CN100588959C - Small vehicle holding articles automatic detection method based on radiation image-changing testing - Google Patents
Small vehicle holding articles automatic detection method based on radiation image-changing testing Download PDFInfo
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Abstract
The invention discloses an automatic detecting method of entrainment of small vehicles based on radiation image change detection. Firstly, vehicle scanning image and template image are matched automatically; then entrainment is searched with the method of change detection. The method of radiation image change detection is used for detecting entrainment in the vehicle body of a small vehicle or a large vehicle. The vehicle body is the part of the body except a packing case.
Description
The technology neighborhood
The present invention relates to a kind of safety inspection technology, particularly relate to a kind of based on the dilly entrainment Automatic Measurement Technique in the radiant image safety inspections such as X ray, gamma rays based on the x radiation x imaging.
Background technology
Utilizing the X-radiation imaging is a kind of important means of various dillies being carried out safety inspection.X-radiation imaging ultimate principle is to have utilized the absorption difference of different material to X ray, thereby causes that X ray penetrates the grey scale pixel value difference that forms radioscopic image behind the object.Vehicle is by after the imaging of X-radiation imaging system, and whether the overlooker is entrained with prohibited items by checking on the image inspection trolley, thereby reaches the purpose of safety inspection.Radiation image is to adopt radiation image-forming system to obtain.
Because the equipment of dilly itself is many, become image very complicated, the less entrainment that causes hiding therein often is difficult to be distinguished.To the image of the dilly of same model,, check the difference between them, then easier discovery entrainment under anything situation except that the car in-house facility is not placed in inside if the template image that is become with a width of cloth contrasts with it.Based on such consideration, the applicant has developed a deshadowing technology at the dilly safety inspection, method with mouse drag allows template image aim at the examine image earlier, two width of cloth images are poor then, the place that difference is big just thinks that entrainment is arranged, and also can use the method for template image and examine image Alternation Display, and such two width of cloth images glimmer back and forth, difference between easier discovery two width of cloth images of human eye, thus entrainment differentiated.
But the shortcoming of above-mentioned technology is that subtracting shadow needs the overlooker to allow template image aim at target image with the method for mouse drag.In addition, aim at the direct result who makes difference in back and have many noise, be difficult to judge which piece has entrainment.The method of Alternation Display still needs the overlooker to examine, and the entrainment less to the X ray absorptivity, the gradation of image value difference that it causes not and little are not difficult to resolution with the method for Alternation Display.
Summary of the invention
The present invention provides a kind of new function of automatic detection entrainment for the dilly safety check system, and this function can be used as an inspectoral supplementary means.The present invention also can be used for the truck body entrainment is detected automatically, and method is basic identical, and just image registration and change detecting operation only carry out the body portion of scan image.
Purpose of the present invention is exactly in order to overcome the above problems: (1) solves the problem of manual alignment, realizes the autoregistration of template image and target image; (2) method that replaces two width of cloth images directly to subtract each other with the method that changes detection makes the testing result noise less; (3) improve the prompting effect, directly in the examine image with marking the entrainment position on a kind of chromatic colour, the overlooker is easy to just can see, and is lighter than usefulness Alternation Display method.
Basic ideas of the present invention are exactly: use based on the method for unique point alignment examine image and template image are carried out registration, the method that detects with change is calculated the difference between two width of cloth images then, and the zone that difference is big is exactly the zone at entrainment place.According to the result who detects, on the examine image, indicate the profile in difference zone with red lines, with the prompting overlooker entrainment is arranged herein.The noise as a result of above-mentioned change detection method is little, and entrainment is very obvious.Use image registration techniques automatically the examine image to be alignd with template image, exempted manual alignment, and than right more accurate of manual alignment.
Therefore, the invention provides a kind of method that detects entrainment in the vehicle, comprise step: image-forming step, be used for described vehicle is carried out radiant image, obtain the examine image of this vehicle; Alignment procedures is used for automatically described examine image and a template corresponding image being aimed at, and wherein said template image is corresponding to the type of this vehicle; Change detects step, is used for described examine image and template image are changed detection, finds out the difference between described examine image and the described template image, thereby finds out the entrainment in the vehicle.
