CN109190612A - Image acquisition and processing equipment and image acquisition and processing method - Google Patents
Image acquisition and processing equipment and image acquisition and processing method Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration by the use of more than one image, e.g. averaging, subtraction
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
Abstract
A kind of image acquisition and processing device and method, for acquiring multiple topographies of subject and being spliced, which includes: image camera, for shooting multiple topographies of subject；It is provided with the reference body of telltale mark, the reference body is at least one, and relatively fixed with the image camera；Positioning camera, it is relatively fixed with the subject, it is described referring to body for shooting, obtain the positioning image comprising at least partly telltale mark；And processing unit, multiple topographies for the shooting of the image camera according to multiple positioning image mosaics that the positioning camera is shot.The present invention realizes orientation problem when image mosaic in simple structure.
Description
Technical field
The present invention relates to Image Acquisition field more particularly to a kind of image acquisition and processing equipment and image acquisition and processing sides
Method.
Background technique
In the application such as machine vision, industrial detection, there is the demands that large range high resolution rate is imaged, and camera is shot
Visual field size and resolution ratio (including optical resolution and the corresponding actual size of single pixel) be conflicting index.Example
Such as, the crystal column surface visual examination in manufacture of semiconductor technique needs to carry out 1um resolution capability to the wafer of 300mm diameter
High definition inspection.If the corresponding size of single picture is only 2mm using the camera of 2K pixel, can not cover 300mm at
As range.
The image shot using multiple different locations, splicing can obtain larger range of imaging mutually, but need to know
The angle of the space displacement and rotation that miss one another between image.And such information, which generally requires, accomplishes sub-pixel precision,
It can guarantee seamless, accurately stitching image.Accurately, the dislocation information between image is steadily obtained, and is spelled based on this information
Map interlinking picture is imaged for doing large scene high-precision, is the direction that those skilled in the art need to explore.
The scheme of existing large scene high-precision imaging there are several types of:
Scheme 1. uses the camera and imaging system of higher resolution:
Such as change the camera of currently used 2K pixel into 4K, this mode can will be in the case where not influencing precision
Image field scape size is double.
Scheme 2. is taken pictures using multiple cameras:
It is taken pictures simultaneously with multiple cameras composition camera array, multiple image mosaics can obtain bigger scene；And
Missing one another depending on the relative position between camera between image, can measure and be calculated in advance.
3. single camera of scheme is taken pictures in mobile platform scan-type, by one or more displacement sensor information spliced maps
Picture:
Such solution principle is similar with scanner；Camera exposes a part of region of corresponding areas imaging every time；Pass through drive
Dynamic device, takes pictures in picture-taking position one by one and acquires image sequence.By the splicing each other between image sequence, bigger field is obtained
Scape.
Dislocation information between image can be obtained by high-precision one or more one dimension displacement sensor conversions, be schemed
1, which illustrates one kind, is taken pictures by mobile camera to different location, and stitching image obtains the scheme of large scene image.Each position passes
Sensor can read the absolute or opposite position in space in a rectilinear direction, sit to obtain picture-taking position at one
Coordinate on parameter；Either read the absolute or opposite angle on a direction of rotation.Pass through each one-dimensional sensing of synthesis
The reading of device determines the position of camera and posture when taking pictures, calculates the dislocation information between image.Such one-dimensional sensor can be with
It is that linear type grating encoder, magnetic grid encoder etc. for obtaining the reading of XYZ axis in space are also possible to circular photoelectricity
Encoder, rotary transformer etc., for reading attitude angle.
