CN104021535A - Method for splicing stepping and framing CCD image - Google Patents
Method for splicing stepping and framing CCD image Download PDFInfo
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Abstract
The invention provides a method for splicing a stepping and framing CCD image. The method comprises the step A that two same-name feature points, a same-name feature point P1 and a same-name feature point P2, with the farthest distance in images are extracted through a scale invariance feature transformation operator in the overlapping region of two frames of adjacent images; the step B that four parameters of an elastic transformation model between the two frames of adjacent images are calculated according to the coordinates of the two extracted same-name feature points; the step C that coordinate transformation processing is carried out on each point of the current frame of image according to the elastic transformation model; the step D that the current frame of image obtained after transformation and the last frame of image are combined to a frame of image according to coordinate positions to obtain the spliced image. The two same-name feature points with the farthest distance in the overlapping region only need to be extracted fast, and the method adapts to the low-overlapping feature points between the stepping and framing images well.
Description
Technical field
The present invention relates to technical field of image processing, relate in particular to a kind of method of stepping framing ccd image splicing.
Background technology
Aviation stepping framing camera exchanges space for by the time, in the imaging of taking pictures perpendicular to a plurality of positions of flight course, guarantees to carry out on certain Duplication basis the splicing processing of image, can realize the large view field observation to ground.It has advantages of that volume is little, quality is light, can very conveniently be applied on the platforms such as unmanned plane.Its basic principle of work is, the control sweeping mechanism of camera moves to initial point position exposure image by visual field and obtains piece image, in view data, shifts in the process of storage, and sweeping mechanism is by visual field step motion to the second position static; Wait for that last width view data has shifted and rear imaging is carried out in the visual field of second position, waited after the shooting of multiple image, the stepping of sweeping mechanism controls visual field returns; Guaranteeing under the prerequisite of certain longitudinal overlap rate, the control sweeping mechanism of machine is first field positions to next round by visual field step motion again, starts new round sweeping stepping shooting process.
Typical Foreign representative at present has the cameras such as CA-260, CA-261, CA-265 and CA-270, and the super wide format aviation digital camera of A3, and these stepping framing cameras are equipped on the aircrafts such as RF-4, F-16, F-14, SR-71, P-3 and RQ-4 global hawk.The framing camera point umber of beats different from space opened entire image, can obtain the image that individual geometric fidelity is higher, but Image Mosaics technology has been proposed to higher requirement.Because image is not obtaining the image sequence with certain Duplication in the same time, be subject to that aspect and flying speed are probabilistic to be affected, overlapping between the area image that makes to obtain is also constantly to change, increased complexity and difficulty that area image is processed, so the stitching algorithm of image is had relatively high expectations.
The achievement in research report that splicing is processed to stepping framing ccd image both at home and abroad is at present few, only have and similarly wave Image Mosaics, as clever in height (high clever, Shen Zhenkang, the Registration and connection algorithm of image sets is waved in aviation, the 38th the 1st phase of volume, infrared and laser engineering 2009) studied aviation and wave the model that waves of camera and adopted rotation to add the calibration model of perspective distortion, proposed for the Registration and connection method of waving image sets, mainly by definition energy function, search for and obtain Optimum Matching region, then to waving image sets, smoothly splice.
At present research is many is the CCD face system of battle formations picture that obtains of unmanned plane or the splicing of other aviation faces system of battle formations picture.These splicing processing method emphasis are all how by matching algorithm, to extract the unique point of the same name of overlapping region, then calculate the spatial alternation relation of adjacent surface system of battle formations picture, complete the splicing of image on the basis of conversion.If the people such as Yu Huan are (in joyous, Kong Bo, the research of unmanned aerial vehicle remote sensing images automatic seamless splicing, the 27th the 3rd phase of volume, in June, 2012, remote sensing technology and application) proposed to use the reference mark registration Algorithm of feature and the contrast modulation method of gradation of image fusion to realize several unmanned plane image automatic seamless splicings, the transformation model of eight parameters that adopt, by 10-20 unique point of the same name at least between adjacent image.The people such as Wang Bo (Wang Bo, Gong Zhihui, Jin Keqiang etc., a kind of improved unmanned plane image splicing method, computer engineering and application, 2011,47 35 phases of volume) for traditional slow problem of image joint processing speed based on SIFT, by analyzing raw video and the relation of dwindling homography matrix between image (Perspective transformation model), the method for improvement splicing speed has been proposed.
