CN108550144A - Laser striation sequence image quality evaluating method based on gray scale reliability - Google Patents
Laser striation sequence image quality evaluating method based on gray scale reliability Download PDFInfo
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Abstract
The present invention is based on the laser striation sequence image quality evaluating methods of gray scale reliability to belong to image procossing and computer vision field, is related to a kind of laser striation sequence image quality evaluating method based on gray scale reliability.Reliability is evaluated in section of this method based on striation, introduces section striation width parameter, section striation is evaluated using section striation gray scale reliability；Then single light line brightness and the uniformity are evaluated using average striation section gray scale reliability and the gray scale reliability uniformity respectively；Gray scale Evaluation of reliability method structure striation reliability structural similarity evaluation based on single light line, using the brightness of striation gray scale Reliability Analysis striation sequence image gray scale reliability, contrast, structural similarity characteristic evaluating striation sequence image quality.When increasing the method improve striation width, the problem of reliability is difficult to effective evaluation striation section gray feature is evaluated in the section of striation, and with the similarity of this method analysis striation sequence image, its quality of digital definition, robustness is good.
Description
Technical field
The invention belongs to image procossings and computer vision field, are related to a kind of laser striation sequence based on gray scale reliability
Image quality evaluating method.
Background technology
With the development of computer science and technology and high-speed figure imaging technique, computer vision measurement non-connects as one
Touch measuring technique, because measuring speed is fast, real-time is good, higher measurement accuracy and the advantages that robustness are widely used in navigating
The numerous areas such as empty space flight, industrial production, modern medical service, conservation of historic landmarks and sites, such as the navigation of robot, target following, fortune
Dynamic analysis etc..In Stereo Vision Measurement System, laser projects laser light as secondary light source, to measurand surface
Item, two video cameras acquire laser optical strip image from different perspectives, and optical losses are extracted as feature by image processing algorithm
Information finally rebuilds the shape and profile in testee section.In this measuring system, the image procossing of laser striation is to measure
Important link.And in image processing process, it first has to carry out image detection, evaluation image quality.Complicated lighting environment
The picture quality of striation is influenced with factors such as measurand Facing material characteristics, and then reduces the reality of line structured light vision sensor
Border use measurement accuracy, therefore, it is objective, accurately evaluation laser striation picture quality influence line-structured light vision measurement it is accurate
Property, it is of great significance in practical measurement process.About the method for image quality evaluation, according to there is non-reference picture that can be divided into
Full reference, weak reference and without reference.Wherein, full reference image quality appraisement is comparative analysis image to be evaluated and canonical reference figure
Picture and all information for obtaining reference picture, weak reference image quality evaluation are to obtain the Partial Feature letter of standard reference image
Breath；And non-reference picture quality appraisement is directly to evaluate distorted image.Stereo Vision Measurement System does not have the ginseng of standard
When examining image, but controlling two video cameras while shooting measurand, identical striation feature being capable of phase interaction in two images
For reference.Therefore, the measured object feature that left and right cameras can be utilized to shoot from different perspectives is compareed, is mutually referred to each other.Mesh
Before, the evaluation method of laser optical strip image is mainly on the basis for analyzing single laser striation picture characteristics, according to striation
Gray feature distribution come evaluation image quality.
The Zhao Bohua of Tsinghua University be equal to 2011《Tsinghua University's journal》(natural science edition) the 4th phase of volume 51 delivers
《The image illumination evaluation method of light cross-section method shape measurement system》, from the angle of image illumination, it is proposed that one kind being based on image
The image quality evaluating method of average normalized gray value index, this method establish tested range illumination and average normalized ash
The correspondence of angle value acquires Light knife image under ideal illumination condition, obtains the distribution of its average normalized gray value,
Again by changing the illumination of measured zone, the acquisition image averaging Normalized Grey Level value under different illumination is obtained, according to theory point
Analysis and Light knife image intensity slicing extraction effective striation information as a result, marking off the 3 of image averaging Normalized Grey Level value
A section：(0,0.001], (0.001,0.2], (0.2,1], correspond to respectively illumination is too low, illumination be suitble to and illumination it is excessive
Image.But this method lacks the quality evaluation to laser beam.He Yuanxing of the National University of Defense Technology et al. in 2012
《Laser and optoelectronics are in progress》The 5th phase of volume 49 delivers《The evaluation index of laser beam encircled energy is inquired into》, base
The laser beam qualities index such as Optical beam propagation method, Strehl ratio, energy ratio is analyzed in spot size and the angle of divergence etc., it should
Class method is from laser energy density, it is contemplated that laser beam, but oneself is needed to know desired reference light beam or other laser parameters,
It is less practical in practical application.
