CN103390272A - Method for achieving registration and fusion of multi-spectral pseudo color images - Google Patents
Method for achieving registration and fusion of multi-spectral pseudo color images Download PDFInfo
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Abstract
The invention discloses a method for achieving registration and fusion of multi-spectral pseudo color images and belongs to the field of a spectral image processing technology. The method is achieved through an image registration and fusion software package which is arranged in a multi-spectral imaging device. The method includes that after the multi-spectral imaging device is powered on, the registration is performed on spectral images which have the same wave band in four imaging channels to obtain a registration center coordinate; translation processing is performed on four spectral images with different wave lengths in corresponding imaging channels with the registration center coordinate as the center to obtain a registration image; RGB (Red Green Blue) pseudo color fusion is performed on the image after the registration and the image is sent into a ground control station. The method for achieving the registration and fusion of the multi-spectral pseudo color images has the advantages of solving the problem that the multi-spectral images are difficult to be registered due to a large gray difference, improving the success rate of the registration, achieving the rapid registration of the multi-spectral images without manual intervention and being high in real-time performance and beneficial to engineering application.
Description
Technical field
The invention belongs to the spectrum picture processing technology field, relate generally to a kind of registration method for amalgamation processing of spectrum picture, relate in particular to a kind of registration fusion method of multispectral pseudo color image.
Background technology
Spectrum picture be by optical light splitting technology obtain centered by a certain wavelength points, bandwidth is ± the following narrow-band spectrum gray level image of 10nm.In the near-infrared band scope, can obtain the spectrum picture of a plurality of wavelength points at 0.4～1.0um visible light.Because the spectral distribution of different target energy is not identical, utilize this characteristic, can distinguish different target in spectrum picture.Thereby in various fields extensive application such as biomedicine, the detection of agricultural geologic remote sensing, military target scoutings.
It is with the gray-scale map of different spectrum that the multispectral image pseudo-colours merges, and is fused into the pseudocolour picture of width RGB three looks, and pseudocolour picture contains abundanter image information, and human eye can more easily be identified camouflaged target.
The basis of Multispectral Image Fusion is the registration of multispectral image, the registration difficult point of multispectral image is, there is larger gray difference in target between different spectrum gray level images, the situation that even there will be anti-contrast, the method for registering of intensity-based can be because of the existence failure of anti-contrast, and based on the method for registering of feature, usually needs artificial participation, and real-time is poor, success ratio is low, is unfavorable for actual use.
SPIE Vol.6946 has delivered the paper of a piece " Spectral detection and monitoring of marine mammals ", the MANTIS-3 multispectral camera of discussing in article, it is by a filter, four camera lenses and four cmos detectors form, can gather simultaneously the spectrum picture of 4 width different wave length points, this article for the processing of spectrum picture be with different sensors after several spectrum pictures of the Same Scene that obtains under the same field angle carry out autoregistration, choosing three width image co-registration wherein become the RGB pseudocolour picture again, but in article not the method for registering to spectrum picture be described, method for registering is not quite clear.
Chinese patent ZL2008100645595.5 discloses a kind of multi-spectrum image registration method based on small component and noise contribution, at first the method carries out transformation of scale to multispectral image, zone is selected, pre-service is selected at reference mark, then utilize traditional intensity-based and based on the method for feature use certain spectral coverage image as the reference image to other images preliminary registration one by one, adopt again the analytical approach of small component and noise contribution to carry out repeated multiple times accuracy registration, its accuracy of registration obviously is better than traditional intensity-based and the method for feature, but its computation process is complicated, operand is large, real-time is poor, be difficult to realize in engineering, can not meet the request for utilization of actual tactics.
Summary of the invention
The technical problem to be solved in the present invention is, for the deficiency that prior art exists, provide a kind of in real time, the registration fusion method of multispectral pseudo color image accurately and rapidly.