Present existing aerial remote sensing images splicing, especially the aerial image that unmanned plane obtains, it is all the Bonding Problem for many air strips, multiple image, General Requirements Duplication is high, and on transformation model, often adopt the perspective transform of eight more parameter transformation models of parameter, homography matrix or need the affined transformation of six parameters, this the more unique point of the same name that just need to extract overlapping region is calculated, if unique point of the same name is few or irrational distribution, is difficult to carry out the calculating of parameter.And the image that stepping picture frame need to splice is the image that order is obtained on same air strips, there is between image Duplication low, can not adopt the more complex transformations model of parameter, and must be low according to Duplication, the unique point of the same name of extracting minute quantity builds the less transformation model of parameter.
Summary of the invention
(1) technical matters that will solve
In view of above-mentioned technical matters, the invention provides a kind of method of stepping framing ccd image splicing, accurately and rapidly to splice multiple image.
(2) technical scheme
The method of stepping framing ccd image splicing of the present invention comprises: steps A: in adjacent two width doubling of the image regions, utilize yardstick invariant features transformation operator to extract image middle distance two unique point of the same name-unique point P1 of the same name and unique point P2 of the same name farthest; Step B: according to the coordinate of two unique points of the same name extracting, calculate four parameters of the elastic registration model between adjacent two width images, computing formula is:
Wherein: k
1, k
2, d
x, d
yfor four parameters of elastic registration model, (x
1, y
1) and (u
1, v
1) be respectively the image coordinate of unique point P1 of the same name in current width image and upper piece image, (x
2, y
2) and (u
2, v
2) be respectively the image coordinate of unique point P2 of the same name in current width image and upper piece image and represent unique point of the same name; Step C: according to elastic registration model, each point of current width image is carried out to coordinate transform processing, the formula of conversion is:
Wherein, (x, y) is the original image coordinate of current width image, and (u, v) is the image coordinate after current width image conversion; And step D: current width image and upper piece image after conversion are synthesized to piece image according to coordinate position, obtain spliced image.
(3) beneficial effect
From technique scheme, can find out, the method for stepping framing ccd image splicing of the present invention has following beneficial effect:
(1) feature low according to Duplication between adjacent image, only needs distance two unique points of the same name farthest in rapid extraction overlapping region, has adapted to preferably low overlapping feature between stepping picture frame.And because the unique point of the same name of extracting has distance at a distance of farthest, guaranteed accurately solving of model parameter.
(2) transformation model between adjacent image has been considered four parametric elasticity transformation models of translation, yardstick and rotation, has few, the practical feature of parameter model, has solved preferably the geometric transformation problem between stepping picture frame.
Accompanying drawing explanation
Fig. 1 is according to the process flow diagram of embodiment of the present invention stepping framing ccd image joining method;
The 16 width stepping picture frames of Fig. 2 A for obtaining before splicing;
Fig. 2 B utilizes Fig. 1 method to carry out spliced design sketch to the stepping picture frame shown in Fig. 2 A.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.It should be noted that, in accompanying drawing or instructions description, similar or identical part is all used identical figure number.The implementation that does not illustrate in accompanying drawing or describe is form known to a person of ordinary skill in the art in affiliated technical field.In addition, although the demonstration of the parameter that comprises particular value can be provided herein, should be appreciated that, parameter is without definitely equaling corresponding value, but can in acceptable error margin or design constraint, be similar to corresponding value.The direction term of mentioning in embodiment, such as " on ", D score, 'fornt', 'back', " left side ", " right side " etc., be only the direction with reference to accompanying drawing.Therefore, the direction term of use is to be not used for limiting the scope of the invention for explanation.
The present invention is spliced stepping framing ccd image method application space and at a distance of two unique points of the same name farthest, is calculated four parameters of elastic registration model between adjacent two width images, has realized the unification of the volume coordinate between adjacent two width images by coordinate transform processing; On unified volume coordinate basis, adjacent image is synthesized together, thereby has guaranteed the splicing of multiple image.