In addition, according to one embodiment of present invention, also comprise step display, be used for showing that with colour or flashing mode described change detects the detected difference of step.
In addition, according to one embodiment of present invention, described alignment procedures also comprises the coordinate alignment procedures, comprising: a plurality of unique points of calculating examine image and template image; Described a plurality of unique points for the treatment of check image and template image are mated; Unique point according to after the coupling calculates the coordinate transform mapping function between two width of cloth images, and makes template image align by coordinate with the examine image according to described coordinate transform mapping function.
In addition, according to one embodiment of present invention, alignment procedures also comprises the greyscale transformation step, comprising: the gray scale of template image and the gray scale of detected image are carried out linear fit.
In addition, according to one embodiment of present invention, described change detects step and comprises, parameter is selected step, selects parameter a and b, makes that b is a ∑
21∑
11 -1∑
12About ∑
22Proper vector, suppose that its characteristic of correspondence value is λ,
X wherein, Y is template image and detected image, X, the covariance matrix of Y is:
Calculation procedure, calculation expression
In greater than zero zone, this is the difference between described examine image and the described template image.
In addition, according to one embodiment of present invention, wherein the step to the Feature Points Matching of described examine image and described template image comprises: to the some unique points in the template image, with it is the window that a fixed size is got at the center, and according to the position of described some unique points, determine in the examine image that with relevant position (promptly the identical position of volume coordinate) with it be that the center is a round territory scope of radius with about 20 pixel distances, be each unique point in this circle territory scope in the examine image, get the window of a same fixed size, and the simple crosscorrelation of window therewith of the window in the calculation template image, a unique point of simple crosscorrelation maximum is as the match point of described some unique points, and wherein simple crosscorrelation is defined as:
Wherein, X, Y are template image and detected image, μ
x, μ
yIt is corresponding average.
Description of drawings
Accompanying drawing 1 has shown dilly safety inspection process flow diagram according to an embodiment of the invention.
Accompanying drawing 2 has shown checking process according to an embodiment of the invention.
System and method disclosed herein has overcome the shortcoming of above-mentioned prior art in its various embodiment, and has realized the advantage that this system and method can not exist before.
More completely describe the present invention below with reference to accompanying drawing, the preferred embodiments of the present invention have been shown in the accompanying drawing.But the present invention may be embodied in many other forms, and is not appreciated that and is limited to embodiment described here; It is for disclosure will be detailed and complete that these embodiment are provided on the contrary, and will intactly scope of the present invention be conveyed to those skilled in the art.From start to finish similarly label is all represented similar elements.
Embodiment
An embodiment of every kind of method in the method as described herein can take the form of the computer program carried out on disposal system, described disposal system for example is the one or more DSP equipment as the part of dsp system.How those skilled in the art will know dsp program to realize each in the said structure.Perhaps, each element can be encoded with various programming languages, and is coded in the integrated circuit (IC) design of structure shown in the realization.Thereby as what one skilled in the art will appreciate that, embodiments of the invention can be implemented as method, such as the such device of isolated plant, such as the such device of data handling system, perhaps bearing medium, for example computer program.The bearing medium carrying is used for one or more computer-readable code sections of control processing system implementation method.Therefore, aspect of the present invention can be taked method, pure hardware embodiment, pure software embodiment or combine the form of the embodiment of software and hardware aspect.In addition, the present invention can take to carry the form of the bearing medium (for example computer program on the computer-readable recording medium) of the computer readable program code section that is included in the medium.Can use any suitable computer-readable medium, comprising such as disk or the such magnetic storage apparatus of hard disk, perhaps such as the such optical storage media of CD-ROM.