For solving the problems of the technologies described above, multispectral pseudo color image registration fusion method provided by the invention is to be realized by the multispectral imaging device with four imaging bands and computing machine, each imaging band comprises imaging lens 1-1, filtering assembly 1-2 and ccd detector 1-3, each filtering assembly 1-2 is comprised of and w 〉=2 w the optical filter that is embedded on runner, in four imaging bands, all with an optical filter that wave band is identical, all the other are the different optical filter of wavelength; Computing machine 2 is built-in with multispectral pseudo color image registration fusion software bag; After multispectral imaging device powered on, described multispectral pseudo color image registration fusion software bag was carried out following operation steps:
The first step: wait for and receive identical wave band image registration order, carry out second step when receiving identical wave band image registration order;
Second step: send λ 0A to filtering assembly, λ 0B, λ 0C, λ 0D enters imaging band instruction separately;
Wherein: the wave band that λ 0A, λ 0B, λ 0C and λ 0D are respectively optical filter in first to fourth imaging band and these four optical filters is identical;
The 3rd step: a two field picture of synchronous acquisition first to fourth imaging band CCD output is image P
λ 0A(e, f), image P
λ 0B(e, f), image P
λ 0C(e, f) and image P
λ 0D(e, f) and buffer memory, wherein, e=1,2,3 ..., E, f=1,2,3 ..., F;
The 4th step: make the first imaging band image P
λ 0AThe centre coordinate of (e, f)
For the registration centre coordinate of this image,
With
Value is respectively according to round, and with image P
λ 0A(e, f) is benchmark, adopts the relevant method for registering of gray scale respectively to image P
λ 0B(e, f), image P
λ 0C(e, f) and image P
λ 0D(e, f) carries out registration, obtains registration centre coordinate and the buffer memory of the second to the 4th imaging band image;
The 5th step: wait for and receive different wave length image registration order, carried out for the 6th step when receiving different wave length image registration order;
The 6th step: send λ Ai to filtering assembly, λ Bj, λ Cm, λ Dn (i=1,2,3 ..., w-1; J=1,2,3 ..., w-1; M=1,2,3 ..., w-1; N=1,2,3 ..., w-1) enter imaging band instruction separately;
Wherein: it is different that λ Ai, λ Bj, λ Cm and λ Dn are respectively the wavelength of optical filter in first to fourth imaging band and these four optical filters;
The 7th step: a two field picture of synchronous acquisition first to fourth imaging band CCD output is image P
λ Ai, image P
λ Bj, image P
λ CmWith image P
λ DnAnd buffer memory;
The 8th step: judge respectively image P
λ Ai, image P
λ Bj, image P
λ CmWith image P
λ DnThe corresponding pixel of registration centre coordinate whether equal to the distance on the upper and lower limit of image separately
Individual pixel, if equal
Keep original image constant, if greater than
Cast out the row that has more, if less than
The line number polishing is arrived
Compose gray-scale value 255 for each pixel of supplementing in row; Judge whether the corresponding pixel of registration centre coordinate equals to the distance on the left and right limit of image separately
Individual pixel, if equal
Keep original image constant, if greater than
Cast out the row that have more, if less than
The columns polishing is arrived
Compose gray-scale value 255 for each pixel of supplementing in row, so obtain four width sizes and be the registering images N of E * F
λ Ai, registering images N
λ Bj, registering images N
λ CmWith registering images N
λ DnAnd buffer memory;
The 9th step: according to four, select three array mode to registering images N
λ Ai, registering images N
λ Bj, registering images N
λ CmWith registering images N
λ DnCarry out the RGB pseudo-colours and merge, obtain four width fused images N
RGB1, N
RGB2, N
RGB3And N
RGB4And be transferred to ground control station;
The tenth step: judged whether END instruction, returned to for the 5th step when there is no END instruction, finished multispectral pseudo color image registration and merge program when END instruction is arranged.
Beneficial effect of the present invention is embodied in the following aspects:
(1) at first the present invention is switched to optical filter identical wave band, four identical wave band spectrum pictures in four imaging bands are carried out registration, even the first imaging band picture centre coordinate is this image registration centre coordinate, respectively the second to the 4th imaging band image is carried out registration, obtain each self registration centre coordinate of three width images; Then optical filter is switched to different wave length, take the registration centre coordinate as the picture centre coordinate, four width different wave length spectrograms in four imaging bands is looked like to carry out translation and process, obtain four width registering images; Finally any three width in four width registering images are carried out pseudo-colours and merge, finally obtain four multispectral pseudo-colours registration fusion figure and send into ground control station.Owing to adopting identical wave band spectrum picture to carry out registration, avoided the different wave length spectrogram to look like to have anti-contrast metric, solved the problem of multispectral image because of the large registration difficulty of gray difference, improved the success ratio of autoregistration.