Such method is characterized in that camera can change with the relative position and posture for being photographed object.In practical realization
In, both it can also pass through the mobile subject of driving device with fixed object, mobile camera with fixed camera position.Fig. 2
Illustrate it is a kind of it is common, object is photographed by two-dimensional motion mechanism movement, to realize the side of the Overlap-scanning in plane
Case.In this scenario, the position of camera is kept constant, and the object being taken is placed in the driving device of the direction y, and the two is with respect to position
It is very fixed to set.The direction y driving device is placed in the driving device of the direction x, passes through the motion driving mechanisms phase such as motor, guide rail, screw rod
To the direction x driving device along unidirectional motion, the formation of movement is read by y direction sensor reading head.Similar, the side x
It is placed on fixed bearing stage to driving device, along x unidirectional motion, the formation in the direction x passes through x direction sensor reading head
It reads.Mobile object is taken pictures in different x, y location, obtains a series of pictures and corresponding picture-taking position information；Believed according to x, y
Breath can obtain the translation relation between image, to realize the splicing between different images, obtain the image of more large scene.
But there are various defects in currently existing scheme:
The major technique defect source of scheme 1 is in the high request to camera and camera lens selection and cost.Big photosensitive of area
Chip proposes very harsh requirement to the yield of making technology, and high-resolution camera has greatly drawn high cost and optional
Select range；Likewise, the corresponding lens opening of target surface high resolution camera requires all very greatly greatly, in the requirement of same lens parameters
Under, the manufacture of high-aperture lenses and packaging technology have very big challenge.The resolution ratio of current technology level camera rarely has super
8K is crossed, and cost is high.
There is cost problem identical with scheme 1 in scheme 2.For scheme 2, the cost of package is proportional to imaging
The area of range is directly proportional.There are additional technological deficiencies for scheme 2 simultaneously.As shown in figure 3, for single camera, if
When the true field taken pictures is less than on sensitive chip corresponding imaging size, i.e., when optical magnification is greater than 1, fitting is put side by side
Two cameras set will be unable to take the position among two images.That is the optical magnification for 1 times or more
Application in, the plurality of pictures that camera array obtains can not completely cover the entire visual field of subject.
Scheme 3 is a kind of big visual field high-precision imaging mode being widely used in industrial application, and such as common Quadratic Finite Element is surveyed
Measure instrument.Its main problem is the precision of imaging to the more demanding of driving device.Using one or more high-precision displacement
Sensor has higher requirement to cost come the mode for calculating dislocation information, while also having to the precision of driving device, stability
Very high requirement.Such as in Quadratic Finite Element measuring instrument, in order to guarantee image offset information other measurement accuracy in the micron-scale, the whole series system
System needs to be equipped with high performance grating scale, high-precision guide rail and servo motor, while marble platform even air bearing being needed to carry
Platform guarantees the stability of platform；In addition to this generally also the temperature of use environment is required, thermal expansion and contraction is avoided to draw
Play temperature drift.
If driving device moves in scanning is taken pictures, the picture that Overlap-scanning obtains has shake, stretching etc.
Obvious deformation occurs.If the minute movement that driving device is perpendicularly to the direction of movement during the motion, scans life
At picture can generate corrugated distortion；If using clocked flip, and the speed of driving device not at the uniform velocity in the case where, sweep
The picture for retouching generation has stretching or the distortion of contraction type.
Summary of the invention
There are different problems in view of existing measurement method, in order to solve the problems existing in the prior art, the present invention is real
It applies example and proposes a kind of image acquisition and processing equipment and image acquisition and processing method.
Above-mentioned image acquisition and processing equipment is used to acquire multiple topographies of subject and is spliced, the image
Acquiring and processing device includes:
Image camera, for shooting multiple topographies of subject；
It is provided with the reference body of telltale mark, the reference body is at least one, and relatively fixed with the image camera；
Positioning camera, it is relatively fixed with the subject, it is described referring to body for shooting, it obtains comprising at least partly
The positioning image of telltale mark；And
Processing unit, for the shooting of the image camera according to multiple positioning image mosaics that the positioning camera is shot
Multiple topographies.
In an alternative embodiment, described image acquiring and processing device further includes synchronous trigger unit, described for controlling
Image camera and the positioning camera are directed to subject in the same time respectively and are shot referring to body.