In one exemplary embodiment of the present invention, provide a kind of stepping framing ccd image method of splicing fast.Fig. 1 is according to the process flow diagram of embodiment of the present invention stepping framing ccd image joining method.As shown in Figure 1, the method for the present embodiment stepping framing ccd image splicing comprises:
Steps A: in adjacent two width doubling of the image regions, utilize yardstick invariant features conversion (SIFT) operator extraction image middle distance two unique point-unique point P1 of the same name and unique point P2 farthest;
In this step, the method for utilizing yardstick invariant features transformation operator to extract adjacent two width image unique point of the same name is the general method in this area, and very roughly, it mainly comprises:
Sub-step A1, utilizes the point of interest in difference Gauss operator detected image metric space for current width image and upper piece image respectively;
Sub-step A2 applies the gradient information compute gradient principal direction in this point of interest neighborhood window, and according to histogram of gradients, builds the proper vector of 128 dimensions that this point of interest is corresponding on the point of interest basis of detecting;
Sub-step A3, calculate one by one the Euclidean distance between the point of interest proper vector detecting in the point of interest proper vector that detects in current width image and previous frame image, and calculate the ratio of minimum distance and time minimum distance, ratio is less than to those points of interest of 0.5 as candidate's unique point of the same name;
Sub-step A4, these candidates unique point of the same name that utilization obtains, according to the coordinate of unique point of the same name, calculate one by one the wherein space length between any one unique point and remaining other unique points, corresponding two points of chosen distance maximal value from the space calculating, as final unique point P1 and unique point P2.
Step B: according to two unique point coordinates of the same name that extract, calculate four parameters of the elastic registration model between adjacent two width images, computing formula is:
Wherein: k
1, k
2, d
x, d
yfor four parameters will calculating, (x
1, y
1) represent the image coordinate of unique point P1 of the same name in current width image, (u
1, v
1) represent the image coordinate of unique point P1 of the same name in upper piece image, (x
2, y
2) represent the image coordinate (u of unique point P2 of the same name in current width image
2, v
2) represent the image coordinate of unique point P2 of the same name in upper piece image, [] is the expression-form of linear algebra matrix, [] [] represents two matrix multiples, and []
-1expression is carried out inversion calculation to this matrix.
Step C: according to four parameters of calculating, the image of current width is carried out to transformation of coordinates processing, the formula of conversion is:
Wherein: k
1, k
2, d
x, d
ybe four transformation parameters, these four values are calculated by step B, and (x, y) represents the original image coordinate of current width image, and (u, v) represents the image coordinate after current amplitude variation changes.
Step D: present image and upper piece image after conversion are synthesized to piece image according to coordinate position, can obtain spliced image.
The present embodiment has only provided two width stepping images and has realized the method for splicing.For several two width stepping images, only every piece image all need be carried out to similar processing above with the image of splicing, while namely processing at every turn all using spliced image as upper piece image, and using the image of needs splicing as current width image, after repeatedly splicing processing, just obtained the stepping image of several splicings.
In order to verify the effect of the present embodiment, to the 16 width stepping picture frames for obtaining before splicing shown in Fig. 2 A; Fig. 2 B is for splicing the design sketch after processing.From Fig. 2 A and Fig. 2 B, can find out: spliced image does not have gap at adjacent bound fraction, yet atural object is excessively also very from accurate and smooth, has reached the accurate splicing of adjacent image.
It should be noted that, because Fig. 2 A is the true picture being obtained by aviation stepping framing camera, it has carried part longitude and latitude signal, and in Fig. 2 B, also has the longitude and latitude signal of part.This part signal and relation of the present invention are not very large, comparatively fuzzy, can ignore.
So far, by reference to the accompanying drawings the present embodiment be have been described in detail.According to above, describe, those skilled in the art should be spliced aviation method polynary and that sweep image to the present invention clearly understanding.
In addition, the above-mentioned definition to each element and method is not limited in various concrete structures, shape and the mode of mentioning in embodiment, and those of ordinary skill in the art can know simply and replace it.