(2) in the present invention, due to each imaging band when optical filter switches, what only change is the spectral information of image, and do not change the position relationship of each pixel in image, therefore be constant with the registration centre coordinate that identical wave band spectrum picture obtains, so just the registration parameter that identical wave band spectrum picture obtains can be directly used in the different wave length spectrogram is looked like to carry out registration.
(3) the present invention has adopted the relevant method for registering of gray scale to carry out registration, has advantages of that computation process is simple, registration speed soon, does not need manual intervention, real-time is good, is easy to Project Realization.
(4) any three width images of the present invention after to four imaging band registrations carry out pseudo-colours and merge, can obtain the pseudo-colours fusion figure of four width different-effects at every turn, carry out target identification and tracking command for the ground control personnel, for actual tactical reconnaissance application provides strong scouting method.
Description of drawings
Fig. 1 is the composition schematic diagram of multispectral imaging device.
Fig. 2 is four imaging bands and optical filter numbering schematic layout pattern in Fig. 1.
Fig. 3 is the workflow diagram of multi-spectral image registration fusion method of the present invention.
Fig. 4 is that in the present invention, benchmark window and search window concern schematic diagram.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing and preferred embodiment.
The excellent embodiment that selects of multispectral pseudo color image registration fusion method provided by the invention is for multispectral imaging device shown in Figure 1.This multispectral imaging device is comprised of multispectral video camera 1 and computing machine 2.Multispectral video camera 1 comprises four imaging bands, and these four imaging bands are arranged in the mode of two row two row, and each imaging band comprises imaging lens 1-1, filtering assembly 1-2 and ccd detector 1-3.Each filtering assembly 1-2 is comprised of and w 〉=2 w the optical filter that is embedded on runner, and by computer control, each optical filter can enter imaging band in succession.In four imaging bands, all with an optical filter that wave band is identical, remaining is the different optical filter of wavelength.Come from the light of target after imaging lens 1-1 assembles, then focus on the target surface of ccd detector 1-3 after filtering by filtering assembly 1-2, ccd detector 1-3 is sent in computing machine 2 after converting light signal to electric signal.Computing machine 2 is built-in with multispectral pseudo color image registration fusion software bag.Computing machine has picture synchronization collection, storage and wireless transmission function, and multispectral pseudo color image registration fusion software bag realizes that the registration of image merges.
According to shown in Figure 2, in the preferred embodiment of the present invention, the optical filter of each filtering assembly is four, i.e. w=4.The thickness of 16 optical filters of four imaging bands is all identical.The first imaging band is numbered A, the optical filter numbering is respectively λ 0A, λ A1, λ A2, λ A3, the second imaging band is numbered B, the optical filter numbering is respectively λ 0B, λ B1, λ B2, λ B3, the 3rd imaging band is numbered C, the optical filter numbering is respectively λ 0C, λ C1, λ C2, λ C3, and the 4th imaging band is numbered D, and the optical filter numbering is respectively λ 0D, λ D1, λ D2, λ D3.Wherein, λ 0A, λ 0B, λ 0C, λ 0D are identical wave band optical filter, its centre wavelength span is 0.6 to 0.7um, λ A1, λ A2, λ A3, λ B1, λ B2, λ B3, λ C1, λ C2, λ C3, λ D1, λ D2, λ D3 are the different wave length optical filter, and the centre wavelength of these 12 optical filters is value in 0.4 to 1.0um scope all.
After multispectral imaging device powers on, the multispectral pseudo color image registration fusion software bag in computing machine will be carried out following steps according to workflow shown in Figure 3:
The first step: wait for and receive identical wave band image registration order., if receive identical wave band image registration order, carry out second step.
Second step: send λ 0A to filtering assembly, λ 0B, λ 0C, λ 0D enters imaging band instruction separately.
The 3rd step: a two field picture of each imaging band of synchronous acquisition CCD output is image P
λ 0A(e, f), image P
λ 0B(e, f), image P
λ 0C(e, f) and image P
λ 0D(e, f) and buffer memory, wherein e and f are variable, e=1,2,3 ..., E, f=1,2,3 ..., F.
The 4th step: with the first imaging band image P
λ 0A(e, f) is benchmark, respectively with other each imaging band image P
λ 0B(e, f), image P
λ 0C(e, f) and image P
λ 0D(e, f) carries out registration, obtains the registration centre coordinate
With
And buffer memory.
