image based prediction of thermal imaging performance
DESCRIPTION
Image Based Prediction of Thermal Imaging Performance. Saar Bobrov Yoav Y. Schechner Department of Electrical Engineering, Technion. Acknowledgement: Rafael Ltd. The Problem. Predict sensor performance Prior to operation In specific scenes. Bobrov & Schechner. Applications. - PowerPoint PPT PresentationTRANSCRIPT
Image Based Prediction ofThermal Imaging
PerformanceSaar Bobrov
Yoav Y. Schechner
Department of Electrical Engineering,Technion
Acknowledgement: Rafael Ltd.
The Problem
• Predict sensor performance – Prior to operation– In specific scenes
Bobrov & Schechner
Applications• Space probes
• Electro-optical missiles
• Medical Probes
Bobrov & Schechner
Previous work• Performance based on imager
characteristics– Ratches 75’; Wittenstein and Gal 03’
• Synthetic scenes– Wegner and Drake 00’; Toler and Grey 80’
• Image based/Example based:– Texture synthesis
• Wei and Levoy 00’; Heeger and Bergen 95’– Image analogies
• Hertzman and Jacobs 01’; Drori and Cohen-or 03’
Systems Introduction
Hi-q
Lo-q
Hi-q imaging
Scene radiance
Lo-q imaging
High quality Thermal Sight
Low quality Missile seeker
Simulation
Imaging parameters
Bobrov & Schechner
From Photons to Gray Levels
PhotonRadiance
Optical Assembly
Scene
PhotonIrradiance
Detector Module
ElectronicSignal
Signal Processing
Gray levelImage
),(out nmI),( nmV
detE][
sec
scn
2
),(
srmcmphoton
yxL
),(),(),( scnoptdetSPscnout yxLyxLnmI TTTΤ
Bobrov & Schechner
Optical Assembly
Cold filter
Scanningmirror
Cold shield
Lens
Body
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Atmospheric Transmittance
Cold Shield
Cold shield Internal radiation
Internal radiation
Detector
Body
Internal radiation
Filter
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Optical Assembly
Cold filter
Scanningmirror
Cold shield
Lens
Body
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Optical Functional Diagram
PhotonRadiance
),(scn yxL
ProjectionProjectedradiance
),(proj yxE
BlurBlurred
radiance
),(blur yxE
][sec
scnoptproj
optblur
optrad
scnoptdet2
mcm
photonLLE ΤΤΤΤ
IrradiancePhoton
irradiance
),(det yxE
Bobrov & Schechner
Projection
Detector
Sceneradiance
optfR
2opt
scn R
A
][sec
scnproj2
optopt2
opt2
opt
2 ),(),(
mcm
photonfR
fR
R
A
fR yxLyxE
Bobrov & Schechner
Blur
projprojoptblur
blur ),( EhEyxE opt Τ
Optical PSF
Bobrov & Schechner
Opticsradiance
Direct ReflectedInternal radiance
Cold Shield
Sceneradiance
Detector
Camera body
Irradiance
rflCSHoptblurblurirradblur
det ),( EEEEEyxE Τ
Bobrov & Schechner
From Photons to Gray Levels
PhotonRadiance
Optical Assembly
Scene
PhotonIrradiance
Detector Module
ElectronicSignal
Signal Processing
Gray levelImage
),(out nmI),( nmV
detE][
sec
scn
2
),(
srmcmphoton
yxL
),(),(),( scnoptdetSPscnout yxLyxLnmI TTTΤ
Bobrov & Schechner
Detector Circuit
IntegrationCapacitor
InSb
Integrationswitch ReadoutOutput
Photons
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Detector Flow Diagram
Photon irradiance
Photo-detection
ElectronFlux
),(gene yxN
CrosstalkElectron
Flux
][detdetconvert
detxtk
detsamp
detnoise
detread
detdet),( voltEEnmV ΤΤΤΤΤΤ
Sampling Electrons
),(sampe nmN
),(det yxE),(e yxN
Noise
Readout
Electricsignal
),( nmV
),(e nmN
Bobrov & Schechner
Photo-Detection
][secd
darkdetgene 2d)(),(),(
cme
Q qAiyxEyxN
InSb
Photons
ElectronFlux
Bobrov & Schechner
Detector Flow Diagram
Photon irradiance
Photo-detection
ElectronFlux
),(gene yxN
CrosstalkElectron
Flux
][detdetconvert
detxtk
detsamp
detnoise
detread
detdet),( voltEEnmV ΤΤΤΤΤΤ
Sampling Electrons
),(sampe nmN
),(det yxE),(e yxN
Noise
Readout
Electricsignal
),( nmV
),(e nmN
Bobrov & Schechner
Crosstalk
sec
gene
gene
detxtke 2),(
cme
xtk NhNyxN Τ
Crosstalk PSF
Photons
Bobrov & Schechner
Detector Flow Diagram
Photon irradiance
Photo-detection
ElectronFlux
),(gene yxN
CrosstalkElectron
Flux
][detdetconvert
detxtk
detsamp
detnoise
detread
detdet),( voltEEnmV ΤΤΤΤΤΤ
Sampling Electrons
),(sampe nmN
),(det yxE),(e yxN
Noise
Readout