Will be understood that in one embodiment, the method step of being discussed is to be carried out by (one or more) suitable processor that execution is stored in processing (the being computing machine) system of the instruction (code segment) in the memory storage.Also will understand, the present invention is not limited to any specific implementation or programming technique, and the present invention can realize that the technology of function as described herein realizes with any suitable being used to.The present invention is not limited to any specific programming language or operating system.
Accompanying drawing 1 has shown the basic flow sheet of vehicle inspection according to an embodiment of the invention.Comprising following steps: the checking in of examine vehicle; Thereby this vehicle is carried out the examine image that radiation scanning obtains vehicle; Send described examine image then; Check the step of described examine image, comprise described image is compared with a template image; Send the result who checks.
According to one embodiment of present invention, utilize the method for template image contrast to detect entrainment in the vehicle automatically, a more complete template image storehouse at first will be arranged, promptly to the vehicle of each model, scanning imagery under the situation that does not have additional any other object, deposit in the database Here it is template image storehouse in.Then in checking process, behind a certain vehicle scanning imagery,, carry out image registration and change detects according to its license plate number and/or vehicle information template image in template image library inquiry correspondence.
Particularly, the template image storehouse is such database, supplementarys such as the empty wagons scan image of wherein in store various model vehicles and brand, model, license plate number can retrieve the empty wagons scan image of the vehicle of the respective model or the trade mark according to these supplementarys during use.The empty wagons scan image is meant, do not load any image of scanning gained under the situation of the object outside the parts under itself at vehicle.For lorry, as long as there is not the object outside the affiliated parts of placement itself in the vehicle body, also its scan image can be left in the database as template image, and to the unnecessary Seeking Truth sky of container part, the algorithm in this invention only detects entrainment in the vehicle body automatically to lorry.
When setting up the template image storehouse, can earlier database module be set up, comprise database structure and corresponding interpolation, inquiry scheduling algorithm.And the empty wagons scan image of various vehicles if conditions being possessed can scan with regard to the empty wagons of looking for these vehicles before using, if condition does not possess, also can in use slowly add.Perhaps, described template image is provided by for example car manufactures.
Accompanying drawing 2 has further shown the vehicle inspection process flow diagram according to the embodiment of the invention.Be example wherein, suppose to build up the template image storehouse, then implement according to the following steps with the dilly safety check system:
1. obtain the scan image of dilly with radiation image-forming system, and select corresponding template image according to identification informations such as its vehicle information.
2. calculate the unique point in examine image and the template image.
This invention is adopted and is carried out image registration based on the method for a coupling, the promptly first particular point that in image, finds some to be easy to determine, such as the center of angle point, straight line point of crossing, T type joint, high curvature point and specific region, center of gravity or the like, generally be referred to as unique point, set up the corresponding relation between these unique points in two width of cloth images with various method then, i.e. coupling or pairing, two points on the coupling are referred to as same place, can determine registration transformation between two width of cloth images with these same places as the reference mark.
At first how explanation detects certain unique point in image, such as angle point, and straight line point of crossing etc.With the angle point is example, and its definition and detection method have a variety of, such as being used as angle point to the Local Extremum of horizontal line curvature in the image.Horizontal line curvature is defined as in the image:
Wherein (x y) is image to u, searches the extreme point of curvature then with the single order criterion of extreme point, and promptly to lead be that zero point is differentiated and is extreme point to single order.The Harris angle point is established for another example
R=detM-k (traceM)
2, wherein (x y) is window function to w, and det represents to ask determinant of a matrix, and trace represents to ask rank of matrix, and then R is called the Harris angle point greater than the point of certain threshold value.
Should be appreciated that above-mentioned definition to unique point only is exemplary and nonrestrictive.For the ordinary skill in the art, the mode of determining above-mentioned unique point is not unique, but diversified, as long as can realize goal of the invention of the present invention.
3. the unique point in two width of cloth images is matched.