The method of above-mentioned registration is as follows: with image P
λ 0A(e, f) and image P
λ 0B(e, f) is example explanation method for registering.Image P
λ 0A(
e, f) be reference map, image P
λ 0B(e, f) is figure subject to registration, and the centre coordinate of two width images is
With
Value is respectively according to round.At image P
λ 0AIn (e, f) with
Centered by the coordinate selection size be the benchmark window (referring to Fig. 4) of g * h pixel, wherein g and h are variable, g=1,3,5 ..., G, h=1,3,5 ..., H.At image P
λ 0BIn (e, f) with
Centered by coordinate, selecting size is the search window (referring to Fig. 4) of r * s pixel, wherein r and s are variable, r=1,3,5 ..., R, s=1,3,5 ..., S, the value of r * s is greater than the value of g * h, and two values are at least 2 times of relations.At image P
λ 0BIn (e, f), the center of benchmark window is moved to first pixel of search window the first row, with image P
λ 0BIn (e, f) with the pixel in benchmark windows overlay zone and benchmark window in corresponding pixel carry out the signed magnitude arithmetic(al) of gray scale difference, obtain the absolute value of g * h gray scale difference, to the absolute value of g * h the gray scale difference acquisition gray-scale value I that sues for peace
11.Again with image P
λ 0BIn (e, f), the center of benchmark window moves to second pixel of search window the first row, adopts same method to obtain gray-scale value I
12.By that analogy, with image P
λ 0BIn (e, f), the center of benchmark window moves to S pixel of search window the 1st row and obtains gray-scale value I
1S.With image P
λ 0BThe center of benchmark window each pixel in the traversal search window line by line in (e, f), finally obtain matrix I(R * S).Find out the minimum value I in matrix I(R * S)
rs, obtain minimum value I
rsCoordinate (r, s) in search window, this position are the registration center of image subject to registration.Centre coordinate due to search window
With image P subject to registration
λ 0BThe centre coordinate of (e, f)
Overlap, so image P subject to registration
λ 0BThe registration centre coordinate of (e, f) is
With image P subject to registration
λ 0BThe registration centre coordinate of (e, f) is designated as
In like manner obtain image P subject to registration
λ 0CThe registration centre coordinate of (e, f)
Image P subject to registration
λ 0DThe registration centre coordinate of (e, f)
The 5th step: wait for and receive different wave length image registration order,, if receive different wave length image registration order, carried out for the 6th step.
The 6th step: to filtering assembly, send λ Ai, λ Bj, λ Cm, λ Dn (i=1,2,3; J=1,2,3; M=1,2,3; N=1,2,3) enter imaging band instruction separately.
The 7th step: a two field picture of each channel C of synchronous acquisition CD output is image P
λ Ai, image P
λ Bj, image P
λ CmWith image P
λ DnAnd buffer memory.
The 8th step: obtaining four width registering images is registering images N
λ Ai, registering images N
λ Bj, registering images N
λ CmWith registering images N
λ Dn.
Owing to using image that the first imaging band gathers as registering images, so image P
λ AiThe registration centre coordinate be
Keep original image constant, directly with image P
λ AiValue be assigned to image N
λ Ai, and buffer memory.
With image
Middle coordinate figure is
Pixel as the central point of this image, the judgement central point is to image
Whether the distance on upper and lower limit equals
Individual pixel, if greater than
Cast out the row that has more, if less than
The line number polishing is arrived
Compose gray-scale value 255 for each pixel of supplementing in row; The judgement central point arrives
Whether the distance on the left and right limit of image equals
Individual pixel, if greater than
Cast out the row that have more, if less than
The columns polishing is arrived
Compose gray-scale value 255 for each pixel of supplementing in row, obtaining size finally is the registering images N of E * F
λ BjAnd buffer memory.According to the method described above to image P
λ Cm, P
λ DnCarry out same operation and obtain registering images N
λ CmWith registering images N
λ DnAnd buffer memory.
The 9th step: from registering images N
λ Ai, registering images N
λ Bj, registering images N
λ CmWith registering images N
λ DnIn select arbitrarily three width assignment be to three primary colours R component respectively, three primary colours G component and three primary colours B component, obtain a width pseudo-colours and merge figure.After so according to four, selecting three array mode to carry out the three primary colours assignment, finally can obtain four width RGB pseudo-colours fused images N
RGB1, N
RGB2, N
RGB3And N
RGB4And this four width pseudo-colours fused images is transferred to ground control station, the operating personnel of ground control station select the most obvious image of width target from this four width image, be used for identification and the tracking of target by the wireless reconnaissance equipment that sends aircraft to.