Electricsignal
),( nmV
),(e nmN
Bobrov & Schechner
Sampling
eyxyxNtyxNnmNdA dd),(),(),( einte
detsamp
sampe
Τ
α Δxd
β
Δyd
Bobrov & Schechner
Detector Flow Diagram
Photon irradiance
Photo-detection
ElectronFlux
),(gene yxN
CrosstalkElectron
Flux
][detdetconvert
detxtk
detsamp
detnoise
detread
detdet),( voltEEnmV ΤΤΤΤΤΤ
Sampling Electrons
),(sampe nmN
),(det yxE),(e yxN
Noise
Readout
Electricsignal
),( nmV
),(e nmN
Bobrov & Schechner
Noise• Noise components:
– Shot noise:– Residual Non-Uniformity
sampeshot N
RNU
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Lo-q Non-Uniformity
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Hi-q Non-Uniformity
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Bobrov & Schechner
Noise• Noise components:
– Shot noise:– Residual non-uniformity– Excess noise
• RMS noise amplitude:
• Noisy image:
sampeshot N
2excess
2RNU
2shotnoise
),(),(),(),( noisesampe
sampe
detnoisee nmNnmNnmNnmN Τ
RNU
excess
Bobrov & Schechner
Detector Flow Diagram
Photon irradiance
Photo-detection
ElectronFlux
),(gene yxN
CrosstalkElectron
Flux
][detdetconvert
detxtk
detsamp
detnoise
detread
detdet),( voltEEnmV ΤΤΤΤΤΤ
Sampling Electrons
),(sampe nmN
),(det yxE),(e yxN
Noise
Readout
Electricsignal
),( nmV
),(e nmN
Bobrov & Schechner
From Photons to Gray Levels
PhotonRadiance
Optical Assembly
Scene
PhotonIrradiance
Detector Module
ElectronicSignal
Signal Processing
Gray levelImage
),(out nmI),( nmV
detE][
sec
scn
2
),(
srmcmphoton
yxL
),(),(),( scnoptdetSPscnout yxLyxLnmI TTTΤ
Bobrov & Schechner
Signal Processing
][),(),(),( SPmed
SPADC
SPadd
SP levelgraynmVnmVnmIout ΤΤΤΤ
Mediansubtraction
Electricsignal
),( nmV ),(med nmV
A/D Add
),(out nmI),(8bit nmI
Gray levelimage
Bobrov & Schechner
Analog to Digital Conversion
V (m,n) [volt]Vmin Vma
x
I 8bi
t(m,n
)
[Dig
ital
un
its]
255
Bobrov & Schechner
Signal Processing
][),(),(),( SPmed
SPADC
SPadd
SP levelgraynmVnmVnmIout ΤΤΤΤ
Mediansubtraction
Electricsignal
),( nmV ),(med nmV
A/D Add
),(out nmI),(8bit nmI
Gray levelimage
Bobrov & Schechner
Median Subtraction• Omits large DC signal before A/D• Subtracts non-uniformity between
detector elements
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10
30
50
70
90
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-10
10
30
50
70
90
0 10 20 30
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120
140
160
180
200
220
Bobrov & Schechner
Signal Processing
][),(),(),( SPmed
SPADC
SPadd
SP levelgraynmVnmVnmIout ΤΤΤΤ
Mediansubtraction
Electricsignal
),( nmV ),(med nmV
A/D Add
),(out nmI),(8bit nmI
Gray levelimage
Bobrov & Schechner
Line Add to Standard Format
DetectorArray
120 lines 240 lines
Bobrov & Schechner
Signal Processing
][),(),(),( SPmed
SPADC
SPadd
SP levelgraynmVnmVnmIout ΤΤΤΤ
Mediansubtraction
Electricsignal
),( nmV ),(med nmV
A/D Add
),(out nmI),(8bit nmI
Gray levelimage
Bobrov & Schechner
Problem•How does the scene look like??
From Gray Levels to Photons
PhotonRadiance
Optical Assembly
PhotonIrradiance
Detector Module
ElectronicSignal
Signal Processing
Grey levelImage
),(q-Hiout nmI),(q-Hi nmV
),(q-Hidet nmE
),(scn nmL
),(),(),( q-Hiout
1SP1det1optq-Hiout
1q-Hiscn )()()()( nmnmnmL ITTTIΤ
Hi-qimage
Hi-qimage
Bobrov & Schechner
Inversion Pitfalls•Deblurring
…Hi-q
Image Hi-qDeblur …
SimulatedScene …
Lo-qBlur …
Lo-qImage
Bobrov & Schechner
Blur Frequency Response
HHi-q
HLo-q
Bobrov & Schechner
Deblur Operation
1/HHi-q
HLo-q
HLo-q/HHi-q
Bobrov & Schechner
Noise Handling• Hi-q image is noisy:
• No inversion to noise• Adding Lo-q noise
• Estimate Hi-q noise• Calculate Lo-q noise amplitude:
2q-Hinoise
2q-Lonoise
q-Lonoise )()(ˆ
noiseout
idealout
q-Hiout III
q-Hinoisenoise
sampee NNNN
q-Hinoise
Bobrov & Schechner
Experiments
Courtesy of Rafael Ltd.
Hi-q Image
Bobrov & Schechner
Lo-q Image
Bobrov & Schechner
Simulated Image
Bobrov & Schechner
Hi-qLo-q
Simulation
Bobrov & Schechner
Hi-q Image
Bobrov & Schechner
Lo-q Image
Bobrov & Schechner
Simulated Image
Bobrov & Schechner
Hi-qLo-q
Simulation
Bobrov & Schechner