Patent Application
20180188160
The present technology relates an inspection apparatus, an inspection method and a program, and particularly to an inspection apparatus, an inspection method and a program by which accurate measurement light correction can be performed.
Conventionally, it is known to use, when measurement of an inspection index of an inspection object such as a plant is performed, a reference reflector plate in order to correct a variation of a measurement light source upon measurement (refer to, for example, PTL 1).
JP 2006-101768A
However, with the conventional technology, upon measurement of an inspection index of an inspection object, a variation of a measurement light source sometimes makes it difficult to perform accurate measurement light correction. Therefore, it is demanded to perform, upon measurement of an inspection index of an inspection object, accurate measurement light correction even if the measurement light source varies.
The present technology has been made in view of such a situation as described above and makes it possible to perform accurate measurement light correction by removing the light source dependency upon measurement of an inspection index of an inspection object.
The inspection apparatus according to one aspect of the present technology is an inspection apparatus including a correction gain determination unit configured to determine, based on a table in which reference spectral information and a correction gain for correcting measurement spectral information of an inspection object obtained by sensing under a measurement light source are associated with each other and measurement spectral information of a reference reflector plate or a reference transmission plate obtained by sensing under the measurement light source, a measurement light source correspondence correction gain corresponding to the measurement light source, and a correction unit configured to correct the measurement spectral information of the inspection object obtained by sensing under the measurement light source based on the determined measurement light source correspondence correction gain.
The inspection apparatus of the one aspect of the technology may be an independent apparatus or an internal block that configures one apparatus. Further, an inspection method or a program of the one aspect of the present technology is an inspection method or a program that corresponds to the inspection apparatus of the one aspect of the present technology described above.
In the inspection apparatus, inspection method and program of the one aspect of the present technology, based on the table in which reference spectral information and a correction gain for correcting measurement spectral information of an inspection object obtained by sensing under a measurement light source are associated with each other and measurement spectral information of the reference reflector plate or the reference transmission plate obtained by sensing under the measurement light source, the measurement light source correspondence correction gain corresponding to the measurement light source is determined, and the measurement spectral information of the inspection object obtained by sensing under the measurement light source is corrected based on the determined measurement light source correspondence correction gain.
With the one aspect of the present technology, accurate measurement light correction can be performed.
It is to be noted that the effect described here is not necessarily restrictive but may be any effect described in the present disclosure.
In the following, an embodiment of the present technology is described with reference to the drawings. It is to be noted that the description is given in the following order.
The vegetation inspection apparatus 10 of
Referring to
In
Further, in the following description, the term spectral ratio is a value representative of a relationship of spectra obtained by dispersing light from an object. Here, in order to determine a normalized vegetation index (NDVI value), since a value of an R (red) component and a value of an IR (infrared) component are required as a spectroscopic spectrum, the spectral ratio is a value representative of a relationship between an R component and an IR component.
As the spectral ratio in this instance, data may be of any type if the data represents a ratio of R and IR or values from which a ratio of R and IR can be determined such as, for example, a value obtained by calculating R/IR, a value obtained by calculating IR/R, or values of R and IR retained independently of each other. In the following description, a case in which, as the spectral ratio, a value obtained by calculating R/IR (hereinafter referred to also as “R/IR ratio”) is used is described as an example.
Further, while a lookup table (LUT: Lookup Table) created in advance is used in the vegetation inspection apparatus 10, a light source assumed in advance upon creation of a lookup table (LUT) is referred to as assumed light source, and a light source of a reference color temperature from among a plurality of assumed light sources having different color temperatures from each other is referred to as reference light source. Furthermore, a light source that illuminates an object upon measurement of an inspection index of an inspection object 50 under various light sources is referred to as measurement light source.
Under the measurement light source, reflection light from the inspection object 50 enters the sensor 103 through the lens 102.
Further, under the measurement light source, reflection light from the reference reflector plate 101 enters the sensor 103 through the lens 102.
The sensor 103 is configured, for example, from a spectroscope having a plurality of optical filters that transmit light of predetermined wavelength bands, and a sensing element including a plurality of pixels arrayed in a matrix on a sensor face thereof and has a spectroscopic sensing function. The sensor 103 disperses, by the spectroscope thereof, light (reflection light) from objects (inspection object 50 and reference reflector plate 101) incident thereto through the lens 102 and detects, by the sensing element thereof, light irradiated upon the sensor face to output measurement signals (measurement values) according to the brightness values of the respective spectral components.
As depicted in
Further, the spectroscope is configured, defining such optical filters of 8 pixels as described above as one set, from n sets (n is a natural number equal to or greater than 1) optical filters arranged successively over an overall area of the sensor face of the sensing element. It is to be noted that the set of optical filters is not limited to the configuration in which 8 pixels are set as one set, but different forms such as, for example, a configuration in which four pixels are set as one set can be adopted.
Here, where a normalized vegetation index (NDVI value) is measured as the vegetation index, since measurement values of the R (red) component and the IR (infrared) component are required, the sensor 103 measures (senses) a value of the R component (R channel (Rch) value) and a value of the IR component (IR channel (IRch) value) in response to light (reflection light) from objects and supplies the values to the exposure controlling unit 104 and the correction processing unit 105.
It is to be noted that the value of the R component (R channel value) is a measurement value corresponding, for example, to the optical filter that passes the first red light R1 or a measurement value corresponding to the optical filter that passes the second red light R2. Meanwhile, the value of the IR component (IR channel value) is a measurement value corresponding, for example, to the optical filter that passes the first infrared light IR1 or a measurement value corresponding to the optical filter that passes the second infrared light IR2.
It is to be noted that, for the sensor 103, not only an area sensor that captures an object by plane but also a line sensor that captures an object by line can be used. Further, even where only one pixel is arranged as each of a pixel for the R component and a pixel for the IR component on the sensing element, an object can be scanned if a mechanism for moving the sensor or the measurement object is provided.
The exposure controlling unit 104 controls the shutter speed of an optical system and the aperture amount by an iris (aperture) of the lens 102 and so forth, the shutter speed of an electronic shutter of the sensor 103 or the like such that measurement (sensing) is performed in a state in which signal charge remains within a dynamic range without being saturated in the sensor 103 to perform exposure control.
The correction processing unit 105 performs, on the basis of the R channel value and the IR channel value supplied thereto from the sensor 103, a correction process for correcting the spectral ratio (R/IR ratio) between the R channel value and the IR channel value and supplies information indicative of the spectral ratio (R/IR ratio) after correction to the inspection index calculation unit 106.
In this correction process, a lookup table (LUT) created in advance is referred to determine a correction gain of a spectral ratio according to a measurement spectral ratio (R/IR ratio) of the reference reflector plate 101 obtained by measurement (sensing) under a measurement light source (such correction gain is hereinafter referred to as measurement light source correspondence correction gain), and the measurement light source correspondence correction gain is used to correct the measurement spectral ratio (R/IR ratio) of the inspection object 50 obtained by measurement (sensing) under the measurement light source.
It is to be noted that, in the lookup table (LUT), a reference spectral ratio (R/IR ratio) and a correction gain are associated with each other for each assumed light source of each color temperature. It is to be noted that the reference spectral ratio corresponds to the assumed spectral ratio (R/IR ratio) of the reference reflector plate 101 under the assumed light source. Further, the correction gain is a gain for correcting the measurement spectral ratio (R/IR ratio) of the inspection object 50 obtained by measurement (sensing) under the measurement light source. It is to be noted that the particular substance of the creation method of a lookup table (LUT) is hereinafter described with reference to
The inspection index calculation unit 106 calculates and outputs a vegetation index using the information supplied from the correction processing unit 105 and indicative of the measurement spectral ratio (R/IR ratio) of the inspection object 50 after correction. Here, the (corrected) NDVI value can be determined as a vegetation index by arithmetically operating an expression (1) given below.
NDVI=(IR−R)/(IR+R)=(1−R/IR)/(1+R/IR) (1)
It is to be noted that, in the expression (1), IR represents the reflectance in the near infrared region and R represents the reflectance in the visible region (red). It is to be noted that the detailed substance of the inspection method of the inspection object 50 such as to calculate a normalized vegetation index (NDVI value) is hereinafter described with reference to
The vegetation inspection apparatus 10 is configured in such a manner as described above. The vegetation inspection apparatus 10 of
Consequently, for example, if 0.6 is measured as the NDVI value of the inspection object 50 (specific plant) under the measurement light source by the vegetation inspection apparatus 10 of
<2. Principe of Inspection where Lookup Table (LUT) is Used>
Here, in what manner spectral characteristics of a light source and an object (inspection object 50 and reference reflector plate 101) act on the output value of the sensor 103, the spectral ratio (R/IR ratio) and the measurement light correction is indicated with reference to
It is to be noted here that a case is described first in which, using a reference reflector plate of a white plate or a gray plate that has a flat spectral reflectance characteristic and is normally used for white balance in an RGB camera or the like (such reference reflector plate is hereinafter referred to also as flat reference reflector plate 101F), a correction gain is determined directly from an output value of the sensor 103 when the flat reference reflector plate 101F is measured to perform measurement light correction with reference to
(Case in which Flat Reference Reflector Plate is Used to Directly Determine Correction Gain to Perform Measurement Light Correction)
In the graphs of an assumed light source L1 and an assumed light source L2 of the sensor spectral sensitivity characteristic S(λ) of A of
In the light source spectral characteristic I(λ) of B of
The measurement system overall spectral characteristic of C of
It is assumed that, in the following description, measurement of an object such as the reference reflector plate 101F or the inspection object 50 is assumed and the description is given using an R channel value and an IR channel value that are output values of the sensor 103. Here, the output values of the sensor 103 vary in proportion to a value obtained by multiplying the measurement system overall spectral characteristic S(λ)×I(λ) and O_Ref(λ) or O_ISP(λ) that is a spectral reflectance characteristic of each of the objects (reference reflector plate 101F and inspection object 50) and then integrating the products on the wavelength axis.
First, the assumed light source L1 having a flat spectral characteristic is described with reference to graphs at the left side in D of
D of
It is to be noted that the intensity of the axis of ordinate of D of
Here, it is assumed that the R channel value and the IR channel value upon measurement of the reference reflector plate 101F under the assumed light source L1 are represented by D_Ref_L1_R=1.0 and D_Ref_L1_IR=1.0, respectively. In this case, the spectral ratio (R/IR ratio) of the reference reflector plate 101F under the assumed light source L1 is calculated by an expression (2) given below.
R_Ref_L1=D_Ref_L1_R/D_Ref_L1_IR=1.0/1.0=1.0 (2)
Further, F of
It is to be noted that the intensity of the axis of ordinate in F of
Here, an R channel value and an IR channel value upon measurement of the inspection object 50 under the assumed light source L1 are determined as D_Plt_ISP_L1_R=0.25 and D_Plt_ISP_L1_IR=1.0, respectively. In this case, the spectral ratio (R/IR ratio) of the inspection object 50 under the assumed light source L1 is calculated by an expression (3) given below.
R_Plt_ISP_L1=D_Plt_ISP_L1_R/D_Plt_ISP_L1_IR=0.25/1.0=0.25 (3)
Then, measurement light correction for the spectral ratio (R/IR ratio) of the inspection object 50 determined by the expression (3) is represented by an expression (4) given below using the spectral ratio (R/IR ratio) of the reference reflector plate 101F determined by the expression (2). However, since the light source spectral characteristic of the assumed light source L1 in this case is flat, the measurement light correction is equivalent to that in an alternative case in which correction is not performed.