Invention content
The present invention is to overcome prior art defect, has invented a kind of laser striation sequence image quality based on gray scale reliability
Evaluation method, improve causes striation width increased in striation generation secondary reflection, the section evaluation of laser striation
Reliability is difficult to the problem of effective evaluation striation section gray feature, is commented by striation average gray reliability and the gray scale reliability uniformity
Valence single light line gradation of image brightness and uniformity quality analyze striation sequence according to the reliability structural similarity evaluation method of striation
The similarity of image, digital definition striation sequence image quality, this method can well to striation sequence image quality into
Row evaluation.
The technical scheme is that a kind of laser striation sequence image quality evaluating method based on gray scale reliability, special
Sign is to establish single laser striation gray scale reliability with striation section gray scale, fixed to remove the section striation total brightness after ground noise
Reliability is evaluated in the section of adopted laser striation, then introduces section striation width parameter, is cut using striation section gray scale Evaluation of reliability
Face striation is based on striation section gray scale certainty value, is commented respectively using average striation section gray scale reliability and the gray scale reliability uniformity
The brightness of valence single light line and the uniformity；Finally, the gray scale Evaluation of reliability method based on single light line builds striation reliability structural similarity
Evaluation, so it is special using the brightness of striation gray scale Reliability Analysis striation sequence image gray scale reliability, contrast, structural similarity
Sign carries out quality evaluation to striation sequence image, and method is as follows：
The first step：Obtain laser optical strip image
Building structure light vision measurement system, by left and right camera 3,4, laser generator 2, NI controllers 5 and image work
Stand 6 connection, then measurand 1 is placed within the field depth of left and right camera 3,4, using scaling board to left and right camera 3,
4 are demarcated, and laser generator 2 projects laser to measurand 1, while left and right camera 3,4 captures swashing for measurand surface
Light striation, and collected laser optical strip image is stored in image workstation 6, waiting is further processed；
Second step：Evaluate reliability in the section for obtaining single light line
It is analyzed according to the gray feature of single laser striation, single laser striation is established striation gray scale with striation section gray scale and believed
Degree is cut with removing the section evaluation reliability that the section striation total brightness after ground noise defines laser striation by formula (1)
Evaluate reliability in face：
ERCS(u)=TGCS (u) (1)-NBCS (u)
Wherein, ERCS(u) it is the evaluation certainty value in striation u rows section, TGCS (u) is that the striation in striation u rows section is total
Gray scale, NBCS (u) is the base noise in striation u rows section, with threshold value T to directly being divided to striation, based in geometry
Heart method carries out coarse extraction to optical losses, is defined as pre- carrying central point C with the central pointPE, u rows it is pre- carry scattergram picture seat
It is designated asThe striation width intercepted is 2ru, the total gray scale TGCS (u) of striation in striation u rows section is represented by：
Wherein, f (u, v) is the gray value of image that image is arranged in u rows v, extends r respectively to both sides with striation boundaryu
A width is as ground noise, then the base noise NBCS (u) in striation u rows section：
The then section evaluation reliability ER of laser striationCS(u) it is derived as：
Third walks：Based on section striation gray scale Evaluation of reliability section striation
Striation generates secondary reflection under illumination effect, and striation width is caused to increase, and reliability is evaluated in the section of laser striation
It is difficult to effective evaluation striation section gray feature, therefore introduces section striation width parameter, is commented using section striation gray scale reliability
Valence section striation, is expressed as：
Wherein, GRCS(u) it is the gray scale certainty value in striation u rows section；
Based on striation section gray scale certainty value, commented respectively using average striation section gray scale reliability and the gray scale reliability uniformity
The brightness of valence single light line and the uniformity, expression formula are：
Wherein,For the average striation section gray scale reliability of i-th of laser striation sequence image,It is i-th
