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

),(

srmcm

photon

yxL

),(),(),( scnoptdetSPscnout yxLyxLnmI TTTΤ

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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

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Projection

Detector

Sceneradiance

optfR

2opt

scn R

A

][sec

scnproj2

optopt2

opt2

opt

2

),(),(

mcm

photonfR

fR

R

A

fR yxLyxE

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Blur

projprojoptblur

blur ),( EhEyxE opt Τ

Optical PSF

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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

),(

srmcm

photon

yxL

),(),(),( scnoptdetSPscnout yxLyxLnmI TTTΤ

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Detector Circuit

IntegrationCapacitor

InS

b

Integrationswitch Readout

Output

Photons

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Detector Flow Diagram

Photon irradiance

Photo-detection

ElectronFlux

),(gene yxN

Crosstalk

ElectronFlux

][detdetconvert

detxtk

detsamp

detnoise

detread

detdet),( voltEEnmV ΤΤΤΤΤΤ

SamplingElectrons

),(sampe nmN

),(det yxE),(e yxN

Noise

Readout

Electricsignal

),( nmV

),(e nmN

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Photo-Detection

][secd

darkdetgene 2d)(),(),(

cme

Q qAi

yxEyxN

InSb

Photons

ElectronFlux

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Detector Flow Diagram

Photon irradiance

Photo-detection

ElectronFlux

),(gene yxN

Crosstalk

ElectronFlux

][detdetconvert

detxtk

detsamp

detnoise

detread

detdet),( voltEEnmV ΤΤΤΤΤΤ

SamplingElectrons

),(sampe nmN

),(det yxE),(e yxN

Noise

Readout

Electricsignal

),( nmV

),(e nmN

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Crosstalk

sec

gene

gene

detxtke 2),(

cme

xtk NhNyxN Τ

Crosstalk PSF

Photons

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Detector Flow Diagram

Photon irradiance

Photo-detection

ElectronFlux

),(gene yxN

Crosstalk

ElectronFlux

][detdetconvert

detxtk

detsamp

detnoise

detread

detdet),( voltEEnmV ΤΤΤΤΤΤ

SamplingElectrons

),(sampe nmN

),(det yxE),(e yxN

Noise

Readout

Electricsignal

),( nmV

),(e nmN

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Sampling

eyxyxNtyxNnmNdA dd),(),(),( einte

detsamp

sampe

Τ

α Δxd

β

Δyd

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Detector Flow Diagram

Photon irradiance

Photo-detection

ElectronFlux

),(gene yxN

Crosstalk

ElectronFlux

][detdetconvert

detxtk

detsamp

detnoise

detread

detdet),( voltEEnmV ΤΤΤΤΤΤ

SamplingElectrons

),(sampe nmN

),(det yxE),(e yxN

Noise

Readout

Electricsignal

),( nmV

),(e nmN

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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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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

Crosstalk

ElectronFlux

][detdetconvert

detxtk

detsamp

detnoise

detread

detdet),( voltEEnmV ΤΤΤΤΤΤ

SamplingElectrons

),(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

),(

srmcm

photon

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

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Analog to Digital Conversion

V (m,n) [volt]Vmin Vma

x

I 8b

it(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

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Median Subtraction• Omits large DC signal before A/D• Subtracts non-uniformity between

detector elements

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30

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90

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-10

10

30

50

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90

0 10 20 30

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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

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Line Add to Standard Format

DetectorArray

120 lines 240 lines

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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

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Inversion Pitfalls•Deblurring

…

Hi-qImage

Hi-qDeblur …

SimulatedScene …

Lo-qBlur …

Lo-qImage

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Blur Frequency Response

HHi-q

HLo-q

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Deblur Operation

1/HHi-q

HLo-q

HLo-q/HHi-q

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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

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Lo-q Image

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Simulated Image

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Hi-qLo-q

Simulation

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Hi-q Image

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Lo-q Image

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Simulated Image

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Hi-qLo-q

Simulation

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