R_Plt_ISP_L1_comp=R_Plt_ISP_L1/R_Ref_L1=0.25/1.0=0.25 (4)
Now, an assumed light source L2 whose spectral characteristic is different from that of the assumed light source L1 and in which the intensity increases as the wavelength increases is described with reference to graphs at the right side in D of
D of
Here, the R channel value and the IR channel value upon measurement of the reference reflector plate 101 under the assumed light source L2 are determined as D_Ref_L2_R=0.25 and D_Ref_L2_IR=1.0, respectively. In this case, the spectral ratio (R/IR ratio) of the reference reflector plate 101F under the assumed light source L2 is calculated by an expression (5) given below.
R_Ref_L2=D_Ref_L2_R/D_Ref_L2_IR=0.25/1.0=0.25 (5)
Further, F of
Here, the R channel value and the IR channel value upon measurement of the inspection object 50 under the assumed light source L2 are determined as D_Plt_ISP_L2_R=0.05 and D_Plt_ISP_L2_IR=1.0, respectively. In this case, the spectral ratio (R/IR ratio) of the inspection object 50 under the assumed light source L2 is calculated by an expression (6) given below.
R_Plt_ISP_L2=D_Plt_ISP_L2_R/D_Plt_ISP_L2_IR=0.05/1.0=0.05 (6)
Then, measurement light correction for the spectral ratio (R/IR ratio) of the inspection object 50 calculated by the expression (6) is represented by an expression (7) given below using the spectral ratio (R/IR ratio) of the reference reflector plate 101F determined by the expression (5)
R_Plt_ISP_L2_comp=R_Plt_ISP_L2/R_Ref_L2=0.05/0.25=0.20 (7)
Measurement light correction is performed in such a manner as described above. However, although, from a point of view of the correction accuracy in measurement light correction for the spectral ratio (R/IR ratio) of the inspection object 50, the measurement value under the assumed light source L2 (R_Plt_ISP_L2=0.05) is much different from the measurement value under the assumed light source L1 (R_Plt_ISP_L1=0.25), it is corrected to a closer value (R_Plt_ISP_L1_comp=0.25, R_ISP_L2_comp=0.20) by the measurement light correction described hereinabove. However, even where the measurement light correction is performed, there still remains an error.
This arises from the fact that, while the correction gain to the spectral ratio (R/IR ratio) corresponding to the output value of the sensor 103 for the spectral characteristic of G of
(Case in which Measurement Light Correction is Performed Using Lookup Table (LUT))
Since a sensor spectral sensitivity characteristic S(λ) of A of
First, a creation method of a lookup table (LUT) is described with reference to D of
D of
Here, the R channel value and the IR channel value upon measurement of the reference reflector plate 101 under the assumed light source L1 and the assumed light source L2 are determined as D_Ref_L1_R=1.0, D_Ref_L1_IR=1.0, and D_Ref_L2_R=0.25, D_Ref_L2_IR=1.0. In this case, the spectral ratios (R/IR ratio) of the reference reflector plate 101 under the assumed light source L1 and assumed light source L2 are calculated by expressions (8) and (9) given below, respectively.
R_Ref_L1=D_Ref_L1_R/D_Ref_L1_IR=1.0/1.0=1.0 (8)
R_Ref_L2=D_Ref_L2_R/D_Ref_L2_IR=0.25/1.0=0.25 (9)
H of
An inspection object system overall spectrum representative characteristic of I of
It is to be noted that the intensity of the axis of ordinate of H of
Here, assuming a case in which the inspection object 50 having the spectral reflectance representative characteristic O_Plt_AVE(λ) is measured under the assumed light source L1 and assumed light source L2, the R channel value and the IR channel value of the light sources are determined as D_Plt_AVE_L1_R=0.25, D_Plt_AVE_L1_IR=1.0, and D_Plt_AVE_L2_R=0.05, D_Plt_AVE_L2_IR=1.0, respectively. In this case, the spectral ratios (R/IR ratio) of the inspection object 50 under the assumed light source L1 and the assumed light source L2 are calculated by expressions (10) and (11) given below, respectively.
R_Plt_AVE_L1=D_Plt_AVE_L1_R/D_Plt_AVE_L1_IR=0.25/1.0=0.25 (10)
R_Plt_AVE_L2=D_Plt_AVE_L2_R/D_Plt_AVE_L2_IR=0.05/1.0=0.05 (11)
Further, correction gains for the assumed light source L1 and the assumed light source L2 are calculated by expressions (12) and (13) given below. However, the assumed light source L1 here is a reference light source.
G_Plt_AVE_L1=R_Plt_AVE_L1/R_Plt_AVE_L1=0.25/0.25=1.0 (12)
G_Plt_AVE_L2=R_Plt_AVE_L1/R_Plt_AVE_L2=0.25/0.05=5.0 (13)
Further, since the spectral ratio (R/IR ratio) of the reference reflector plate 101 and the correction gain are calculated for each assumed light source, information of them is stored into the lookup table (LUT). In particular, with the assumed light source L1, R_Ref_L1=1.0 calculated by the expression (8) and G_Plt_AVE_L1=1.0 calculated by the expression (12) are associated, and with the assumed light source L2, R_Ref_L2=0.25 calculated by the expression (9) and G_Plt_AVE_L2=5.0 calculated by the expression (13) are associated.
R_Ref_L1(=1.0): G_Plt_AVE_L1(=1.0) Assumed light source L1:
R_Ref_L2(=0.25): G_Plt_AVE_L2(=5.0) Assumed light source L2:
The lookup table (LUT) can be created in such a manner as described above.
Now, measurement of the R/IR ratio by measurement of the inspection object 50 under various measurement light sources and measurement light correction for the spectral ratio (R/IR ratio) of the inspection object 50 in which the lookup table (LUT) described above is used are described with reference to F of
F of
Here, where the inspection object 50 having the spectral reflectance characteristic O_Plt_ISP(λ) is measured under the measurement light source L1 and the measurement light source L2, the R channel value and the IR channel value for each light source are determined as D_Plt_ISP_L1_R=0.25, D_Plt_ISP_L1_IR=1.0, D_Plt_ISP_L2_R=0.05 and D_Plt_ISP_L2_IR=1.0. In this case, the spectral ratios (R/IR ratios) of the inspection object 50 under the measurement light source L1 and the measurement light source L2 are calculated by expressions (14) and (15) given below, respectively.
R_Plt_ISP_L1=D_Plt_ISP_L1_R/D_Plt_ISP_L1_IR=0.25/1.0=0.25 (14)
R_Plt_ISP_L2=D_Plt_ISP_L2_R/D_Plt_ISP_L2_IR=0.05/1.0=0.05 (15)
Here, where it is assumed that the measurement light source L1 and the assumed light source L1 coincide with each other, the spectral ratio (R/IR ratio) of the reference reflector plate 101 under the measurement light source L1 is R_Ref_L1=1.0, and therefore, referring to the lookup table (LUT), it is determined that the assumed light source L1 is an estimated light source. Consequently, G_Plt_AVE_L1=1.0 is determined as a correction gain according to the spectral ratio (R_Ref_L1=1.0) of the reference reflector plate 101 under the measurement light source L1 on the basis of the lookup table (LUT).
Then, using the correction gain determined in such a manner as described above, the spectral ratio (R/IR ratio) of the inspection object 50 under the measurement light source L1 is corrected in accordance with an expression (16) given below.
R_Plt_ISP_L1_comp=R_Plt_ISP_L1×G_Plt_AVE_L1=0.25×1.0=0.25 (16)
On the other hand, where it is assumed that the measurement light source L2 coincides with the assumed light source L2, since the spectral ratio (R/IR ratio) of the reference reflector plate 101 under the measurement light source L2 becomes R_Ref_L2=0.25, it is determined referring to the lookup table (LUT) that the assumed light source L2 is an estimated light source. Consequently, G_Plt_AVE_L2=5.0 is determined as a correction gain according to the spectral ratio (R_Ref_L2=0.25) of the reference reflector plate 101 under the measurement light source L2 on the basis of the lookup table (LUT).
Then, the spectral ratio (R/IR ratio) of the inspection object 50 under the measurement light source L2 is corrected in accordance with an expression (17) given below using the correction gain determined in such a manner as described above.
R_Plt_ISP_L2_comp=R_Plt_ISP_L2×G_Plt_AVE_L2=0.05×5.0=0.25 (17)
While measurement light correction is performed in such a manner as described, from a point of view of the correction accuracy in measurement light correction for the spectral ratio (R/IR ratio) of the inspection object 50, the measurement value (R_Plt_ISP_L2=0.05) under the measurement light source L2 is much different from the measurement value (R_Plt_ISP_L1=0.25) under the measurement light source L1. However, the measurement values are corrected to equal values (R_Plt_ISP_L1_comp=R_Plt_ISP_L2_comp (=0.25)) by the measurement light correction to which the expression (17) is applied.
In regard to a reason therefor, this arises from the fact that the correction gain to the spectral ratio (R/IR ratio) corresponding to the output of the sensor 103 for the spectral characteristic of G of
It is to be noted that, while a case is described in which the spectral reflectance representative characteristic O_Plt_AVE(λ) of the inspection object 50 and the spectral reflectance characteristic O_Plt_ISP(λ) of the inspection object 50 that are used upon creation of a lookup table (LUT) are equal to each other in
Now, a creation method of a lookup table (LUT) to be used by the vegetation inspection apparatus 10 (
The lookup table creation apparatus 20 of
In
It is to be noted that, in
A measurement value of the spectral reflectance O_Plt_i(λ) of the inspection object 50 is inputted from the measurement apparatus 21 to the inspection object average spectral characteristic calculation unit 201. In the spectral reflectance O_Plt_i(λ), i is an integer equal to or greater than 1 (i=1, . . . , N) and is an index indicative of a number of an individual having a different characteristic among individuals included in the inspection object 50. Here, the characteristic can be a vegetation representing an amount or activity of a plant with respect to a same kind of plants.
The inspection object average spectral characteristic calculation unit 201 calculates an average spectral reflectance characteristic O_Plt_i(λ) of N spectral reflectance characteristics O_Plt_i(λ) on the basis of the spectral reflectance characteristic O_Plt_i(λ) of the inspection object 50 and supplies the average spectral reflectance characteristic O_Plt_i(λ) to the inspection object measurement sensor output value calculation unit 204.
To the reference reflector plate measurement sensor output value calculation unit 202, known spectral information of the assumed light sources (I_2800 k(λ), I_5500 k(λ), I_10000 k(λ)), known spectral sensitivity characteristic (S_R(λ), S_IR(λ)) of the channels (of the sensor) of the measurement apparatus 21 and a measurement value of the spectral reflectance characteristic O_Ref_i(λ) of the reference reflector plate 101 are inputted from the measurement apparatus 21.
The reference reflector plate measurement sensor output value calculation unit 202 calculates an R channel value and an IR channel value in the case in which the reference reflector plate 101 is measured under the assumed light sources of the color temperatures on the basis of the known spectral information (I_2800 K(λ), I_5500 K(λ), I_10000 K(λ)) of the assumed light sources, known spectral sensitivity characteristics (S_R(λ), S_IR(λ)) of the channels and the spectral reflectance characteristic O_Ref(λ) of the reference reflector plate 101.
Here, channel values (D_Ref_2800 K_R, D_Ref_2800 K_IR) under the assumed light source having the color temperature of 2800 K, channel values (D_Ref_5500 K_R, D_Ref_5500 K_IR) under the assumed light source having the color temperature of 5500 K and channel values (D_Ref_10000 K_R, D_Ref_10000 K_IR) under the assumed light source having the color temperature of 10000 K are calculated and supplied to the reference reflector plate R/IR ratio calculation unit 203.
The reference reflector plate R/IR ratio calculation unit 203 calculates the assumed spectral ratios (R/IR ratios) of the reference reflector plate 101 under the assumed light sources having the color temperatures on the basis of the R channel values and the IR channel values obtained where the reference reflector plate 101 is measured under the assumed light source of the color temperatures and supplied from the reference reflector plate measurement sensor output value calculation unit 202.