The gray scale reliability uniformity of laser striation sequence image.The initial row value of optical strip image is u1, end row value is un, and meet
u1…un∈N*；
4th step：Laser sequence picture appraisal based on reliability structural similarity
Gray scale Evaluation of reliability method structure striation reliability structural similarity evaluation based on single light line, and then using striation ash
Spend the brightness of Reliability Analysis striation sequence image gray scale reliability, contrast, structural similarity feature, to striation sequence image into
Row quality evaluation,
Gray scale reliability similitude is calculated by formula (7), gray scale reliability contrast similitude is calculated by formula (8)：
Wherein,WithIt is the average striation section gray scale reliability of image,WithIt is image
The gray scale reliability uniformity, C1And C2In order to avoid the small constant that denominator sets for zero,
Gray scale reliability structural similarity is that the Structure Comparison of laser striation is characterized by the covariance of striation gray scale reliability,
Gray scale reliability structural similarity is calculated by formula (9)：
Wherein,It is the covariance of the gray scale reliability of laser striation x and laser striation y, represents between two striations
Evaluation image on the basis of standard picture striation length, is carried out difference by Structure Comparison degree to realize that the covariance of striation is calculated
It calculates, and then calculates the contrast of two striations, expression formula is：
Calculate separately the average striation section gray scale reliability (AGR for the sequence image that left and right camera is acquiredCS) and gray scale letter
Spend the uniformity (UGRCS), and using first frame image as referring to image, sequence of calculation image reliability structural similarity therewith,
Derive that formula (11) obtains the laser sequence picture appraisal based on reliability structural similarity by formula (5)-(10)：
GRSSIM (x, y)=[LR (x, y)]α[CR(x,y)]β[SR(x,y)]γ (11)
Wherein, gray scale reliability brightness similitude, the gray scale reliability of LR (x, y), CR (x, y), SR (x, y) between two images
Contrast similitude and reliability structural similarity；α, β, γ are the brightness of gray scale reliability, gray scale reliability contrast and gray scale letter respectively
Spend structural similarity adaptive proportion coefficients shared in the picture appraisal model.
Reliability is evaluated in the section that single light line is first obtained the beneficial effects of the invention are as follows this method, introduces section striation width ginseng
Number is solved the increase of striation width, the section of laser striation is caused to be evaluated using section striation gray scale Evaluation of reliability section striation
Reliability is difficult to the problem of effective evaluation striation section gray feature, and effectively evaluating is carried out to the quality of laser beam.In laser
In the case of optical strip image features information is less, the gray scale Evaluation of reliability method based on single light line builds striation reliability structural similarity
Evaluation, and then using the brightness of striation gray scale Reliability Analysis striation sequence image gray scale, contrast, structural similarity feature, most
The evaluation of laser striation sequence image quality is realized eventually.The similarity of striation sequence image is analyzed with this method, digitlization is fixed
Its adopted quality, robustness is good, is easy to practical application.
Description of the drawings
Fig. 1 is optical strip image acquisition system, wherein 1- measured workpieces, 2- laser generators, and the left cameras of 3-, the right cameras of 4-,
5-NI controllers, 6- image processing workstations.
Fig. 2 is laser striation sequence image quality evaluation flow chart
Specific implementation mode
Below in conjunction with the accompanying drawings with the technical solution specific implementation that the present invention will be described in detail.
In the present embodiment, testee is wing wainscot, and wavelength 460nm royal purple line lasers are projected wing wainscot
On, using the video camera shooting optical strip image of configuration wide-angle lens.Video camera model view works VC-12MC-M/C 65
Video camera, resolution ratio：4096 × 3072, imaging sensor：CMOS, frame per second：Silent frame, highest 64.3fps, weight：420g.Extensively
Angle mirror head model EF 16-35mm f/2.8L II USM, parameter is as follows, lens focus：F=16-35mm, APS are burnt
Away from：25.5-52.5 aperture：F2.8, Lens：82×106.Shooting condition is as follows：Picture pixels are 4096 × 3072, mirror
Head focal length is 25mm, and object distance 750mm, visual field is about 850mm × 450mm.