The tenth step: judged whether END instruction,, if there is no END instruction, returned to for the 5th step,, if END instruction is arranged, finished multispectral pseudo color image registration and merge program.
Claims (1)
1. multispectral pseudo color image registration fusion method, the method is to be realized by the multispectral imaging device with four imaging bands and computing machine, each imaging band comprises imaging lens 1-1, filtering assembly 1-2 and ccd detector 1-3, each filtering assembly 1-2 is comprised of and w 〉=2 w the optical filter that is embedded on runner, it is characterized in that: in four imaging bands, all with an optical filter that wave band is identical, all the other are the different optical filter of wavelength; Computing machine 2 is built-in with multispectral pseudo color image registration fusion software bag; After multispectral imaging device powered on, described multispectral pseudo color image registration fusion software bag was carried out following operation steps:
The first step: wait for and receive identical wave band image registration order, carry out second step when receiving identical wave band image registration order;
Second step: send λ 0A to filtering assembly, λ 0B, λ 0C, λ 0D enters imaging band instruction separately;
Wherein: the wave band that λ 0A, λ 0B, λ 0C and λ 0D are respectively optical filter in first to fourth imaging band and these four optical filters is identical;
The 3rd step: a two field picture of synchronous acquisition first to fourth imaging band CCD output is image P
λ 0A(e, f), image P
λ 0B(e, f), image P
λ 0C(e, f) and image P
λ 0D(e, f) and buffer memory, wherein, e=1,2,3 ..., E, f=1,2,3 ..., F;
The 4th step: make the first imaging band image P
λ 0AThe centre coordinate of (e, f)
For the registration centre coordinate of this image,
With
Value is respectively according to round, and with image P
λ 0A(e, f) is benchmark, adopts the relevant method for registering of gray scale respectively to image P
λ 0B(e, f), image P
λ 0C(e, f) and image P
λ 0D(e, f) carries out registration, obtains registration centre coordinate and the buffer memory of the second to the 4th imaging band image;
The 5th step: wait for and receive different wave length image registration order, carried out for the 6th step when receiving different wave length image registration order;
The 6th step: send λ Ai to filtering assembly, λ Bj, λ Cm, λ Dn (i=1,2,3 ..., w-1; J=1,2,3 ..., w-1; M=1,2,3 ..., w-1; N=1,2,3 ..., w-1) enter imaging band instruction separately;
Wherein: it is different that λ Ai, λ Bj, λ Cm and λ Dn are respectively the wavelength of optical filter in first to fourth imaging band and these four optical filters;
The 7th step: a two field picture of synchronous acquisition first to fourth imaging band CCD output is image P
λ Ai, image P
λ Bj, image P
λ CmWith image P
λ DnAnd buffer memory;
The 8th step: judge respectively image P
λ Ai, image P
λ Bj, image P
λ CmWith image P
λ DnThe corresponding pixel of registration centre coordinate whether equal to the distance on the upper and lower limit of image separately
Individual pixel, if equal
Keep original image constant, if greater than
Cast out the row that has more, if less than
The line number polishing is arrived
Compose gray-scale value 255 for each pixel of supplementing in row; Judge whether the corresponding pixel of registration centre coordinate equals to the distance on the left and right limit of image separately
Individual pixel, if equal
Keep original image constant, if greater than
Cast out the row that have more, if less than
The columns polishing is arrived
Compose gray-scale value 255 for each pixel of supplementing in row, so obtain four width sizes and be the registering images N of E * F
λ Ai, registering images N
λ Bj, registering images N
λ CmWith registering images N
λ DnAnd buffer memory;
The 9th step: according to four, select three array mode to registering images N
λ Ai, registering images N
λ Bj, registering images N
λ CmWith registering images N
λ DnCarry out the RGB pseudo-colours and merge, obtain four width fused images N
RGB1, N
RGB2, N
RGB3And N
RGB4And be transferred to ground control station;
The tenth step: judged whether END instruction, returned to for the 5th step when there is no END instruction, finished multispectral pseudo color image registration and merge program when END instruction is arranged.
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