Here, the assumed spectral ratios (D_Ref_2800 K, D_Ref_5500 K, D_Ref_10000 K) of the reference reflector plate 101 are calculated on the basis of the channel values (D_Ref_2800 K_R and D_Ref_2800 K_IR, D_Ref_5500 K_R and D_Ref_5500 K_IR, and D_Ref_10000 K_R and D_Ref_10000 K_IR) under the assumed light sources having the color temperatures of 2800 K, 5500 K and 10000 K, and are supplied to the lookup table creation unit 207.
Further, to the inspection object measurement sensor output value calculation unit 204, the known spectral information (I_2800 K(λ), I_5500 K(λ), I_10000 K(λ)) of the assumed light sources, known spectral sensitivity characteristics (S_R(λ), S_IR(λ)) of the channels of (the sensor of) the measurement apparatus 21 and average reflectance O_Plt_AVE(λ) of the inspection object 50 supplied from the inspection object average spectral characteristic calculation unit 201 are inputted.
The inspection object measurement sensor output value calculation unit 204 calculates an R channel value and an IR channel where the inspection object 50 is measured under the assumed light sources of the color temperatures on the base of the known spectral information (I_2800 K(λ), I_5500 K(λ), I_10000 K(λ)) of the assumed light sources, known spectral sensitivity characteristics (S_R(λ), S_IR(λ)) of the channels and average reflectance O_Plt_AVE(λ) of the inspection object 50.
Here, channel values (D_Plt_AVE_2800 K_R, D_Plt_AVE_2800 K_IR) under the assumed light source of the color temperature of 2800 K, channel values (D_Plt_AVE_5500 K_R, D_Plt_AVE_5500 K_IR) under the assumed light source of the color temperature of 5500 K and channel values (D_Plt_AVE_10000 K_R, D_Plt_AVE_10000 K_IR) under the assumed light source of the color temperature of 10000 K are calculated and supplied to the inspection object R/IR ratio calculation unit 205. However, the channel values under the measurement light sources of the color temperatures are determined as channel values of a representative value such as an average value.
The inspection object R/IR ratio calculation unit 205 calculates an assumed spectral ratio (R/IR ratio) of the inspection object 50 under the assumed light source of each color temperature on the basis of the R channel values and the IR channel values obtained where the inspection object 50 is measured under the assumed light sources of the color temperatures and supplied from the inspection object measurement sensor output value calculation unit 204.
Here, assumed spectral ratios (R_Plt_AVE_2800 K, R_Plt_AVE_5500 K, R_Plt_AVE_10000 K) of the inspection object 50 are calculated on the basis of the channel values (D_Plt_AVE_2800 K_R, D_Plt_AVE_2800 K_IR, D_Plt_AVE_5500 K_R, D_Plt_AVE_5500 K_IR, D_Plt_AVE_10000 K_R, D_Plt_AVE_10000 K_IR) under the assumed light sources of the color temperatures of 2800 K, 5500 K and 10000 K, and are supplied to the correction gain calculation unit 206. However, the assumed spectral ratio (R/IR ratio) of the inspection object 50 is determined as an assumed spectral ratio (R/IR ratio) of the representative value such as an average value.
The correction gain calculation unit 206 calculates a correction gain for correcting the measurement spectral ratios (R/IR ratios) of the inspection object 50 obtained by measurement (sensing) under the measurement light source on the basis of the assumed spectral ratios (R/IR ratios) of the inspection object 50 under the assumed light sources of the color temperatures supplied from the inspection object R/IR ratio calculation unit 205.
Here, since the assumed light source of the color temperature of 5500 K from among the assumed light sources of the color temperatures of 2800 K, 5500 K and 10000 K is determined as a light source of the reference color temperature (reference light source), the correction gain is a correction gain for correcting the measurement spectral ratio (R/IR value of the representative value) of the inspection object 50 calculated when the inspection object 50 is measured (sensed) under the assumed light sources of the color temperatures so as to be equal to the measurement spectral ratio (R/IR ratio of the representative value) calculated when the inspection object 50 is measured under the light source (reference light source) of the reference color temperature of 5500 K.
Then, correction gains (G_Plt_AVE_2800 K, G_Plt_AVE_5500 K, G_Plt_AVE_10000 K) under the assumed light sources of the color temperatures according to the assumed spectral ratios (R_Plt_AVE_2800 K, R_Plt_AVE_5500 K, R_Plt_AVE_10000 K) of the inspection object 50 under the assumed light sources of the color temperature of 2800 K, 5500 K and 10000 K are calculated and supplied to the lookup table creation unit 207.
To the lookup table creation unit 207, the assumed spectral ratios (R_Ref_2800 K, R_Ref_5500 K, R_Ref_10000 K) of the reference reflector plate 101 from the reference reflector plate R/IR ratio calculation unit 203 and the correction gains (G_Plt_AVE_2800 K, G_Plt_AVE_5500 K, G_Plt_AVE_10000 K) from the correction gain calculation unit 206 are supplied.
The lookup table creation unit 207 creates (generates) a lookup table (LUT) on the basis of the assumed spectral ratios (R_Ref_2800 K, R_Ref_5500 K, R_Ref_10000 K) of the reference reflector plate 101 under the assumed light sources of the color temperatures and the correction gains (G_Plt_AVE_2800 K, G_Plt_AVE_5500 K, G_Plt_AVE_10000 K) under the assumed light sources of the color temperatures.
In the lookup table (LUT) created in this manner, the reference spectral ratios (R_Ref_2800 K, R_Ref_5500 K, R_Ref_10000 K) (of the reference reflector plate 101) and the correction gains (G_Plt_AVE_2800 K, G_Plt_AVE_5500 K, G_Plt_AVE_10000 K) for correcting the measurement spectral ratios (R/IR ratios) of the inspection object 50 obtained by the measurement (sensing) under the measurement light sources are associated with each other for the individual assumed light sources of the color temperatures (2800 K, 5500 K, 10000 K). However, the reference spectral ratios (R_Ref_2800 K, R_Ref_5500 K, R_Ref_10000 K) are spectral ratios referred to upon measurement of the inspection index (NDVI value) of the inspection object 50 under the measurement light sources and correspond to the assumed spectral ratios (R_Ref_2800 K, R_Ref_5500 K, R_Ref_10000 K) of the reference reflector plate 101.
It is to be noted that, while the lookup table creation apparatus 20 and the measurement apparatus 21 in
Now, a creation process of a lookup table (LUT) executed by the lookup table creation apparatus 20 and the measurement apparatus 21 of
Here, before the process of the flow chart of
Referring back to
At step S12, the measurement apparatus 21 measures a known spectral sensitivity characteristic of each channel of the sensor. Here, S_R(λ) is measured as the known spectral sensitivity characteristic of the R channel, and S_IR(λ) is measured as the known spectral sensitivity characteristic of the IR channel.
At step S13, the measurement apparatus 21 measures a spectral reflectance characteristic O_Ref(λ) of an arbitrary reference reflector plate 101.
At step S14, the measurement apparatus 21 measures spectral reflectance characteristics O_Plt_i(λ) (i=1, . . . , N) of a plurality of inspection objects 50 of characteristics different from each other. In the spectral reflectances O_Plt_i(λ), i is an integer equal to or greater than 1 (i=1, . . . , N) and is an index indicative of a number of an individual different in characteristic among the individuals included in the inspection object 50.
In this manner, at steps S11 to S14, as a preprocess (preparation process) for a creation process of a lookup table (LUT), the known spectral information (I_2800 K(λ), I_5500 K(λ), I_10000 K(λ)) of the assumed light sources, known spectral sensitivity characteristics (S_R(λ), S_IR(λ)) of the channels of the sensor, spectral reflectance characteristic O_Ref(λ) of the reference reflector plate 101 and spectral reflectance characteristic O_Plt_i(λ) of the inspection object 50 are measured by the measurement apparatus 21 and are outputted to the lookup table creation apparatus 20.
At step S15, the inspection object average spectral characteristic calculation unit 201 arithmetically operates an expression (18) given below on the basis of the spectral reflectance characteristic O_Plt_i(λ) of the inspection object 50 measured by the process at step S14 to calculate the average spectral reflectance characteristic O_Plt_AVE(λ) of the N spectral reflectance characteristics O_Plt_i(λ).
[Math. 1]
O_Plt_AVE(λ)=1/NΣi=1NO_Plt_i(λ) (18)
At step S16, the reference reflector plate measurement sensor output value calculation unit 202 arithmetically operates expressions (19) to (24) given below on the basis of the spectral information (I_2800 K(λ), I_5500 K(λ), I_10000 K(λ)) of the assumed light sources measured by the process at step S11, spectral sensitivity characteristics (S_R(λ), S_IR(λ)) of the channels measured by the process at step S12, and spectral reflectance characteristic O_Ref(λ) of the reference reflector plate 101 measured by the process at step S13 to calculate an R channel value and an IR channel value in the case where the reference reflector plate 101 is measured (sensed) under the assumed light source of each color temperature.
However, by expressions (19) to (21) given below, R channel values according to the assumed light sources of the color temperatures (2800 K, 5500 K, 10000 K) are calculated, and by expressions (22) to (24) given below, IR channel values according to the assumed light sources of the color temperatures (2800 K, 5500 K and 10000 K) are calculated.
[Math. 2]
D_Ref_2800 K_R=∫I_2800 K(λ)O_Ref(λ)S_R(λ)dλ (19)
D_Ref_5500 K_R=∫I_5500 K(λ)O_Ref(λ)S_R(λ)dλ (20)
D_Ref_10000 K_R=∫I_10000 K(λ)O_Ref(λ)S_R(λ)dλ (21)
[Math. 3]
D_Ref_2800 K_IR=∫I_2800 K(λ)O_Ref(λ)S_IR(λ)dλ (22)
D_Ref_5500 K_IR=∫I_5500 K(λ)O_Ref(λ)S_IR(λ)dλ (23)
D_Ref_10000 K_IR=∫I_10000 K(λ)O_Ref(λ)S_IR(λ)dλ (24)
At step S17, the reference reflector plate R/IR ratio calculation unit 203 arithmetically operates expressions (25) to (27) given below on the basis of the R channel values and the IR channel values calculated by the process at step S16 to calculate assumed spectral ratios (R/IR ratios) of the reference reflector plate 101 under the assumed light source of each color temperature.
[Math. 4]
R_Ref_2800 K=D_Ref_2800 K_R/D_Ref_2800 K_IR (25)
R_Ref_5500 K=D_Ref_5500 K_R/D_Ref_5500 K_IR (26)
R_Ref_10000 K=D_Ref10000 K_R/D_Ref_10000 K_IR (27)
At step S18, the inspection object measurement sensor output value calculation unit 204 arithmetically operates expressions (28) to (33) given below on the basis of the spectral information (I_2800 K(λ), I_5500 K(λ), I_10000 K(λ)) of the assumed light sources measured by the process at step S11, spectral sensitivity characteristics (S_R(λ), S_IR(λ)) of the channels measured by the process at step S12, and average spectral reflectance characteristic O_Plt_i(λ) of the inspection object 50 calculated by the process at step S15 to calculate R channel values and IR channel values when the inspection object 50 is measured (sensed) under the assumed light source of each color temperature.
However, by the expressions (28) to (30) given below, R channel values according to the assumed light sources of the color temperatures (2800 K, 5500 K, 10000 K), and by the expressions (31) to (33) given below, IR channel values according to the assumed light sources of the color temperatures (2800 K, 5500 K, 10000 K) are calculated. Further, the channel values under the measurement light sources of the color temperatures are channel values of a representative value such as an average value.