The first step：Obtain laser optical strip image
Building structure light vision measurement system, as shown in Figure 1, by left and right camera 3,4, laser generator 2, NI controllers 5
It is connect with image workstation 6, then measurand 1 is placed within the field depth of left and right camera 3,4, utilizes scaling board pair
Left and right camera 3,4 is demarcated, and laser generator 2 projects laser to measurand 1, while left and right camera 3,4 captures tested pair
It is stored in image workstation 6 as the laser striation on surface, and by collected laser optical strip image, waiting is further processed；
Second step：Evaluate reliability in the section for obtaining single light line
It is analyzed according to the gray feature of single laser striation, single laser striation is established striation gray scale with striation section gray scale and believed
Degree is determined by formula (1) and is cut to remove the section evaluation reliability that the section striation total brightness after ground noise defines laser striation
Reliability is evaluated in face, and with threshold value T to directly being divided to striation, coarse extraction is carried out to optical losses based on geometrical center method, with
The central point is defined as pre- carrying central point CPE, the pre- central point image coordinate that carries of u rows is (u, vpue), the striation intercepted is wide
Degree is 2ru, the total gray scale TGCS (u) of striation in striation u rows section is obtained by formula (2).Expanded respectively to both sides with striation boundary
Open up ruA width obtains the base noise NBCS (u) in striation u rows section as ground noise, by formula (3), finally by formula
(4) the section evaluation reliability ER of laser striation is obtainedCS(u)。
Third walks：Based on section striation gray scale Evaluation of reliability section striation
Under illumination effect, striation generates secondary reflection and striation width is caused to increase, and the section evaluation reliability of laser striation is difficult
With effective evaluation striation section gray feature, therefore section striation width parameter is introduced, using section striation gray scale Evaluation of reliability
Section striation obtains the gray scale certainty value in striation u rows section by formula (5).Based on striation section gray scale certainty value, using public affairs
The average striation section gray scale reliability and the gray scale reliability uniformity that formula (6) obtains evaluate single light line brightness and the uniformity respectively.
4th step：Laser sequence picture appraisal based on reliability structural similarity
Laser striation image feature information is less, and the gray scale Evaluation of reliability method based on single light line builds striation reliability structure
Similarity evaluation, so it is similar using the brightness of striation gray scale Reliability Analysis striation sequence image gray scale reliability, contrast, structure
Property feature, to striation sequence image carry out quality evaluation.Gray scale reliability similitude is calculated by formula (7), ash is calculated by formula (8)
Reliability contrast similitude is spent, gray scale reliability structural similarity is to characterize laser striation by the covariance of striation gray scale reliability
Structure Comparison calculates gray scale reliability structural similarity by formula (9)；Then it on the basis of standard picture striation length, will comment
Valence image carries out mathematic interpolation, and then calculates the contrast of two striations.It finally can get by formula (11) and be based on reliability structure
The laser sequence picture appraisal model of similarity.
This method passes through gray scale reliability brightness similitude, gray scale reliability contrast similitude and gray scale reliability structural similarity
Etc. features, complete laser striation sequence image quality evaluation.
Claims (1)
1. a kind of laser striation sequence image quality evaluating method based on gray scale reliability, characterized in that this method is cut with striation
Face gray scale establishes single laser striation gray scale reliability, and cutting for laser striation is defined to remove the section striation total brightness after ground noise
Reliability is evaluated in face, section striation width parameter is then introduced, using striation section gray scale Evaluation of reliability section striation；Based on striation
Section gray scale certainty value, using average striation section gray scale reliability and the gray scale reliability uniformity evaluate respectively single light line brightness and
Evenness；Finally, the gray scale Evaluation of reliability method structure striation reliability structural similarity evaluation based on single light line, and then use striation
The brightness of gray scale Reliability Analysis sequence striation gray scale reliability, contrast, structural similarity feature carry out quality to sequence striation and comment
Valence；Method is as follows：
The first step：Obtain laser optical strip image
Building structure light vision measurement system, by left and right camera (3,4), laser generator (2), NI controllers (5) and image work
Stand (6) connection, then measurand (1) is placed within the field depth of left and right camera (3,4), utilizes scaling board pair
Left and right camera (3,4) is demarcated, and laser generator (2) projects laser, while left and right camera (3,4) to measurand (1)
The laser striation on measurand surface is captured, and waits for collected laser optical strip image deposit image workstation (6) into one