In an alternative embodiment, the processing unit is used for:
What the topography and the positioning camera for receiving the image camera shooting shot includes the telltale mark
Image, and shooting posture information is determined using multiple positioning images, to be carried out to multiple topographies captured by image camera
Splicing.
In an alternative embodiment, the processing unit is used for:
Obtain the global image P referring to bodyref；
Obtain the global image (P referring to bodyref)；
When obtaining i-th shooting, the topography (P [i]) of subject and the topography (P referring to bodyref[i])。
From the global image (P referring to bodyref) in the search topography (P referring to bodyref[i]) locating for position
It sets, obtains in the global image (P referring to bodyref) in the topography (P referring to bodyref[i]) figure that matches
Coordinate (x, y) as block with respect to origin position；
It is relatively former in the global image (P) of subject to calculate the topography (P [i]) of the subject
The coordinate of point；
The topography (P [i]) is filled according to the coordinate for calculating the opposite origin obtained to the global image (P)
In.
In an alternative embodiment, the processing unit is used for:
In i-th shooting, the topography (P [i]) for obtaining subject and the topography (P referring to bodyref
[i])。
In jth time shooting, the topography (P [j]) for obtaining subject and the topography (P referring to bodyref
[j]), wherein the topography (Pref[j]) and the topography (Pref[i]) between overlap region.
Overlapping region image is searched for respectively in image (Pref[i]) and image (PrefThe location of [j]) in, obtain two
The relative coordinate of position deviates (Δ x, Δ y).
According to relative coordinate offset, (Δ x, Δ y) calculate the topography (P [j]) relative to the topography
Coordinate shift (Δ u, Δ v) in (P [i])；
By the topography (P [i]) and topography (P [j]), according to the coordinate shift, (Δ u, Δ v) are spelled
It connects, obtains composograph (Pij)。
In an alternative embodiment, described referring to body includes being arranged in fixed angle first referring to body and the second reference
Body.In an alternative embodiment, described image acquiring and processing device further includes driving device, for control the image camera and
The moving synchronously referring to body, or for controlling moving synchronously for the subject and the positioning camera.
In an alternative embodiment, the image camera and the positioning camera include shutter, the synchronous trigger unit
Signal connects the shutter of the image camera and the positioning camera.
In an alternative embodiment, described image acquiring and processing device further include:
Light source, for providing light for subject and referring to body, the synchronous trigger unit signal is connected to described
Light source, and it is synchronous to control the corresponding light source of subject light stroboscopic corresponding with the reference body.
In an alternative embodiment, described image acquiring and processing device further include:
First fixed structure, for fixing the image camera and the reference body；
Second fixed structure, for fixing the subject and the positioning camera.
In an alternative embodiment, the telltale mark referring to body include it is following at least one:
Structure tag, texture markings, icon indicia.
In an alternative embodiment, the telltale mark passes through printing, plated film, at least one of technique system of etching
At.
In an alternative embodiment, the shooting precision of the positioning camera is less than the shooting precision of the image camera.
In an alternative embodiment, the visual field of the positioning camera is greater than the visual field of the image camera.
In an alternative embodiment, described image acquiring and processing device further includes position sensor, velocity sensor, acceleration
Spend sensor at least one, for acquiring the shooting posture information of the positioning camera and/or the image camera, and repair
The shooting posture information of the just described image camera.
In an alternative embodiment, the positioning camera is at least one, and the image camera is also at least one.
The embodiment of the present invention also proposes a kind of image acquisition and processing method, comprising:
Obtain the global image (P referring to bodyref)；
When obtaining i-th shooting, the topography (P [i]) of subject and the topography (P referring to bodyref[i])；
From the global image (P referring to bodyref) in the search topography (P referring to bodyref[i]) locating for position
It sets, obtains in the global image (P referring to bodyref) in the topography (P referring to bodyref[i]) figure that matches
Coordinate (x, y) as block with respect to origin position；
It is relatively former in the global image (P) of subject to calculate the topography (P [i]) of the subject
The coordinate of point；
The topography (P [i]) is filled according to the coordinate for calculating the opposite origin obtained to the global image (P)
In.