[Math. 5]
D_Plt_AVE_2800 K_R=∫I_2800 K(λ)O_Plt_AVE(λ)S_R(λ)dλ (28)
D_Plt_AVE_5500 K_R=∫I_5500 K(λ)O_Plt_AVE(λ)S_R(λ)dλ (29)
D_Plt_AVE_10000 K_R=∫I_10000 K(λ)O_Plt_AVE(λ)S_R(λ)dλ (30)
[Math. 6]
D_Plt_AVE_2800 K_IR=∫I_2800 K(λ)O_Plt_AVE(λ)S_IR(λ)dλ (31)
D_Plt_AVE_5500 K_IR=∫I_5500 K(λ)O_Plt_AVE(λ)S_IR(λ)dλ (32)
D_Plt_AVE_10000 K_IR=∫I_10000 K(λ)O_Plt_AVE(λ)S_IR(λ)dλ (33)
At step S19, the inspection object R/IR ratio calculation unit 205 arithmetically operates expressions (34) to (36) given below on the basis of the R channel values and the IR channel values calculated by the process at step S18 to calculate assumed spectral ratios (R/IR ratios) of the inspection object 50 under the assumed light sources of the color temperatures. However, the assumed spectral radios (R/IR ratios) of the inspection object 50 are assumed spectral ratios (R/IR ratios) of a representative value such as an average value.
[Math. 7]
R_Plt_AVE_2800 K=D_Plt_AVE_2800 K_R/D_Plt_AVE_2800 K_IR (34)
R_Plt_AVE_5500 K=D_Plt_AVE_5500 K_R/D_Plt_AVE_5500 K_IR (35)
R_Plt_AVE_10000 K=D_Plt_AVE_10000 K_R/D_Plt_AVE_10000 K_IR (36)
At step S20, the correction gain calculation unit 206 arithmetically operates expressions (37) to (39) given below on the basis of the assumed spectral ratios (R/IR ratios) of the inspection object 50 under the assumed light sources of the color temperatures calculated by the process at step S19 to calculate correction gains for correcting the measurement spectral ratios (R/IR ratios) of the inspection object 50 for the individual assumed light sources.
[Math. 8]
G_Plt_AVE_2800 K=R_Plt_AVE_5500 K/R_Plt_AVE_2800 K (37)
G_Plt_AVE_5500 K=R_Plt_AVE_5500 K/R_Plt_AVE_5500 K=1 (38)
G_Plt_AVE_10000 K=R_Plt_AVE_5500 K/R_Plt_AVE_10000 K (39)
At step S21, the lookup table creation unit 207 creates a lookup table (LUT) on the basis of the assumed spectral ratios (R_Ref_2800 K, R_Ref_5500 K, R_Ref_10000 K) of the reference reflector plate 101 calculated by the process at step S17 and the correction gains (G_Plt_AVE_2800 K, G_Plt_AVE_5500 K, G_Plt_AVE_10000 K) calculated by the process at step S20.
In this lookup table (LUT), with the individual assumed light sources of the color temperatures (2800 K, 5500 K, 10000 K), the reference spectral ratios (R_Ref_2800 K, R_Ref_5500 K, R_Ref_10000 K) (of the reference reflector plate 101) and the correction gains (G_Plt_AVE_2800 K, G_Plt_AVE_5500 K, G_Plt_AVE_10000 K) for correcting the measurement spectral ratios (R/IR ratios) of the inspection object 50 are associated. However, in the lookup table (LUT), the reference spectral ratios correspond to the assumed spectral ratios (R_Ref_2800 K, R_Ref_5500 K, R_Ref_10000 K) of the reference reflector plate 101.
In particular, as depicted by the example of the lookup table (LUT) of
When the process at step S21 ends, the lookup table creation process of
The lookup table creation process has been described. In this lookup table creation process, assumed spectral ratios (R_Ref_2800 K, R_Ref_5500 K, R_Ref_10000 K) of the reference reflector plate 101 and assumed spectral ratios (R_Plt_AVE_2800 K, R_Plt_AVE_5500 K, R_Plt_AVE_10000 K) of the inspection object 50 under assumed light sources of a plurality of color temperatures are calculated, and a lookup table (LUT) that associates reference spectral ratios of the reference reflector plate 101 and correction gains according to assumed spectral ratios of the inspection object 50 with each other is created for each assumed light source. Then, the lookup tables (LUTs) created in this manner are used by the vegetation inspection apparatus 10 (
It is to be noted that the lookup table creation process described above is an example of a method for creating a lookup table (LUT) to be used by the vegetation inspection apparatus 10 (
Now, an inspection method of the inspection object 50 performed by the vegetation inspection apparatus 10 (
It is to be noted that, in
The sensor 103 measures (senses) an R channel value (D_Ref_env_R) and an IR channel value (D_Ref_env_IR) according to reflection light from the reference reflector plate 101 under a measurement light source and supplies the measured values to the correction processing unit 105. Further, the sensor 103 measures an R channel value (D_Plt_ISP_env_R) and an IR channel value (D_Plt_ISP_env_IR) according to reflection light from the inspection object 50 under the measurement light source and supplies the measured values to the correction processing unit 105.
The correction processing unit 105 refers to a lookup table (LUT) created in advance to determine a measurement light source correspondence correction gain according to a measurement spectral ratio (R/IR ratio) of the reference reflector plate 101 under the measurement light source, and corrects the measurement spectral ratio (R/IR ratio) of the inspection object 50 under the measurement light source using the determined measurement light source correspondence correction gain.
The correction processing unit 105 is configured from a correction gain processing unit 111, a storage unit 112 and a measurement light correction unit 113. It is to be noted that the storage unit 112 has stored therein in advance a lookup table (LUT) created by the lookup table creation process (
The correction gain processing unit 111 performs a process relating to a correction gain of a spectral ratio (measurement light source correspondence correction gain). The correction gain processing unit 111 is configured from a reference reflector plate R/IR ratio calculation unit 121 and a correction gain determination unit 122.
The reference reflector plate R/IR ratio calculation unit 121 calculates a measurement spectral ratio (R_Ref_env) of the reference reflector plate 101 under the measurement light source using the R channel values (D_Plt_ISP_env_R) and the IR channel values (D_Plt_ISP_env_IR) supplied thereto from the sensor 103, and supplies the measurement spectral ratio (R_Ref_env) to the correction gain determination unit 122.
The correction gain determination unit 122 refers to the lookup table (LUT) stored in the storage unit 112 to determine a measurement light source correspondence correction gain (G_Plt_AVE_env) according to the measurement spectral ratio (R_Ref_env) (of the reference reflector plate 101 under the measurement light source) supplied from the reference reflector plate R/IR ratio calculation unit 121, and supplies the measurement light source correspondence correction gain (G_Plt_AVE_env) to the measurement light correction unit 113.
The measurement light correction unit 113 uses the correction gain of the spectral ratio (measurement light source correspondence correction gain) to perform a process for correcting the measurement spectral ratio (R/IR ratio) of the inspection object 50 under the measurement light source. The measurement light correction unit 113 is configured from an inspection object R/IR ratio calculation unit 123 and a gain correction unit 124.
The inspection object R/IR ratio calculation unit 123 calculates a measurement spectral ratio (R_Plt_ISP_env) of the inspection object 50 under the measurement light source using the R channel value (D_Plt_ISP_env_R) and the IR channel value (D_Plt_ISP_env_IR) supplied thereto from the sensor 103, and supplies the measurement spectral ratio (R_Plt_ISP_env) to the gain correction unit 124.
To the gain correction unit 124, a measurement light source correspondence correction gain (G_Plt_AVE_env) from (the correction gain determination unit 122 of) the correction gain processing unit 111 and a measurement spectral ratio (R_Plt_ISP_env) (of the inspection object 50 under the measurement light source) from the inspection object R/IR ratio calculation unit 123 are supplied. The gain correction unit 124 corrects the measurement spectral ratio (R_Plt_ISP_env) of the inspection object 50 under the measurement light source on the basis of the measurement light source correspondence correction gain (G_Plt_AVE_env). The measurement spectral ratio (R_Plt_ISP_env_comp) (of the inspection object 50 under the measurement light source) after corrected is supplied to the inspection index calculation unit 106.
The inspection index calculation unit 106 performs a process for calculating an inspection index (NDVI value) of the inspection object 50. The inspection index calculation unit 106 is configured from an NDVI value calculation unit 131.
The NDVI value calculation unit 131 calculates a normalized vegetation index (NDVI value) as an inspection index of the inspection object 50 on the basis of the measurement spectral ratio (R_Plt_ISP_env_comp) (of the inspection object 50 under the measurement light source) after corrected supplied thereto from (the gain correction unit 124 of the measurement light correction unit 113 of) the correction processing unit 105, and outputs the normalized vegetation index (NDVI value).
As described above, when an inspection index (NDVI value) of the inspection object 50 under the measurement light source is to be measured, the vegetation inspection apparatus 10 refers to a lookup table (LUT) to determine a measurement light source correspondence correction gain according to a measurement spectral ratio (R/IR ratio) of the reference reflector plate 101 under the measurement light source, corrects the measurement spectral ratio (R/IR ratio) of the inspection object 50 under the measurement light source in response to the determined measurement light source correspondence correction gain, and calculates an inspection index (NDVI value) from the measurement spectral ratio (R/IR ratio) (of the inspection object 50 under the measurement light source) after amended.
Now, a first measurement process of an inspection index of the inspection object 50 under the measurement light source executed by the vegetation inspection apparatus 10 of
At step S111, the sensor 103 measures an R channel value (D_Ref_env_R) and an IR channel value (D_Ref_env_IR) of the reference reflector plate 101 under the measurement light source.
At step S112, the reference reflector plate R/IR ratio calculation unit 121 arithmetically operates an expression (40) given below on the basis of the R channel value (D_Ref_env_R) and the IR channel value (D_Ref_env_IR) measured by the process at step S111 to calculate a measurement spectral ratio (R_Ref_env) of the reference reflector plate 101 under the measurement light source.
[Math. 9]
R_Ref_env=D_Ref_env_R/D_Ref_env_IR (40)
At step S113, the correction gain determination unit 122 refers to the lookup table (LUT) stored in the storage unit 112 to search for an assumed light source of a color temperature at which the reference spectral ratio of the reference reflector plate 101 is closest to the measurement spectral ratio (R_Ref_env) (of the reference reflector plate 101 under the measurement light source) calculated by the process at step S112 from among the plurality of assumed light sources and determines the searched out assumed light source as the estimated light source.
At step S114, the correction gain determination unit 122 refers to the lookup table (LUT) stored in the storage unit 112 to determine a measurement light source correspondence correction gain (G_Plt_AVE_env) according to the estimated light source estimated by the process at step S113.
Here, the determination of a measurement light source correspondence correction gain includes a case in which a measurement light source correspondence correction gain is selected from among a plurality of correction gains stored in the lookup table (LUT) and another case in which a measurement light source correspondence correction gain is calculated by performing interpolation using values of correction gains stored in the lookup table (LUT).
For example, where the lookup table (LUT) described hereinabove with reference to
Meanwhile,
Here, for example, where the value of the measurement spectral ratio (R_Ref_env) (of the reference reflector plate 101 under the measurement light source) calculated by the process at step S112 is 0.25, a value (0.25) coincident with the value calculated by the process at step S112 exists among values (0.25, 1.0 and 4.0) of the reference spectral ratio (of the reference reflector plate 101 under the assumed light source) corresponding to the assumed light sources of the color temperatures in the lookup table (LUT). Since the assumed light source at this time is the assumed light source of the color temperature of 2800 K, this assumed light source is determined as the estimated light source. Then, 5.0 is selected as the correction gain (measurement light source correspondence correction gain) corresponding to the assumed light source of the color temperature of 2800 K as the estimated light source.
It is to be noted that also a case is assumed in which a value coincident with the value of the measurement spectral ratio (R_Ref_env) (of the reference reflector plate 101 under the measurement light source) calculated by the process at step S112 does not exist among the values of the reference spectral ratio (of the reference reflector plate 101 under the assumed light source) of the lookup table (LUT). For example, where the value calculated by the process at step S112 (calculation value) is 0.4, a coincident value does not exist in the lookup table (LUT).