In sum, the present invention is spliced in the method for stepping image, by only extracting space in adjacent image overlapping region at a distance of two unique points of the same name farthest, has adapted to preferably low overlapping feature between stepping picture frame.And utilize 2 unique points of the same name to calculate four parameter transformation models between adjacent image, overcome the more deficiency of conventional camera transformation model parameter, there is few, the practical feature of parameter model, solved preferably the geometric transformation problem between stepping picture frame.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (3)
1. a method for stepping framing ccd image splicing, is characterized in that, comprising:
Steps A: in adjacent two width doubling of the image regions, utilize yardstick invariant features transformation operator to extract image middle distance two unique point of the same name-unique point P1 of the same name and unique point P2 of the same name farthest;
Step B: according to the coordinate of two unique points of the same name extracting, calculate four parameters of the elastic registration model between adjacent two width images, computing formula is:
Wherein: k
1, k
2, d
x, d
yfor four parameters of elastic registration model, (x
1, y
1) and (u
1, v
1) be respectively the image coordinate of unique point P1 of the same name in current width image and upper piece image, (x
2, y
2) and (u
2, v
2) be respectively the image coordinate of unique point P2 of the same name in current width image and upper piece image and represent unique point of the same name;
Step C: according to elastic registration model, each point of current width image is carried out to coordinate transform processing, the formula of conversion is:
Wherein, (x, y) is the original image coordinate of current width image, and (u, v) is the image coordinate after current width image conversion; And
Step D: current width image and upper piece image after conversion are synthesized to piece image according to coordinate position, obtain spliced image.
2. method according to claim 1, is characterized in that, if while still having image to be spliced, after described step D, also comprises:
Using spliced image as upper piece image, using image to be spliced as current width image, continue execution step A～D.
3. method according to claim 1 and 2, is characterized in that, described steps A comprises:
Sub-step A1, utilizes the point of interest in difference Gauss operator detected image metric space for current width image and upper piece image respectively;
Sub-step A2 applies the gradient information compute gradient principal direction in this point of interest neighborhood window, and according to histogram of gradients, builds the proper vector of 128 dimensions that this point of interest is corresponding on the point of interest basis of detecting;
Sub-step A3, calculate one by one the Euclidean distance between the point of interest proper vector detecting in the point of interest proper vector that detects in current width image and previous frame image, and calculate the ratio of minimum distance and time minimum distance, ratio is less than to those points of interest of 0.5 as candidate's unique point of the same name; And
Sub-step A4, these candidates unique point of the same name that utilization obtains, according to the coordinate of unique point of the same name, calculate one by one the wherein space length between any one unique point and remaining other unique points, corresponding two points of chosen distance maximal value from the space calculating, as final unique point P1 and unique point P2.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107367267A (en) * | 2017-07-28 | 2017-11-21 | 长光卫星技术有限公司 | The method that aerial surveying camera and boat based on the imaging of stepping framing type take the photograph imaging |
| CN110189392A (en) * | 2019-06-21 | 2019-08-30 | 重庆大学 | A kind of flow rate and direction schema mapping automatic map framing method |
| CN111932655A (en) * | 2020-07-28 | 2020-11-13 | 中铁第六勘察设计院集团有限公司 | Automatic processing method for building railway line information model based on AutoCAD |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1168047C (en) * | 2002-12-19 | 2004-09-22 | 上海交通大学 | Non-linear registration method for remote sensing image |
| CN101710932B (en) * | 2009-12-21 | 2011-06-22 | 华为终端有限公司 | Image stitching method and device |
| EP2423871B1 (en) * | 2010-08-25 | 2014-06-18 | Lakeside Labs GmbH | Apparatus and method for generating an overview image of a plurality of images using an accuracy information |
| CN102497539A (en) * | 2011-12-15 | 2012-06-13 | 航天科工哈尔滨风华有限公司 | Panoramic monitoring system and monitoring method of the same based on improved SIFT feature matching |
| CN103455992B (en) * | 2013-09-11 | 2015-12-23 | 中国科学院电子学研究所 | The method of splicing aviation multi-element scanning image |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107367267A (en) * | 2017-07-28 | 2017-11-21 | 长光卫星技术有限公司 | The method that aerial surveying camera and boat based on the imaging of stepping framing type take the photograph imaging |
| CN107367267B (en) * | 2017-07-28 | 2019-08-16 | 长光卫星技术有限公司 | The method that aerial surveying camera and boat based on the imaging of stepping framing type take the photograph imaging |
| CN110189392A (en) * | 2019-06-21 | 2019-08-30 | 重庆大学 | A kind of flow rate and direction schema mapping automatic map framing method |
| CN110189392B (en) * | 2019-06-21 | 2023-02-03 | 重庆大学 | Automatic framing method for flow velocity and flow direction map |
| CN111932655A (en) * | 2020-07-28 | 2020-11-13 | 中铁第六勘察设计院集团有限公司 | Automatic processing method for building railway line information model based on AutoCAD |
| CN111932655B (en) * | 2020-07-28 | 2023-04-25 | 中铁第六勘察设计院集团有限公司 | Automatic processing method for constructing railway line information model based on AutoCAD |
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