目标定位仿生复眼视觉系统成像位置计算

用于目标定位的仿生复眼视觉系统，目标成像位置的精确计算是提高系统定位精度的关键。文章从像斑能量分布的角度出发，介绍了一种较为适于复眼成像位置计算的方法:能量对称法。该方法以主光线在像斑上的坐标定义像斑重心，以主光线像点是像斑能量对称中心的原理来获得像斑重心（即像斑位置）。文中以仿生复眼视觉系统的简化模型为研究对象，应用能量对称法对理论模拟像斑和实验像斑进行了实际计算，计算表明理论像斑位置可以通过能量对称法准确得到；利用实验像斑位置计算入射光线角度也达到了较为理想的计算精度。文中采用传统的灰度重心法同步计算，与新方法形成对比。

Location of the target image for compound eye system

Accurate calculation of the spotlight center position on the image is important to improve target localization accuracy for compound eye system. A method of calculating the spotlight position was introduced based on the symmetric property of the energy field. The position of main light on the image was defined as the position of the light spot on the image, and can be get by calculating the point of the spot energy centre on the image. Simulation and real images were used both with gray gravity method and energy method respectively, and the results show that energy method agrees with ideal position. Incident angle was calculated from the position of the image spot, the result shows energy method is also better than gray gravity method.