In this case, if any light source other than the assumed light sources upon creation of the lookup table (LUT) is to be excluded as an estimated light source, then the reason why a value coincident with the value calculated by the process at step S112 (calculation value) does not exist in the lookup table (LUT) is treated as a measurement error, and a value closest to the calculation value, namely, a value that indicates a minimum difference absolute value from among values in the lookup table (LUT) may be searched for. For example, since the closest value to the value (0.4) calculated by the process at step S112 from among the values (0.25, 1.0 and 4.0) of the reference spectral ratio (of the reference reflector plate 101 under the assumed light source) corresponding to the assumed light sources of the color temperatures is 0.25 in the lookup table (LUT), the assumed light source of the color temperature of 2800 K is determined as an estimated light source. Then, 5.0 is selected as a correction gain (measurement light source correspondence correction gain) corresponding to the assumed light source of the color temperature of 2800 K as the estimated light source.
On the other hand, where a light source other than the assumed light sources upon creation of the lookup table (LUT) is permitted as the estimated light source, also it is possible to treat the reason why a value coincident with the value calculated by the process at step S112 (calculation value) does not exist in the lookup table (LUT) as a fact that the measurement light source has an intermediate spectral characteristic between plural ones of the assumed light sources. For example, since the closest value and the second closest value in the lookup table (LUT) to the value (0.4) calculated by the process at step S112 are 0.25 and 1.0, respectively, by using difference absolute values between the values and the calculation value (0.4) as weights upon weighted average calculation, 4.2 can be calculated as an optimum correction gain (measurement light source correspondence correction gain) from the correction gains (5.0, 1.0) corresponding to the respective values.
5.0×((1.0−0.4)/(1.0−0.25))+1.0×((0.4−0.25)/(1.0−0.25))=4.2
It is to be noted that, although a flow of processing is described here that a light source estimation process is performed by the process at step S113 and a determination process of a measurement light source correspondence correction gain according to a result of the light source estimation is performed by the process at step S114, a measurement light source correspondence correction gain may otherwise be determined without performing the light source estimation process. In particular, a measurement spectral ratio (R_Ref_env) (of the reference reflector plate 101 under the measurement light source) calculated by the process at step S112 and reference spectral ratios (R_Ref_2800 K, R_Ref_5500 K, R_Ref_10000 K) (of the reference reflector plate 101) stored in the lookup table (LUT) are directly compared with each other to determine a correction gain corresponding to the reference spectral ratio equal or closest to the measurement spectral ratio (R_Ref_env) as the measurement light source correspondence correction gain. In this case, since the spectral ratios are compared directly with each other, information relating to the assumed light sources may not necessarily be included in the lookup table (LUT).
Referring back to
It is to be noted that, although a flow of processing is depicted in
At step S116, the inspection object R/IR ratio calculation unit 123 arithmetically operates an expression (41) given below based on the R channel value (D_Plt_ISP_env_R) and the IR channel value (D_Plt_ISP_env_IR) measured by the process at step S115 to calculate a measurement spectral ratio (R_Plt_ISP_env) of the inspection object 50 under the measurement light source.
[Math. 10]
R_Plt_ISP_env=D_Plt_ISP_env_R/D_Plt_ISP_env_IR (41)
At step S117, the gain correction unit 124 arithmetically operates an expression (42) given below using the measurement light source correspondence correction gain (G_Plt_AVE_env) determined by the process at steps S113 and S114 to correct the measurement spectral ratio (R_Plt_ISP_env) (of the inspection object 50 under the measurement light source) calculated by the process at step S116.
[Math. 11]
R_Plt_ISP_env_comp=R_Plt_ISP_env×G_Plt_AVE_env (42)
In particular, it is assumed that, for example, where the assumed light source of the color temperature of 2800 K is determined as the estimated light source and G_Plt_AVE_2800 K is determined as the measurement light source correspondence correction gain regarding the estimated light source by the processes at steps S113 and S114, and, at step S116, an expression (43) given below is arithmetically operated to calculate R_Plt_ISP_2800 K as the measurement spectral ratio (R_Plt_ISP_env) of the inspection object 50.
[Math. 12]
R_Plt_ISP_2800 K=D_Plt_ISP_2800 K_R/D_Plt_ISP_2800 K_IR (43)
In this case, if, at step S117, the measurement light source correspondence correction gain (G_Plt_AVE_2800 K) determined by the processes at steps S113 and S114 is applied to R_Plt_ISP_2800 K determined by the expression (43), then it can be represented by an expression (44) given below.
Here, the inspection object 50 that is the measurement object at the present point of time is one of objects of a population of objects (inspection objects) whose spectral reflectance characteristic O_Plt_i(λ) is measured upon calculation of the average spectral reflectance characteristic O_Plt_AVE(λ) in creation of the lookup table (LUT). Therefore, it is considered that the spectral reflectance characteristic of the inspection object 50 of the measurement object and the average spectral reflectance characteristic O_Plt_AVE(λ) in the spectral sensitivity band of the R channel and the IR channel have a high correlation therebetween. Therefore, the spectral ratio (R/IR ratio) of the inspection object 50 by a color temperature variation of the assumed light source (reference light source) has a strong correlation between that in the case of the spectral reflectance characteristic of the inspection object 50 of the measurement object and that in the case of the average spectral reflectance characteristic O_Plt_AVE(λ). Accordingly, they have a relationship of an expression (45) given below.
[Math. 14]
R_Plt_AVE_5500 K/R_Plt_AVE_2800 K≈R_Plt_ISP_5500 K/R_Plt_ISP_2800 K (45)
Then, by applying the expression (45) to the expression (44), they have the relationship of an expression (46) given below.
[Math. 15]
R_Plt_ISP_2800 K_comp≈R_Plt_ISP_2800 K×(R_Plt_ISP_5500 K/R_Plt_ISP_2800 K)=R_Plt_ISP_5500 K (46)
In particular, it is possible to correct the measurement spectral ratio (R_Plt_ISP_2800 K) of the inspection object 50 under the measurement light source of the color temperature of 2800 K to the measurement spectral ratio (R_Plt_ISP_5500 K) of the inspection object 50 under the light source (reference light source) of the reference color temperature of 5500 K. It is to be noted that, while the measurement light source of the color temperature of 2800 K is described here, also under a measurement light source of any other color temperature, if similar measurement, correction and so forth are performed, then a measurement spectral ratio of the inspection object 50 under a measurement light source can always be corrected to a measurement spectral ratio of the inspection object 50 under a light source of a reference color temperature (reference light source).
At step S118, the NDVI value calculation unit 131 arithmetically operates an expression (47) given below using the measurement spectral ratio (R_Plt_ISP_nv_comp) (of the inspection object 50 under the measurement light source) corrected by the process at step S117 to calculate a normalized vegetation index (NDVI value) as the inspection index of the inspection object 50.
[Math. 16]
NDVI=(1−R_Plt_ISP_env_comp)/(1+R_Plt_ISP_env_comp) (47)
When the process at step S118 ends, the first measurement process of an inspection index of
The first measurement process of an inspection index has been described. In this first measurement process of an inspection index, by referring to a lookup table (LUT), a measurement light source correspondence correction gain (G_Plt_AVE_env) according to a measurement spectral ratio (R_Plt_AVE_env) of the reference reflector plate 101 under the measurement light source is determined. Then, a measurement spectral ratio (R_Plt_ISP_env) of the inspection object 50 under the measurement light source is corrected using the measurement light source correspondence correction gain (G_Plt_AVE_env), and an inspection index (NDVI value) of the inspection object 50 is calculated using the measurement spectral ratio (R_Plt_ISP_env_comp) after correction.
Here, if the correction process (measurement light correction) at step S117 described above is not performed but the measurement spectral ratio (R_Plt_ISP_2800 K) of the inspection object 50 under the measurement light source of the color temperature of 2800 K is directly used to calculate a normalized vegetation index (NDVI value) of the inspection object 50, then the NDVI value is represented by an expression (48).
[Math. 17]
NDVI_Plt_ISP_2800 K=(1−R_Plt_ISP_2800 K)/(1+R_Plt_ISP_2800 K) (48)
Here, as apparent from the relationship of the expression (48), if this expression (48) is arithmetically operated to determine a normalized vegetation index (NDVI value), then the normalized vegetation index (NDVI value) varies in response to a variation of the color temperature of the measurement light source. On the other hand, if the correction process (measurement light correction) at step S117 described hereinabove is performed to calculate a normalized vegetation index (NDVI value) of the inspection object 50 using the measurement spectral ratio (R_Plt_ISP_2800 K_comp) (of the inspection object 50 under the measurement light source) after corrected, then the NDVI value is represented by an expression (49).
In particular, as apparent from the relationship of the expression (49), if the expression (48) is arithmetically operated to determine a normalized vegetation index (NDVI value), then the normalized vegetation index (NDVI value) is always determined in accordance with the measurement spectral ratio (R_Plt_ISP_5500 K) of the inspection object 50 under the light source (reference light source) of the reference color temperature of 5500 K irrespective of a variation of the color temperature of the measurement light source. Consequently, since it becomes possible for the normalized vegetation index (NDVI value) to have a value equal to or approximated with a high degree of accuracy to a normalized vegetation index (NDVI value) obtained from the measurement spectral ratio (R_Plt_ISP_5500 K) of the inspection object 50 under the light source (reference light source) of the reference color temperature of 5500 K, measurement of a normalized vegetation index (NDVI value) of a high degree of accuracy, which does not rely upon a variation of the color temperature of the measurement light source, becomes possible. Since the light source dependency can be removed (excluded) well in this manner, accurate measurement light correction can be performed. For example, also where the light source varies depending upon a variation in weather such as a fine weather, a cloudy weather or a rainy weather, in regard to a same inspection object 50 (for example, a plant such as a turf), an inspection index (NDVI value) of the same value is measured.
The vegetation inspection apparatus 10 of
Here, as regards the reason why such normalization is performed, a vegetation index such as a normalized vegetation index (NDVI value) is generally defined only by a spectral reflectance characteristic of an object without relying upon the measurement system of a light source and a sensor. In other words, the vegetation index is defined only by a characteristic of an object from between characteristics of a light source (reference light source), a sensor (sensor 103) and an object (inspection object 50).
Accordingly, it is desirable to exclude a spectral characteristic of the reference light source (for example, a factor that a spectrum of a reference light source of the reference color temperature of 5500 K is displaced from a flat spectrum) and a spectral characteristic of the sensor 103 (for example, a sensitivity ratio between the R channel and the IR channel). Therefore, a spectral ratio (R_Flat_5500 K) for normalization with only the spectral characteristic of the reference light source and the spectral sensitivity characteristic of the sensor 103 taken into consideration is calculated (measured) in advance and stored into the storage unit 133. Consequently, by dividing the measurement spectral ratio (R_Plt_ISP_env_comp) (of the inspection object 50 under the measurement light source) after corrected by the spectral ratio (R_Flat_5500 K) for normalization, the components of the light source (reference light source) and the sensor (sensor 103) are normalized.
However, if the R channel value and the IR channel value where measurement (sensing) of an object by a flat spectrum under the reference light source is assumed are represented by D_Flat_5500 K_R and D_Flat_5500 K_IR, respectively, then the spectral ratio (R_Flat_5500 K) for normalization can be determined by arithmetically operating an expression (50) given below.
[Math. 19]
R_Flat_5500 K=D_Flat_5500 K_R/D_Flat_5500 K_IR (50)
Referring back to
The NDVI value calculation unit 131 calculates a normalized vegetation index (NDVI value) as the inspection index of the inspection object 50 on the basis of the measurement spectral ratio (R_Plt_ISP_norm) (of the inspection object 50 under the measurement light source) after normalized supplied from the normalization unit 132, and outputs the normalized vegetation index (NDVI value).