Set up the corresponding relation between the unique point in two width of cloth images.Promptly these unique points are mated or match, find same place.The method that unique point is mated has based on the method for locus with based on method of local gray level information or the like.With the method based on local gray level information is example, can mate according to the partial structurtes simple crosscorrelation, and simple crosscorrelation for example can be defined as:
Wherein, X, Y are template image and detected image, μ
x, μ
yIt is corresponding average.To the some unique points in the template image, with it is the center, get the window of a fixed size, then according to the position of this unique point, according to a preliminary estimate in the examine image with it the characteristic of correspondence point should drop on one (promptly with correspondence position, volume coordinate is identical with it) be 20 pixels in center (about) distance is in the round territory scope of radius, to each unique point in this scope, get an onesize window, the window simple crosscorrelation of window therewith in the calculation template image is got a unique point making the simple crosscorrelation maximum match point as described some unique points of described template image.
Should be appreciated that equally above-mentioned only is exemplary and nonrestrictive to the definition of unique point pairing and the definition of simple crosscorrelation.For being familiar with those of ordinary skill in the art, the mode of unique point pairing is not unique, but diversified, as long as can realize goal of the invention of the present invention.
4. according to the result of unique point pairing, calculate the coordinate transform mapping function between two width of cloth images.
According to one embodiment of present invention, suppose that the coordinate transform between two width of cloth images is:
So need to determine a, b, c, d, e, six parameters of f.General match point all can surpass six pairs, thereby obtains an overdetermined equation group, and the method that adopts QR to decompose obtains least squares sense separating.
Thereby, utilize the coordinate transform mapping function that template image is carried out geometric transformation, the template image after the conversion aligns by coordinate with the examine image.
5. preferred, also image is carried out the gray scale adjustment after the coordinate alignment, suppose that greyscale transformation is linear between two width of cloth images, i.e. Y=b
1X+b
0, wherein Y is the gray scale of template image, X is the gray scale of detected image, equally also form an overdetermined equation group, utilize QR to decompose and obtain least squares sense separating, just separate and to adjust the gray scale integral body of detected image, make itself and template image basically identical with this.
6. two width of cloth images behind the registration are changed detection.
The method that this invention adopts change to detect is found out the difference between two width of cloth images automatically, and then the zone at definite entrainment place.The method that change detects also has a variety of, detects (Multivariate AlternativeDetection is called for short MAD) or the like such as Photographic Subtraction, change vector analysis, principal component analysis (PCA), multivariate change.Detect (MAD detection) with the multivariate change and be example, as described below:
According to one embodiment of present invention, the MAD conversion is in order to look for two conversion to make maxVar{aX-bY} under the restrictive condition of Var{aX}=Var{bY}=1.Because
Var{ax-bY}＝Var{aX}+Var{bY}-2cov{aX，bY}
＝2(1-Corr{aX，bY})
As long as so make Corr{aX, the bY} minimum.Thereby, establish X, the covariance matrix of Y is:
B is a ∑
21∑
11 -1∑
12About ∑
22Proper vector, establishing its characteristic of correspondence value is λ, then
Should be appreciated that the above-mentioned MAD embodiment that detects about change only is exemplary and nonrestrictive.For being familiar with those of ordinary skill in the art, the mode that change detects is not unique, but diversified, as long as can realize goal of the invention of the present invention.
7. calculate
Zone greater than zero in its result images value is exactly the entrainment zone.
Above-mentioned extracted region greater than 0 can be come out, be converted into binary map, just can extract the border in entrainment zone according to this binary map.
Subsequently, zone corresponding with white portion in the change testing result in the examine image is marked its border with red line.The overlooker can confirm whether to have entrainment according to the red line prompting that marks.