The embodiment of the present invention also proposes a kind of image acquisition and processing method, comprising:
In i-th shooting, the topography (P [i]) for obtaining subject and the topography (P referring to bodyref
[i])。
In jth time shooting, the topography (P [j]) for obtaining subject and the topography (P referring to bodyref
[j]), wherein the topography (Pref[j]) and the topography (Pref[i]) between overlap region.
Overlapping region image is searched for respectively in image (Pref[i]) and image (PrefThe location of [j]) in, obtain two
The relative coordinate of position deviates (Δ x, Δ y).
According to relative coordinate offset, (Δ x, Δ y) calculate the topography (P [j]) relative to the topography
Coordinate shift (Δ u, Δ v) in (P [i])；
By the topography (P [i]) and topography (P [j]), according to coordinate shift, (relative coordinate of Δ u, Δ v) are inclined
Shift-in row splicing, obtains composograph Pij。
The embodiment of the present invention also proposes a kind of image acquisition and processing equipment, for acquiring multiple Local maps of subject
Picture is simultaneously spliced, comprising:
First attachment device, is used for fixed imaging camera, and the image camera is used to shoot multiple offices of subject
Portion's image；
It is provided with the reference body of telltale mark, the reference body is at least one, and relatively fixed with the image camera；
Second attachment device is used for stationary positioned camera, and the positioning camera and the subject are relatively fixed, uses
It is described referring to body in shooting, obtain the positioning image comprising at least partly telltale mark；And
Processing unit, for the shooting of the image camera according to multiple positioning image mosaics that the positioning camera is shot
Multiple topographies.
In conclusion proposed by the present invention adopt image acquisition and processing equipment and image acquisition and processing method, at least have such as
Lower advantage:
The image acquisition and processing device and method that the embodiment of the present invention proposes, pass through relatively-stationary image camera and reference
Body and relatively-stationary subject and positioning camera, using captured by positioning camera referring to including in the image of body
Telltale mark, accordingly determine subject topography joining method.It can be quick due to passing through telltale mark
Image offset information needed for ground obtains image mosaic, the present invention is based on the imaging modes of telecontrol equipment and image mosaic, pass through
The design of imaging system and algorithm ensure that image offset information very accurate and stable can be obtained from principle, and
Very low to the precision and stability of the requirement of driving device itself, with system, simple, the at low cost, accuracy of manufacture requires low, figure
The advantages that high as splicing stability.
In addition, the present invention is not necessarily to high-precision displacement sensor, guide rail, servo-system, kinematic system is required very low；No
It is interfered vulnerable to environment temperature, humidity etc.；Ambient adaptability is extensive；The present invention does not do any limit to subject appearance
System, to be evenly distributed, single and texture-free object area, can also realize accurate splicing on a large scale.And between the mistake image
Position information calculation amount is small.
Detailed description of the invention
Fig. 1 illustrates one kind and is taken pictures by mobile camera to different location, and stitching image obtains the scheme of large scene image.
Fig. 2 illustrate it is a kind of it is common, object is photographed by two-dimensional motion mechanism movement, to realize sweeping in plane
Retouch the scheme of splicing.
Fig. 3 show currently existing scheme 2 in a kind of schematic diagram of not applicable scene.
Fig. 4 show the schematic diagram of the image acquisition and processing device of first embodiment of the invention.
Fig. 5 show the subject of embodiment in Fig. 4 and referring to the schematic diagram after body movement.
Fig. 6 show the flow chart of the image acquisition and processing method of second embodiment.
Fig. 7 show the flow chart of the image acquisition and processing method of 3rd embodiment.
Specific embodiment
Below by way of multiple embodiments, to image acquisition and processing equipment proposed by the present invention and image acquisition and processing method into
Row explanation.