It is to be noted that, although the storage unit 112 of the correction processing unit 105 and the storage unit 133 of the inspection index calculation unit 106 in
Now, a second measurement process of an inspection index of the inspection object 50 under the measurement light source, which is executed by the vegetation inspection apparatus 10 of
At steps S131 to S137, a measurement light source correspondence correction gain (G_Plt_AVE_env) according to the measurement spectral ratio (R_Ref_env) of the reference reflector plate 101 under the measurement light source is determined, and a measurement spectral ratio (R_Plt_ISP_env) of the inspection object 50 under the measurement light source is corrected using the measurement light source correspondence correction gain (G_Plt_AVE_env) similarly as at steps S111 to S117 of
It is to be noted that, while also
At step S138, the normalization unit 132 performs normalization of light source-sensor components in regard to the measurement spectral ratio (R_Plt_ISP_env_comp) (of the inspection object 50 under the measurement light source) corrected by the process at step S137.
In particular, the normalization unit 132 reads out information indicative of the spectral ratio (R_Flat_5500 K) for normalization stored in the storage unit 133 in advance. Then, the normalization unit 132 arithmetically operates an expression (51) given below using the spectral ratio (R_Flat_5500 K) for normalization read out from the storage unit 133 to perform normalization of the light source-sensor components with regard to the measurement spectral ratio (R_ISP_env_comp) (of the inspection object 50 under the measurement light source) after corrected.
[Math. 20]
R_Plt_ISP_norm=R_Plt_ISP_env_comp/R_Flat_5500 K (51)
At step S139, the NDVI value calculation unit 131 arithmetically operates an expression (52) given below using the measurement spectral ratio (R_Plt_ISP_norm) (of the inspection object 50 under the measurement light source) normalized by the process at step S138 to calculate a normalized vegetation index (NDVI value) as an inspection index of the inspection object 50.
[Math. 21]
NDVI_norm=(1−R_Plt_ISP_norm)/(1+R_Plt_ISP_norm) (52)
The second measurement process of an inspection index has been described. In this second measurement process of an inspection index, a measurement light source correspondence correction gain (G_Plt_AVE_env) according to the measurement spectral ratio (R_Ref_env) of the reference reflector plate 101 under the measurement light source, and the measurement spectral ratio (R_Plt_ISP_env) of the inspection object 50 under the measurement light source is corrected using the measurement light source correspondence correction gain (G_Plt_AVE_env). Then, the measurement spectral ratio (R_Plt_ISP_env_comp) after corrected is normalized, and the inspection index (NDVI value) of the inspection object 50 is calculated using the measurement spectral ratio (R_Plt_ISP_norm) after normalized.
Although the reference reflector plate 101 can be installed at a position at which it can be measured by the sensor 103, for example, it can be attached to a predetermined position in front of a camera in which the sensor 103 is incorporated.
In A of
In such a state that the inspection object 50 and the reference reflector plate 101 can be measured at the same time, a measurement process (
It is to be noted that, while it is described that, in
Further, as the camera (vegetation inspection apparatus 10) described above, for example, a multispectral camera can be used by which a multispectral signal is obtained by dispersing light (reflection light) incident through a lens into a plurality of wavelength bands and forming an image of the light in the wavelength bands on a two-dimensional sensor face. Further, for the camera (vegetation inspection apparatus 10) described above, a camera having a spectral sensing function such as, for example, a so-called hyperspectral camera can be used in addition to the multispectral camera.
While, in the foregoing description, the inspection object 50 is described taking a plant (for example, a turf or the like) as an example, the inspection object 50 may be an object other than a plant. For example, by measuring, in a manufacturing factory of food, an inspection index of food manufactured by the inspection apparatus (vegetation inspection apparatus 10) of the present technology as the inspection object 50, an inspection index of food can be measured without relying upon a light source in the factory. Consequently, even if the illumination light in the factory varies, ranking of food can be performed.
Further, while, in the foregoing description, the inspection index when a plant is set as the inspection object 50 is described taking a normalized vegetation index (NDVI value) as an example, a vegetation index different from the normalized vegetation index (NDVI value) may be measured. For example, as the different vegetation index, a ratio vegetation index (RVI: Ratio Vegetation Index), a difference vegetation index (DVI: Difference Vegetation Index) and so forth can be used.
Here, the ratio vegetation index (RVI value) is calculated by arithmetically operating an expression (53) given below.
RVI=IR/R (53)
Meanwhile, the difference vegetation index (DVI value) is calculated by arithmetically operating an expression (54) given below.
DVI=IR−R (54)
It is to be noted that, in the expression (53) and the expression (54), IR represents a reflectance in the near infrared region, and R represents a reflectance in the visible region (red). It is to be noted that, although only vegetation indexes in which IR and R are used as parameters are exemplified here, it is naturally possible to measure a different vegetation index using a reflectance of light in a visible region other than red or the like as a parameter. The spectral ratio is not limited to the combination of R and IR. From the sensor 103, components of other wavelength bands such as G or B other than R and IR may be outputted as outputs of RGBIR.
It is to be that, although the foregoing description describes a case in which a lookup table (LUT) for one kind of inspection objects 50 (individuals having different characteristics) is prepare in advance and, upon measurement of an inspection index of an inspection object 50, the lookup table (LUT) is referred to, a lookup table (LUT) for each of a plurality of kinds of inspection objects 50 may be created by the lookup table creation apparatus 20. Then, in the vegetation inspection apparatus 10, if the lookup tables (LUTs) for the plurality of kinds of inspection objects 50 are stored into the storage unit 112, then since it becomes possible for the correction gain determination unit 122 to switch the lookup table (LUT) to be referred to in response to the kind of the inspection object 50, an appropriate correction gain (measurement light source correspondence correction gain) can be determined for any kind of inspection object 50.
While the foregoing description exemplifies a case in which assumed light sources of two or three color temperatures are used as the assumed light sources, various assumed light sources can be used such that assumed light sources of four or more color temperatures (other color temperatures) are used or light sources having different spectral characteristics are distinguished from each other although they have an equal color temperature, for example, like daylight and artificial light.
While the foregoing description exemplifies an average spectral characteristic (average spectral reflectance characteristic O_PLt_AVE(λ)) as a representative spectral characteristic of an inspection object upon creation of a lookup table (LUT), a spectral characteristic different from an average spectral characteristic may be used. Further, although a case is exemplified in which, upon creation of a lookup table (LUT), measurement of a spectral characteristic (spectral reflectance characteristic O_Ref(λ)) of the reference reflector plate is performed so as to establish a known state of the spectral characteristic, it is possible, for example, to use a white or gray reflector plate as the reference reflector plate such that, even if measurement of the spectral characteristic of the same is not performed, similar measurement light correction can be performed assuming that they have no wavelength dependency of the spectral characteristic.
While the foregoing description exemplifies measurement in which two sensor output values of the R channel and the IR channel are used, it is possible to use sensor output values having three or more spectral sensitivity bands different from each other or to use sensor output values only of visible rays. For example, where a measurement value corresponding to an optical filter that passes red light R, a measurement value corresponding to an optical filter that passes first infrared light IR1 and a measurement value corresponding to an optical filter that passes second infrared light RI2 are utilized in the sensor 103 in
While, in the foregoing description, a case is described in which the vegetation inspection apparatus 10 has all functions like the configuration depicted in
Referring to
The measurement apparatus 60 is configured from a sensor 103, a correction processing unit 105 and a communication unit 107. Further, the correction processing unit 105 is configured from a correction gain processing unit 111, a storage unit 112, and a measurement light correction unit 113.
The correction gain processing unit 111 refers to a lookup table (LUT) stored in the storage unit 112 to determine a correction gain (measurement light source correspondence correction gain) according a measurement spectral ratio (R/IR ratio) of the reference reflector plate 101 calculated from an output value of the sensor 103 and supplies the correction gain to the measurement light correction unit 113.
The measurement light correction unit 113 uses the correction gain (measurement light source correspondence correction gain) from the correction gain processing unit 111 to correct the measurement spectral ratio (R/IR ratio) of the inspection object 50 calculated from an output value of the sensor 103 and supplies the resulting spectral ratio (R/IR ratio) to the communication unit 107. The communication unit 107 transmits information indicative of the measurement spectral ratio (R/IR ratio) (of the inspection object 50) after corrected supplied from the measurement light correction unit 113 to the processing apparatus 70 utilizing, for example, wireless communication or the like.
The processing apparatus 70 is configured from an inspection index calculation unit 106 and a communication unit 108. Further, the inspection index calculation unit 106 is configured from an NDVI value calculation unit 131. The communication unit 108 receives information transmitted thereto from the measurement apparatus 60 and indicative of the measurement spectral ratio (R/IR ratio) (of the inspection object 50) after corrected and supplies the received information to the NDVI value calculation unit 131. The NDVI value calculation unit 131 uses the information supplied from the communication unit 108 and indicative of the measurement spectral ratio (R/IR ratio) (of the inspection object 50) after corrected to calculate a normalized vegetation index (NDVI value) as an inspection index of the inspection object 50 and outputs the normalized vegetation index (NDVI value).
Referring to
The measurement processing apparatus 80 is configured from a sensor 103, a correction processing unit 105, an inspection index calculation unit 106 and a communication unit 107. Further, the correction processing unit 105 is configured from a correction gain processing unit 111 and a measurement light correction unit 113. The inspection index calculation unit 106 is configured from an NDVI value calculation unit 131.
The communication unit 107 receives, upon measurement of the inspection object 50, a lookup table (LUT) from the storage apparatus 90, for example, utilizing wireless communication or the like and supplies the lookup table (LUT) to the correction gain processing unit 111. The correction gain processing unit 111 refers to the lookup table (LUT) supplied thereto from the communication unit 107 to determine a correction gain (measurement light source correspondence correction gain) according to a measurement spectral ratio (R/IR ratio) of the reference reflector plate 101 calculated from an output value of the sensor 103 and supplies the correction gain to the measurement light correction unit 113.
The measurement light correction unit 113 corrects the measurement spectral ratio (R/IR ratio) of the inspection object 50 calculated from an output value of the sensor 103 using the correction gain (measurement light source correspondence correction gain) from the correction gain processing unit 111 and supplies the corrected measurement spectral ratio (R/IR ratio) to the inspection index calculation unit 106. The NDVI value calculation unit 131 uses information supplied from the measurement light correction unit 113 and indicative of the measurement spectral ratio (R/IR ratio) (of the inspection object 50) after corrected to calculate a normalized vegetation index (NDVI value) as an inspection index of the inspection object 50 and outputs the normalized vegetation index (NDVI value).
For example, where a lookup table (LUT) is created by the lookup table creation apparatus 20, the lookup table (LUT) created by the lookup table creation apparatus 20 is stored into the storage apparatus 90. However, the lookup table creation apparatus 20 may otherwise provide the lookup table (LUT) directly to the measurement processing apparatus 80. Or, the storage apparatus 90 may store a spectral ratio for normalization in addition to the lookup table (LUT). Also it is possible to divert the lookup table (LUT) or the spectral ratio for normalization to a separate apparatus different from the measurement processing apparatus 80.
Referring to
The measurement apparatus 60 is configured from a sensor 103 and a communication unit 107. The sensor 103 measures the R channel value and the IR channel value of the reference reflector plate 101 and the inspection object 50 and supplies the measured values to the communication unit 107. The communication unit 107 transmits the R channel values and the IR channel values supplied from the sensor 103 to the processing apparatus 70, for example, utilizing wireless communication or the like.
The processing apparatus 70 is configured from a correction processing unit 105, an inspection index calculation unit 106 and a communication unit 108. Further, the correction processing unit 105 is configured from a correction gain processing unit 111, a storage unit 112 and a measurement light correction unit 113. The inspection index calculation unit 106 is configured from an NDVI value calculation unit 131.
