processing［J］. Optical Review， 1996， 3（4）： 264-268. doi: 10.1007/s10043-996-0264-6http://dx.doi.org/10.1007/s10043-996-0264-6

TANIDA J， KUMAGAI T， YAMADA K， et al. Thin observation module by bound optics （TOMBO）： an optoelectronic image capturing system［C］. Optics in Computing 2000. Quebec City， Canada. SPIE， 2000： 1030-1036. doi: 10.1117/12.386797http://dx.doi.org/10.1117/12.386797

TANIDA J， KUMAGAI T， YAMADA K， et al. Thin observation module by bound optics （TOMBO）： concept and experimental verification［J］. Applied Optics， 2001， 40（11）： 1806-1813. doi: 10.1364/ao.40.001806http://dx.doi.org/10.1364/ao.40.001806

LAYCOCK L C， HANDEREK V A. Multi-aperture imaging device for airborne platforms［C］. Electro-Optical and Infrared Systems： Technology and Applications IV. Florence， Italy. SPIE， 2007： 83-93. doi: 10.1117/12.739906http://dx.doi.org/10.1117/12.739906

FLOREANO D， PERICET-CAMARA R， VIOLLET S， et al. Miniature curved artificial compound eyes［J］. Proceedings of the National Academy of Sciences of the United States of America， 2013， 110（23）： 9267-9272. doi: 10.1073/pnas.1219068110http://dx.doi.org/10.1073/pnas.1219068110

付跃刚，张方军，欧阳名钊，等. 仿生龙虾眼光学系统的发展及其在红外波段的应用［J］. 红外技术， 2014， 36（11）： 857-862. doi: 10.11846/j.issn.1001_8891.201411001http://dx.doi.org/10.11846/j.issn.1001_8891.201411001

FU Y G， ZHANG F J， OUYANG M Z， et al. Development of lobster eye optical system and the application in IR［J］. Infrared Technology， 2014， 36（11）： 857-862.（in Chinese）. doi: 10.11846/j.issn.1001_8891.201411001http://dx.doi.org/10.11846/j.issn.1001_8891.201411001

张雄，宋乐，张姗姗，等. 仿生复眼系统标定及测量方法研究［J］. 光电工程， 2014， 41（3）： 35-42. doi: 10.3969/j.issn.1003-501X.2014.03.006http://dx.doi.org/10.3969/j.issn.1003-501X.2014.03.006

ZHANG X， SONG L， ZHANG S S， et al. The method for the calibration and measurement of bionic compound-eye system［J］. Opto-Electronic Engineering， 2014， 41（3）： 35-42.（in Chinese）. doi: 10.3969/j.issn.1003-501X.2014.03.006http://dx.doi.org/10.3969/j.issn.1003-501X.2014.03.006

刘艳，苟健，尹韶云，等. 人工复眼成像三维定位系统设计［J］. 光电工程， 2014， 41（5）： 89-94. doi: 10.3969/j.issn.1003-501X.2014.05.015http://dx.doi.org/10.3969/j.issn.1003-501X.2014.05.015

LIU Y， GOU J， YIN S Y， et al. Design of three-dimensional orientation system based on artificial compound eye imaging［J］. Opto-Electronic Engineering， 2014， 41（5）： 89-94.（in Chinese）. doi: 10.3969/j.issn.1003-501X.2014.05.015http://dx.doi.org/10.3969/j.issn.1003-501X.2014.05.015

裘溯，倪宇，金伟其，等. 基于微端面光纤面板的多孔径视场重叠复眼的视场模型［J］. 光学精密工程， 2015， 23（11）： 3018. doi: 10.3788/ope.20152311.3018http://dx.doi.org/10.3788/ope.20152311.3018

QIU S， NI Y， JIN W Q， et al. FOV modeling of multi-aperture superposition compound eye based on micro-surface fiber faceplate［J］. Opt. Precision Eng.， 2015， 23（11）： 3018.（in Chinese）. doi: 10.3788/ope.20152311.3018http://dx.doi.org/10.3788/ope.20152311.3018

杜仙. 多孔径部分重叠仿生复眼成像系统的结构设计和目标的三维定位［D］. 北京：北京理工大学， 2016.