Step processing；
Second step：Evaluate reliability in the section for obtaining single light line
It is analyzed according to the gray feature of single laser striation, single laser striation establishes striation gray scale reliability with striation section gray scale, with
Section striation total brightness after removal ground noise defines the section evaluation reliability of laser striation, is obtained to section and is commented by formula (1)
Valence reliability：
ERCS(u)=TGCS (u) (1)-NBCS (u)
Wherein, ERCS(u) it is the evaluation certainty value in striation u rows section, TGCS (u) is that the striation in striation u rows section is always grey
Degree, NBCS (u) are the base noise in striation u rows section, with threshold value T to directly being divided to striation, are based on geometric center
Method carries out coarse extraction to optical losses, is defined as pre- carrying central point C with the central pointPE, the pre- of u rows put forward central point image coordinate
ForThe striation width intercepted is 2ru, the total gray scale TGCS (u) of striation in striation u rows section is represented by：
Wherein, f (u, v) is the gray value of image that image is arranged in u rows v, extends r respectively to both sides with striation boundaryuA width
As ground noise, then the base noise NBCS (u) in striation u rows section is：
The then section evaluation reliability ER of laser striationCS(u) it is derived as：
Third walks：Based on section striation gray scale Evaluation of reliability section striation
Striation generates secondary reflection under illumination effect, and striation width is caused to increase, and the section evaluation reliability of laser striation is difficult to
Effective evaluation striation section gray feature, therefore section striation width parameter is introduced, it is cut using section striation gray scale Evaluation of reliability
Face striation, is expressed as：
Wherein, GRCS(u) it is the gray scale certainty value in striation u rows section；
Based on striation section gray scale certainty value, list is evaluated using average striation section gray scale reliability and the gray scale reliability uniformity respectively
Striation brightness and the uniformity, expression formula are：
Wherein,For the average striation section gray scale reliability of i-th of striation sequence image,For i-th of striation sequence
The initial row value of the gray scale reliability uniformity of image, optical strip image is u1, end row value is un, and meet u1…un∈N*；
4th step：Laser sequence picture appraisal based on reliability structural similarity
Gray scale Evaluation of reliability method structure striation reliability structural similarity evaluation based on single light line, and then believed using striation gray scale
The brightness of degree analytical sequence striation gray scale reliability, contrast, structural similarity feature carry out quality evaluation to sequence striation,
Gray scale reliability similitude is calculated by formula (7), gray scale reliability contrast similitude is calculated by formula (8)：
Wherein,WithIt is the average striation section gray scale reliability of image,WithIt is the gray scale of image
The reliability uniformity, C1And C2In order to avoid the small constant that denominator sets for zero,
Gray scale reliability structural similarity is that the Structure Comparison of laser striation is characterized by the covariance of striation gray scale reliability, by public affairs
Formula (9) calculates gray scale reliability structural similarity：
Wherein,It is the covariance of the gray scale reliability of laser striation x and laser striation y, represents the structure pair between two striations
On the basis of standard picture striation length, evaluation image is subjected to mathematic interpolation to realize that the covariance of striation is calculated than degree,
And then the contrast of two striations is calculated, expression formula is：
Calculate separately the average striation section gray scale reliability (AGR for the sequence image that left and right camera is acquiredCS) and gray scale reliability it is equal
Evenness (UGRCS), and using first frame image as referring to image, sequence of calculation image reliability structural similarity therewith,
Derive that formula (11) obtains the laser sequence picture appraisal based on reliability structural similarity by formula (5)-(10)：
GRSSIM (x, y)=[LR (x, y)]α[CR(x,y)]β[SR(x,y)]γ (11)
Wherein, gray scale reliability brightness similitude, the gray scale reliability of LR (x, y), CR (x, y), SR (x, y) between two images compare
Spend similitude and reliability structural similarity；α, β, γ are the brightness of gray scale reliability, gray scale reliability contrast and gray scale reliability knot respectively
Structure similitude adaptive proportion coefficients shared in the picture appraisal model；
This method is special by gray scale reliability brightness similitude, gray scale reliability contrast similitude and gray scale reliability structural similarity etc.
Sign completes the evaluation of laser striation sequence image quality.
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Cited By (2)
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| CN112816187A (en) * | 2021-01-06 | 2021-05-18 | 北京工业大学 | Quality judgment method for laser spots |
| CN113834447A (en) * | 2021-09-23 | 2021-12-24 | 江苏集萃智能光电***研究所有限公司 | High-dynamic laser light bar self-adaptive imaging processing method under outdoor complex environment |
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