The communication unit 108 receives R channel values and IR channel values of the reference reflector plate 101 and the inspection object 50 transmitted from the measurement apparatus 60, and supplies the R channel value and the IR channel value of the reference reflector plate 101 to the correction gain processing unit 111 and supplies the R channel value and the IR channel value of the inspection object 50 to the measurement light correction unit 113.
The correction gain processing unit 111 refers to a lookup table (LUT) stored in the storage unit 112 to determine a correction gain (measurement light source correspondence correction gain) according to a measurement spectral ratio (R/IR ratio) of the reference reflector plate 101 calculated from the channel values from the communication unit 108 and supplies the correction gain to the measurement light correction unit 113.
The measurement light correction unit 113 uses the correction gain (measurement light source correspondence correction gain) from the correction gain processing unit 111 to correct a measurement spectral ratio (R/IR ratio) of the inspection object 50 calculated from the channel values from the communication unit 108 and supplies the corrected measurement spectral ratio (R/IR ratio) to the NDVI value calculation unit 131. The NDVI value calculation unit 131 uses information supplied from the communication unit 108 and indicative of the measurement spectral ratio (R/IR ratio) (of the inspection object 50) after corrected to calculate a normalized vegetation index (NDVI value) as an inspection index of the inspection object 50 and outputs the normalized vegetation index (NDVI value).
It is to be noted that the term system signifies a logical set of a plurality of apparatus. Further, the configurations of
Further, in the vegetation inspection apparatus 10 of
The fixed point measurement apparatus 60A depicted in A of
The moving measurement apparatus 60B depicted in B of
It is to be noted that the moving measurement apparatus 60B may store, for example, a flight route in advance as coordinate data such that it autonomously flies using position information of the GPS (Global Positioning System) or the like in addition to radio control. Further, while it is described that the moving measurement apparatus 60B in B of
The satellite measurement apparatus 60C depicted in C of
Incidentally, while the description given above describes a case in which an inspection index (NDVI value) of the inspection object 50 is calculated by the vegetation inspection apparatus 10 utilizing the reference reflector plate 101, it is possible to utilize a transmittance characteristic in place of a reflectance characteristic of the reference reflector plate 101.
For example, by using a transmission filter having a spectral transmittance characteristic close to a spectral reflectance characteristic of the inspection object 50 (hereinafter referred to as reference transmission plate), it is possible to determine a correction gain (measurement light source correspondence correction gain), correct the measurement spectral ratio (R/IR ratio) of the inspection object 50 under the measurement light source and remove the light source dependency upon measurement of an inspection index (NDVI value) of the inspection object 50 similarly as in the case where the reference reflector plate 101 is used.
While the foregoing description describes that a lookup table (LUT) in which an assumed spectral ratio (R/IR ratio) of the reference reflector plate 101 and a correction gain are associated with each other for each of assumed light sources of different color temperatures is created in advance by the lookup table creation process (
In particular, in the lookup table creation process (
Further, in the lookup table creation process (
In the following, a configuration in the case where, when a reference transmission plate is used in place of the reference reflector plate 101, the lookup table (LUT) corresponding to the reference transmission plate created by the lookup table creation process described above is used to perform measurement of an inspection index (NDVI value) of the inspection object 50 is described.
However, since it is necessary, in measurement in which a reference transmission plate is used, to provide a sensor 103 for measuring transmission light from the reference transmission plate, a plurality of sensors 103 are required. In this case, a configuration in which the plurality of sensors 103 are accommodated in the same housing (hereinafter referred to as monocular configuration) and another configuration in which the plurality of sensors 103 are accommodated in different housings from each other (hereinafter referred to as compound eye configuration). In the following description, the monocular configuration and the compound eye configuration are described in order.
Referring to
In particular, in the vegetation inspection apparatus 12, light from the light incidence section 12A side (reflection light) enters along an optical axis La and is received by a sensor face of the sensor 103-1. Then, the sensor 103-1 measures an R channel value and an IR channel value according to the light (reflection light) from the inspection object 50 and outputs a measurement signal (measurement values) obtained as a result of the measurement to the correction processing unit 105 at a succeeding stage.
Further, in the vegetation inspection apparatus 12, light (sun light) from the light incidence section 12B side enters along an optical axis Lb.
Here, in the inside of a circle C represented by a broken line in
In particular, light (sun light) from the light incidence section 12B side is transmitted by the reference transmission plate 151, and the transmission light is received by the sensor face of the sensor 103-2. Then, the sensor 103-2 measures an R channel value and an IR channel value according to the light transmitted by the reference transmission plate 151 (transmission light) and outputs a measurement signal (measurement values) obtained as a result of the measurement to the correction processing unit 105 at the succeeding stage.
Since the vegetation inspection apparatus 12 adopts the monocular configuration as described above, reflection light reflected by the inspection object 50 and transmission light transmitted by the reference transmission plate 151 are measured by the sensor 103-1 and the sensor 103-2 provided in the same housing, respectively. Now, a detailed internal configuration of the vegetation inspection apparatus 12 depicted in
Referring to
It is to be noted that, in the vegetation inspection apparatus 12 of
In particular, in
In
The sensor 103-1 detects light (reflection light) from the inspection object 50 incident thereto through the lens 102 and outputs a measurement signal (measurement value) obtained as a result of the detection similarly to the sensor 103 (
The sensor 103-2 detects light (transmission light) transmitted by the reference transmission plate 151 and outputs a measurement signal (measurement value) obtained as a result of the transmission similarly to the sensor 103 (
The correction processing unit 105 performs a correction process for correcting the spectral ratio (R/IR ratio) between the R channel value and the IR channel value on the basis of the measurement signals (measurement values) supplied thereto from the sensor 103-1 and the sensor 103-2 and supplies information indicative of the spectral ratio (R/IR ratio) after corrected to the inspection index calculation unit 106.
The inspection index calculation unit 106 uses the information supplied thereto from the correction processing unit 105 and indicative of the measurement spectral ratio (R/IR ratio) of the inspection object 50 after corrected to calculate an inspection index (NDVI value) of the inspection object 50 and outputs the inspection index (NDVI value).
The vegetation inspection apparatus 12 is configured in such a manner as described above.
Here, a processes executed by this vegetation inspection apparatus 12 is described particularly. In particular, upon measurement of an inspection index (NDVI value) of the inspection object 50 under a measurement light source, the vegetation inspection apparatus 12 refers to a lookup table (LUT) created in advance to determine a correction gain (measurement light source correspondence correction gain) of a spectral ratio according to a measurement spectral ratio (R/IR ratio) of the reference transmission plate 151 obtained by measurement under the measurement light source. Then, the vegetation inspection apparatus 12 uses the measurement light source correspondence correction gain to correct the measurement spectral ratio (R/IR ratio) of the inspection object 50 obtained by the measurement under the measurement light source and measures the inspection index (NDVI value) of the inspection object 50.
However, the lookup table (LUT) used here is a lookup table (LUT) that is created by the lookup table creation process described hereinabove and corresponds to the reference transmission plate 151, and is stored in advance in the storage unit 112 of the correction processing unit 105.
Further, here, measurement of the inspection index (NDVI value) of the inspection object 50 under the measurement light source is performed similarly to the measurement of the inspection index (NDVI value) of the inspection object 50 under the measurement light source described hereinabove with reference to
It is to be noted that, since, in the vegetation inspection apparatus 12, a plurality of sensors, namely, the sensor 103-1 and the sensor 103-2, are provided in the same housing, a dispersion may occur in spectral characteristic such as the sensitivity ratio between the R channel and the IR channel among different sensors. Therefore, preferably the vegetation inspection apparatus 12 adopts the configuration depicted in
Referring to
In
In particular, light (reflection light) from the light incidence section 14A side enters the measurement unit 14 along an optical axis Lc and is received by the sensor face of the sensor 103-1. The sensor 103-1 measures the R channel value and the IR channel value in response to light (reflection light) from the inspection object 50 and outputs measurement values obtained by the measurement to the processing unit 16 through a predetermined interface.
The measurement unit 15 has formed at an upper face side of the housing thereof a light incidence section 15A that has a cylindrical shape that is hollow in the inside thereof such that light enters through the light incidence section 15A. Further, a sensor 103-2 is provided in the inside of the measurement unit 15. In particular, light (sun light) from the light incidence section 15A enters the measurement unit 15 along an optical axis Ld.
Here, in the inside of a circle C represented by a broken line of
In particular, in the measurement unit 15, light (sun light) from the light incidence section 15A side is transmitted through the reference transmission plate 171, and the transmission light is received by the sensor face of the sensor 103-2. Then, the sensor 103-2 measures the R channel value and the IR channel value according to the light (transmission light) transmitted through the reference transmission plate 171 and outputs measurement values obtained by the measurement to the processing unit 16 through a predetermined interface.
The processing unit 16 is configured, for example, from an FPGA (Field Programmable Gate Array), a personal computer or the like. To the processing unit 16, measurement values are inputted from the measurement unit 14 and the measurement unit 15 through a predetermined interface. The processing unit 16 determines an inspection index (NDVI value) of the inspection object 50 on the basis of the measurement values from the measurement unit 14 and the measurement unit 15.
Since the vegetation inspection apparatus 13 has a compound eye configuration as described above, reflection light reflected by the inspection object 50 and transmission light transmitted through the reference transmission plate 171 are measured by the sensor 103-1 and the sensor 103-2 provided in the housings different from each other, respectively. Now, a detailed internal configuration of the vegetation inspection apparatus 13 depicted in
Referring to
It is to be noted that, in the vegetation inspection apparatus 12 of
Further, in
In the measurement unit 14, the sensor 103-1 detects light (reflection light) from the inspection object 50 incident through the lens 102 and outputs a measurement value obtained as a result of the detection. The exposure controlling unit 104-1 performs exposure control by controlling the components of the lens 102 and the sensor 103-1. The I/F unit 172-1 outputs the measurement value from the sensor 103-1 to the processing unit 16.
In the measurement unit 15, the sensor 103-2 detects light (transmission light) transmitted through the reference transmission plate 171 and outputs a measurement value obtained as a result of the detection. The exposure controlling unit 104-2 performs exposure control by controlling the components of the sensor 103-2. The I/F unit 172-2 outputs the measurement value from the sensor 103-2 to the processing unit 16.
In the processing unit 16, the measurement value from the I/F unit 172-1 of the measurement unit 14 and the measurement value from the I/F unit 172-2 of the measurement unit 15 are inputted to the correction processing unit 105.
The correction processing unit 105 performs a correction process for correcting the spectral ratio (R/IR ratio) between the R channel value and the IR channel value on the basis of the measurement values inputted from the measurement unit 14 and the measurement unit 15, and supplies information indicative of the spectral ratio (R/IR ratio) after corrected to the inspection index calculation unit 106.
The inspection index calculation unit 106 uses the information supplied thereto from the correction processing unit 105 and indicative of the measurement spectral ratio (R/IR ratio) of the inspection object 50 to calculate an inspection index (NDVI value) of the inspection object 50 and outputs the inspection index (NDVI value).
The vegetation inspection apparatus 13 is configured in such a manner as described above.
Here, a process executed by the vegetation inspection apparatus 13 is described particularly. In particular, upon measurement of the inspection index (NDVI value) of the inspection object 50 under the measurement light source, the vegetation inspection apparatus 13 refers to the lookup table (LUT) created in advance to determine a correction gain (measurement light source correspondence correction gain) of the spectral ratio according to the measurement spectral ratio (R/IR ratio) of the reference transmission plate 171 obtained by the measurement under the measurement light source. Then, the vegetation inspection apparatus 13 uses the measurement light source correspondence correction gain to correct the measurement spectral ratio (R/IR ratio) of the inspection object 50 obtained by the measurement under the measurement light source, and measures the inspection index (NDVI value) of the inspection object 50.