Above-mentioned embodiment only is exemplary, and those skilled in the art can adopt other means of this area to implement the present invention based on inventive concept of the present invention fully.For example, above-mentioned embodiment employing unique point is matched one by one and is mated, but also can adopt characteristic area to align one by one mates, can also adopt any geometric transformation (rotation that is examined between image and the template, translation, stretch, distortion, on-plane surface trend of purchasing etc.) mate, promptly earlier carry out geometric transformation to being examined image and template image, the transformation results image is mated, the coupling of this moment can be used based on common unique point (angle point, high curvature point etc.) or the matching process of characteristic area, also can use based on these conversion intrinsic unique point or the matching process of characteristic area, obtain the coupling of original two width of cloth images then by inverse transformation, perhaps temporarily do not do inverse transformation, and change detection with the matching result image of conversion, do the change testing result that inverse transformation obtains original two width of cloth again.
The present invention can also use any integral transformation (for example Fourier transform, small echo change) that is examined between image and the template to carry out images match, promptly mate at transform domain, mate with the transformation results image, similarly Ci Shi coupling can be used based on the common unique point or the matching process of characteristic area, also can use based on these conversion intrinsic unique point or the matching process of characteristic area, obtain the coupling of original two width of cloth images then by inverse transformation.
In addition, adopt analytical algorithm to carry out Equation for Calculating, find the solution in the above-mentioned embodiment, but as known to those skilled in the art, can adopt non-analytical algorithm, for example neural network algorithm carries out equation solution, its basic inventive concept is constant, promptly according to the step of obtaining template, image alignment, change detection.
The present invention creatively is applied to the vehicle entrainment with automatic technique of alignment, change detection technique and detects, thereby overcome deficiency of the prior art, realized good technical effect, for example: 1) realized the autoregistration of target image and template image, removed inspectoral manual alignment work from.2) can solve the mismatch problems that twice image-forming condition difference causes template image and examine image to a certain extent.3) method that detects with change detects the change between target image and the template image, is entrainment suspicion, and the noise as a result of Jian Ceing is few like this, indicates entrainment with red lines, and check result comes into plain view.
Under the help of the instruction that provides in aforementioned description and relevant drawings, those skilled in the art in the invention will expect many modifications of the present invention and other embodiment.For example, the present invention not only is applied to x-ray imaging, can also be applied to gamma rays imaging, CT image, X ray and be scattering into picture, neutron imaging, thermal imaging or the like.In addition, the present invention can adopt characteristic area to align one by one to mate, also can use any geometric transformation (rotation, translation, stretching, distortion, on-plane surface trend of purchasing etc.) that is examined between image and the template to mate.The present invention can also use any integral transformation (for example Fourier transform, small echo change) that is examined between image and the template to mate.Further, the present invention can use non-analytical algorithm, and neural network algorithm for example mates, computing such as aligning.Therefore, be appreciated that to the invention is not restricted to disclosed specific embodiment, revise with other embodiment and want to be included in the scope of appended claims.Though adopted particular term here, they just use on general descriptive sense, rather than are used to limit purpose.
Claims (10)
1. method that detects entrainment in the vehicle comprises step:
Image-forming step is used for described vehicle is carried out radiant image, obtains the examine image of this vehicle;
Alignment procedures is used for automatically described examine image and a template corresponding image being aimed at, and wherein said template image is corresponding to the type of this vehicle;
Change detects step, is used for described examine image and template image are changed detection, finds out the difference between described examine image and the described template image, thereby finds out the entrainment in the vehicle.
2. according to the method for claim 1, also comprise:
Step display is used for showing that with colour described change detects the detected difference of step.
3. according to the method for claim 1, also comprise:
Step display is used for flicker and shows that described change detects the detected difference of step.
4. according to the method for claim 1, described alignment procedures also comprises the coordinate alignment procedures, comprising:
Calculate the step of a plurality of unique points in examine image and the template image respectively;
Treat the step that described a plurality of unique points of check image and template image are mated;
Unique point according to after the coupling calculates the coordinate transform mapping function between two width of cloth images, and makes the step that template image and examine image align by coordinate according to described coordinate transform mapping function.
5. according to the method for claim 4, described alignment procedures also comprises the gray scale alignment procedures, comprising:
The gray scale of template image and the gray scale of detected image are carried out linear fit.