DU X. Construction of Multi-Aperture Overlapping Bionic Compound Eyes Imaging System and its Application in Target Positioning［D］. Beijing： Beijing Institute of Technology， 2016. （in Chinese）

杨超，裘溯，金伟其，等. 基于多微面光纤面板的仿生复眼图像拼接及定位算法［J］. 兵工学报， 2018， 39（6）： 1144-1150. doi: 10.3969/j.issn.1000-1093.2018.06.014http://dx.doi.org/10.3969/j.issn.1000-1093.2018.06.014

YANG C， QIU S， JIN W Q， et al. Image mosaic and positioning algorithms of bionic compound eye based on fiber faceplate［J］. Acta Armamentarii， 2018， 39（6）： 1144-1150.（in Chinese）. doi: 10.3969/j.issn.1000-1093.2018.06.014http://dx.doi.org/10.3969/j.issn.1000-1093.2018.06.014

LEE W B， JANG H， PARK S， et al. COMPU-EYE： a high resolution computational compound eye［J］. Optics Express， 2016， 24（3）： 2013-2026. doi: 10.1364/oe.24.002013http://dx.doi.org/10.1364/oe.24.002013

朱其淘. 仿生复眼精确目标定位算法研究［D］. 合肥：中国科学技术大学， 2019.

ZHU Q T. Research on Accurate Target Localization Algorithm for Bionic Compound Eyes［D］. Hefei： University of Science and Technology of China， 2019. （in Chinese）

罗琳，杨建国，裘溯，等. 多孔径分布式视场部分重叠仿生热成像理论与技术［J］. 红外与激光工程， 2021， 50（5）： 3788/IRLA20210062. doi: 10.3788/IRLA20210062http://dx.doi.org/10.3788/IRLA20210062

LUO L， YANG J G， QIU S， et al. Theory and technology of bionic thermal imaging with multi-aperture distributed and partially overlapped field of view［J］. Infrared and Laser Engineering， 2021， 50（5）： 3788/IRLA20210062.（in Chinese）. doi: 10.3788/IRLA20210062http://dx.doi.org/10.3788/IRLA20210062

杨建国，罗琳，金伟其，等. “十” 字型四孔径视场部分重叠仿生热成像［J］. 光学精密工程， 2022， 30（9）： 1019-1028. doi: 10.37188/ope.20223009.1019http://dx.doi.org/10.37188/ope.20223009.1019

YANG J G， LUO L， JIN W Q， et al. Bionic thermal imaging with cross-shaped four-aperture partially overlapped field of view［J］. Opt. Precision Eng.， 2022， 30（9）： 1019-1028.（in Chinese）. doi: 10.37188/ope.20223009.1019http://dx.doi.org/10.37188/ope.20223009.1019

HAN L J， BANCROFT J. Nearest approaches to multiple lines in n-dimensional space［J］. Crewes Res. Rep.， 2010， 22： 1-7.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

UAV target positioning integrating multi-dimensional attitude adaptive sensing

Estimation method for differential magnetic gradient tensor measurement limits

Calibration of compound eye system for target positioning with large field of view

Related Author

LING Zhicheng

LEI Zhongkui

HUANG Daqing

XU Cheng

HU Yanan

Qingzhu LI

Zhiyong SHI

Zhining LI

Related Institution

College of Electronic Information Engineering， Nanjing University of Aeronautics and Astronautics

Unmanned Aerial Vehicles Research Institute， Nanjing University of Aeronautics and Astronautics

Nanjing Changkong Technology Co.， Ltd.

College of Astronautics， Nanjing University of Aeronautics and Astronautics

Department of Vehicle and Electrical Engineering， Army Engineering University of PLA

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