However, the lookup table (LUT) used here is a lookup table (LUT) that is created by the lookup table creation process described above and corresponds to the reference transmission plate 171, and is stored in advance in the storage unit 112 of the correction processing unit 105.
Further, here, measurement of the inspection index (NDVI value) of the inspection object 50 under the measurement light source is performed similarly to the measurement of the inspection index (NDVI value) of the inspection object 50 under the measurement light source described hereinabove with reference to
It is to be noted that, in the vegetation inspection apparatus 13, since a plurality of sensors including the sensor 103-1 and the sensor 103-2 are provided in different housings, it is supposed that a dispersion occurs in spectral characteristic among sensors similarly as in the vegetation inspection apparatus 12. Therefore, also in the vegetation inspection apparatus 13, by adopting the configuration depicted in
While the series of processes described above can be executed by hardware, it may otherwise be executed by software. Where the series of processes is executed by software, a program that constructs the software is installed into a computer.
In the computer 900, a CPU (Central Processing Unit) 901, a ROM (Read Only Memory) 902 and a RAM (Random Access Memory) 903 are connected to each other by a bus 904. To the bus 904, an input/output interface 905 is connected further. To the input/output interface 905, an inputting unit 906, an outputting unit 907, a recording unit 908, a communication unit 909 and a drive 910 are connected.
The inputting unit 906 is configured from a keyboard, a mouse, a microphone and so forth. The outputting unit 907 is configured from a display unit, a speaker and so forth. The recording unit 908 is configured from a hard disk, a nonvolatile memory and so forth. The communication unit 909 is configured from a network interface and so forth. The drive 910 drives a removable storage medium 911 such as a magnetic disk, an optical disk, a magneto-optical disk or a semiconductor memory.
In the computer 900 configured in such a manner as described above, the CPU 901 loads a program recorded, for example, in the ROM 902 or the recording unit 908 into the RAM 903 through the input/output interface 905 and the bus 904 and executes the program to perform the series of processes described hereinabove.
The program executed by the computer 900 (CPU 901) can be recorded on and provided as the removable storage medium 911, for example, as a package storage medium or the like. Further, the program can be provided through a wired or wireless transmission medium such as a local area network, the Internet or a digital satellite broadcast.
In the computer 900, the program can be installed into the recording unit 908 through the input/output interface 905 by loading the removable storage medium 911 into the drive 910. Alternatively, the program can be received by the communication unit 909 through a wired or wireless transmission medium and installed into the recording unit 908. Alternatively, the program may be installed in advance into the ROM 902 or the recording unit 908.
It is to be noted that, in the present specification, the processes performed in accordance with the program by the computer may not necessarily be performed in a time series in accordance with an order described as the flow charts. In other words, the processes performed in accordance with the program by the computer include also processes executed in parallel or individually (for example, parallel processing or processing by objects). Further, the program may be processed by one computer (processor) or may be processed by distributed processing by a plurality of computers.
It is to be noted that the embodiment of the present technology is not limited to the embodiment described hereinabove but can be altered in various manners without departing from the subject matter of the present technology. For example, it is possible to adopt a form that includes all or part of a plurality of embodiments described hereinabove.
Further, the present technology can take such configurations as described below.
(1)
An inspection apparatus, including:
a correction gain determination unit configured to determine, based on a table in which reference spectral information and a correction gain for correcting measurement spectral information of an inspection object obtained by sensing under a measurement light source are associated with each other and measurement spectral information of a reference reflector plate or a reference transmission plate obtained by sensing under the measurement light source, a measurement light source correspondence correction gain corresponding to the measurement light source; and
a correction unit configured to correct the measurement spectral information of the inspection object obtained by sensing under the measurement light source based on the determined measurement light source correspondence correction gain.
(2)
The inspection apparatus according to (1), in which
the reference spectral information is reference spectral information of the reference reflector plate or the reference transmission plate obtained by sensing the reference reflector plate or the reference transmission plate under a plurality of assumed light sources assumed in advance.
(3)
The inspection apparatus according to (2), in which
the plurality of assumed light sources include a reference light source that serves as a reference, and
the correction gain associated with the reference spectral information of the reference reflector plate or the reference transmission plate for each of the assumed light sources is associated with the correction gain of the reference light source.
(4)
The inspection apparatus according to any one of (1) to (3), in which
the reference spectral information of the reference reflector plate or the reference transmission plate is a reference spectral ratio of the reference reflector plate or the reference transmission plate,
the measurement spectral information of the reference reflector plate or the reference transmission plate is a measurement spectral ratio of the reference reflector plate or the reference transmission plate, and
the measurement spectral information of the inspection object is a measurement spectral ratio of the inspection object.
(5)
The inspection apparatus according to (4), further including:
an inspection index calculation unit configured to calculate an inspection index of the inspection object based on the corrected measurement spectral ratio of the inspection object.
(6)
The inspection apparatus according to (5), further including:
a display controlling unit configured to control display of an image corresponding to the inspection index of the inspection object.
(7)
The inspection apparatus according to any one of (1) to (6), in which
the correction gain is calculated using a representative spectral characteristic of a plurality of inspection objects having characteristics different from each other.
(8)
The inspection apparatus according to (7), in which
the representative spectral characteristic is an average spectral characteristic of spectral characteristics of the plurality of inspection objects having characteristics different from each other.
(9)
The inspection apparatus according to (7) or (8), in which
the correction gain is calculated using known spectral characteristics of the assumed light sources and a known spectral sensitivity characteristic of a sensor unit.
(10)
The inspection apparatus according to (4), in which
the reference spectral ratio of the reference reflector plate is calculated using a known spectral characteristic of an arbitrary reference reflector plate.
(11)
The inspection apparatus according to any one of (1) to (10), in which
the correction gain determination unit selects the measurement light source correspondence correction gain from among a plurality of correction gains stored in the table.
(12)
The inspection apparatus according to any one of (1) to (10), in which
the correction gain determination unit calculates the measurement light source correspondence correction gain by performing interpolation using values of a plurality of correction gains stored in the table.
(13)
The inspection apparatus according to any one of (1) to (12), further including:
a storage unit configured to store the table for each of inspection objects of one kind or a plurality of kinds, in which
the correction gain determination unit refers to the table according to a type of the inspection object from among the tables stored in the storage unit to determine the measurement light source correspondence correction gain.
(14)
The inspection apparatus according to any one of (1) to (13), further including:
a sensor unit configured to sense, when the reference reflector plate is used from between the reference reflector plate and the reference transmission plate, the inspection object and the reference reflector plate under the measurement light source.
(15)
The inspection apparatus according to (14), in which
the sensor unit senses the inspection object and the reference reflector plate simultaneously.
(16)
The inspection apparatus according to (14) or (15), in which
the reference reflector plate is attached to a given position so as to exist in an angle of view of a camera the sensor unit has.
(17)
The inspection apparatus according to any one of (4) to (16), in which
the inspection object is a plant,
each of the reference spectral ratio of the reference reflector plate or the reference transmission plate, the measurement spectral ratio of the reference reflector plate or the reference transmission plate and the measurement spectral ratio of the inspection object is a ratio between a value of an R (red) component and a value of an IR (infrared) component, and
the inspection index is a normalized vegetation index (NDVI: Normalized Difference Vegetation Index).
(18)
The inspection apparatus according to any one of (1) to (4), further including:
where the reference transmission plate is used from between the reference reflector plate and the reference transmission plate, a first sensor unit configured to sense the inspection object under the measurement light source and a second sensor unit configured to sense the reference transmission plate under the measurement light source.
(19)
An inspection method, including the steps of:
determining, based on a table in which reference spectral information and a correction gain for correcting measurement spectral information of an inspection object obtained by sensing under a measurement light source are associated with each other and measurement spectral information of a reference reflector plate or a reference transmission plate obtained by sensing under the measurement light source, a measurement light source correspondence correction gain corresponding to the measurement light source; and
correcting the measurement spectral information of the inspection object obtained by sensing under the measurement light source based on the determined measurement light source correspondence correction gain.
(20)
A program for causing a computer to function as:
a correction gain determination unit configured to determine, based on a table in which reference spectral information and a correction gain for correcting measurement spectral information of an inspection object obtained by sensing under a measurement light source are associated with each other and measurement spectral information of a reference reflector plate or a reference transmission plate obtained by sensing under the measurement light source, a measurement light source correspondence correction gain corresponding to the measurement light source; and
a correction unit configured to correct the measurement spectral information of the inspection object obtained by sensing under the measurement light source based on the determined measurement light source correspondence correction gain.
(21)
A table creation apparatus, including:
a first spectral information calculation unit configured to calculate reference spectral information;
a correction gain calculation unit configured to calculate a correction gain for correcting measurement spectral information of an inspection object obtained by sensing under a measurement light source; and
a table creation unit configured to create a table in which the reference spectral information and the correction gain are associated with each other.
(22)
The table creation apparatus according to (21), further including:
a second spectral information calculation unit configured to calculate assumed spectral information of the inspection object under a plurality of assumed light sources assumed in advance, in which
the first spectral information calculation unit calculates assumed spectral information of a reference reflector plate or a reference transmission plate under the plurality of assumed light sources, and
the table creation unit creates a table in which, for each of the plurality of assumed light sources, assumed spectral information of the reference reflector plate or the reference transmission plate as the reference spectral information and the correction gain are associated with each other.
(23)
The table creation apparatus according to (22), in which
the assumed spectral information of the reference reflector plate or the reference transmission plate is an assumed spectral ratio of the reference reflector plate and the reference transmission plate,
the assumed spectral information of the inspection object is an assumed spectral ratio of the inspection object, and
the measurement spectral information of the inspection object is a measurement spectral ratio of the inspection object.
(24)
A table creation method, including the steps of:
calculating reference spectral information;
calculating a correction gain for correcting measurement spectral information of an inspection object obtained by sensing under a measurement light source; and
creating a table in which the reference spectral information and the correction gain are associated with each other.
(25)
A program for causing a computer to function as:
a first spectral information calculation unit configured to calculate reference spectral information;
a correction gain calculation unit configured to calculate a correction gain for correcting measurement spectral information of an inspection object obtained by sensing under a measurement light source; and
a table creation unit configured to create a table in which the reference spectral information and the correction gain are associated with each other.
10, 12, 13 Vegetation inspection apparatus, 11 Vegetation inspection system, 14, 15 Measurement unit, 16 Processing unit, 20 Lookup table creation apparatus, 60 Measurement apparatus, 60A Fixed point measurement apparatus, 60B Moving measurement apparatus, 60C Satellite measurement apparatus, 70 Processing apparatus, 80 Storage apparatus, 101 Reference reflector plate, 102 Lens, 103, 103-1, 103-2 Sensor, 104, 104-1, 104-2 Exposure controlling unit, 105 Correction processing unit, 106 Inspection index calculation unit, 111 Correction gain processing unit, 112 Storage unit, 113 Measurement light correction unit, 121 Reference reflector plate R/IR ratio calculation unit, 122 Correction gain determination unit, 123 Inspection object R/IR ratio calculation unit, 124 Gain correction unit, 131 NDVI value calculation unit, 132 Normalization unit, 133 Storage unit, 151, 171 Reference transmission plate, 201 Inspection object average spectral characteristic calculation unit, 202 Reference reflector plate measurement sensor output value calculation unit, 203 Reference reflector plate R/IR ratio calculation unit, 204 Inspection object measurement sensor output value calculation unit, 205 Inspection object R/IR ratio calculation unit, 206 Correction gain calculation unit, 207 Lookup table creation unit, 900 Computer, 901 CPU
| Number | Date | Country | Kind |
|---|---|---|---|
| 2015-139139 | Jul 2015 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2016/068781 | 6/24/2016 | WO | 00 |