6. according to the method for claim 1, described change detects step and comprises,
Parameter is selected step, selects parameter a and b, makes that b is a ∑
21∑
11 -1∑
12About ∑
22Proper vector, establishing its characteristic of correspondence value is λ, then
X wherein, Y is template image and detected image, X, the covariance matrix of Y is:
Calculation procedure, calculation expression
In greater than zero zone, this is the difference between described examine image and the described template image.
7. according to the method for claim 4, wherein said unique point is an angle point, promptly satisfies horizontal line curvature in the image
Greater than the Local Extremum of a predetermined threshold, wherein
Be image.
8. according to the method for claim 4, wherein the step to the Feature Points Matching of described examine image and described template image comprises:
To the some unique points in the template image, with it is the window that a fixed size is got at the center, and according to the position of described some unique points, determine in the examine image with the identical correspondence position of volume coordinate to be that the center is a round territory scope of radius with about 20 pixel distances, be each unique point in this circle territory scope in the examine image, get the window of a same fixed size, and the simple crosscorrelation of window therewith of the window in the calculation template image, a unique point of simple crosscorrelation maximum is as the match point of described some unique points, and wherein simple crosscorrelation is defined as:
Wherein, X, Y are template image and detected image, μ
x, μ
yIt is corresponding average.
9. according to the method for claim 4, wherein the coordinate transform mapping function is:
10. according to the method for claim 1, described template image is to obtain by the vehicle scanning to no entrainment.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200610113619A CN100588959C (en) | 2006-10-10 | 2006-10-10 | Small vehicle holding articles automatic detection method based on radiation image-changing testing |
| HK08111399.6A HK1119463A1 (en) | 2006-10-10 | 2008-10-15 | Method for automatically detecting articles entraining within small vehicles on basis of radiation image-changing testing |
Applications Claiming Priority (1)
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|---|---|---|---|
| CN200610113619A CN100588959C (en) | 2006-10-10 | 2006-10-10 | Small vehicle holding articles automatic detection method based on radiation image-changing testing |
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| CN100588959C true CN100588959C (en) | 2010-02-10 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105372712B (en) * | 2014-09-02 | 2017-12-12 | 清华大学 | Vehicle inspection method and system |
| CN105787424B (en) * | 2014-12-26 | 2019-06-07 | 阿里巴巴集团控股有限公司 | A kind of image processing method and device |
| CN105809088B (en) * | 2014-12-30 | 2019-07-19 | 清华大学 | Vehicle identification method and system |
| CN105809087B (en) * | 2014-12-30 | 2020-03-27 | 清华大学 | Radiation inspection system and vehicle model template retrieval method |
| CN105807335B (en) * | 2014-12-30 | 2019-12-03 | 清华大学 | Vehicle chassis inspection method and system |
| CN105809655B (en) * | 2014-12-30 | 2021-06-29 | 清华大学 | Vehicle inspection method and system |
| CN106528665B (en) * | 2016-10-21 | 2019-09-03 | 广州视源电子科技股份有限公司 | AOI equipment test file lookup method and system |
| CN106643965B (en) * | 2016-12-23 | 2020-08-04 | 贵州电网有限责任公司电力科学研究院 | Method for accurately identifying liquid level by utilizing template matching |
| CN107918990A (en) * | 2017-11-29 | 2018-04-17 | 西安超嗨网络科技有限公司 | A kind of antitheft system for supermarket and method |
| CN109901977A (en) * | 2017-12-08 | 2019-06-18 | 同方威视技术股份有限公司 | Image inspection analogy method, device, equipment and computer readable storage medium |
| CN109490337A (en) * | 2018-11-30 | 2019-03-19 | 贵州电网有限责任公司 | Digital radial fixed point, fixed-focus determine parameter detecting GIS device to realize the method and device of image intelligent diagnosis |
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| HK1119463A1 (en) | 2009-03-06 |
| CN101162204A (en) | 2008-04-16 |
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