First embodiment
First embodiment of the invention proposes a kind of image acquisition and processing equipment, for acquiring multiple parts of subject
Image is simultaneously spliced.Fig. 4 show the image acquisition and processing equipment of first embodiment of the invention, the image acquisition and processing equipment
May include following element:
Image camera 10, reference body 20, positioning camera 30 and processing unit 40.
Image camera 10 can be the filming apparatus including elements such as camera, imaging sensor, shutters, for shooting quilt
Object 100 is shot, multiple topographies of subject 100 are obtained.It is worth noting that, above-mentioned image camera 10 can be general
Refer to all by the Image Acquisition of imaging sensor, camera lens, light source and fixed connection structure part and other aid imaging modules composition
Device is not limited to commercially available camera apparatus.
It can be one or more referring to body 20.It in the embodiment shown in fig. 4, is one referring to body 20.Referring to body 20
It can be plate body as shown in the figure, or other any forms.Referring to being provided with multiple telltale marks 21 on body 20, these
Telltale mark 21 can be structure tag, texture markings, icon indicia etc., these labels include location information, for for positioning
Camera 30 shoots multiple positioning images, and the imaging described in the subsequent multiple positioning image mosaics shot according to the positioning camera
Multiple topographies of camera shooting.
Above-mentioned structure tag is, for example, hole of various shapes, protrusion, recess, slit or these combination, texture markings
For example, referring to the special texture being arranged on body.Icon indicia is, for example, the mark such as dot, grid, straight line, triangle, cross
Note.These telltale marks can be processed to be formed by one or more techniques such as printing, etching, plated film.Referring to the material of body 20
It such as can be that the characters such as glass or ceramics are stable, are affected by temperature small material.
Telltale mark 21 can be to be multiple, in one embodiment, and available positioning camera 30 includes multiple telltale marks
The positioning image of at least part telltale mark 21 in 21；In other embodiments, telltale mark can be one (such as one
The label band of root from narrow to wide), the available positioning figure comprising a part of telltale mark of positioning camera 30 in this case
Picture.
In the present embodiment, image acquisition and processing equipment can also include first fixed structure and the second fixed structure.?
In the present embodiment, first fixed structure is for fixing the image camera 10 and the reference body 20；Second fixed structure is used for
The fixed subject 100 and the positioning camera 30.In other embodiments, image acquisition and processing equipment can be wrapped only
First fixed structure is included, for fixing subject 100 and positioning camera 30.Image camera 20 and it can pass through referring to body 20
Other modes fixed setting, as long as the two keeps relatively fixed.The fixed form of subject 100 is not shown in Fig. 4.
However those skilled in the art could be aware that, subject 100 and positioning camera 30 can carry out by various modes
Fixed, the present invention is not specially limited.
In the present embodiment, subject 100 is arranged in parallel with referring to body 20, and image camera 10 and positioning camera 30 divide
Not towards subject 100 and referring to body 20.At the time of shown in Fig. 4, image camera 10 shoots the A1 of subject 100
Region, A2 region of the shooting of positioning camera 30 referring to body 20.
Positioning camera 30 is described referring to body 20 for shooting, and obtains the positioning image comprising at least partly telltale mark 21.
The shooting precision of positioning camera 30 can be lower than image camera 10, and the visual field of positioning camera 30 can be greater than the image camera 10
Visual field.
Fig. 5 show the schematic diagram after the position movement of subject 100 and positioning camera 30.As shown in figure 5,
After movement, image camera 10 shoots the region B1 of subject 100, B2 region of the shooting of positioning camera 30 referring to body 20.
The region B1 is moved to the left certain distance compared to the region A1, and the region B2 moves right certain distance relative to the region A2.Therefore, may be used
A subject 100 is arranged and referring to the midpoint of body 20, subject is derived according to the deviation distance for deviateing midpoint
The corresponding relationship of body 100 and the image referring to body 20.
In an alternative embodiment, which further includes synchronous trigger unit.Synchronous trigger unit is used
In the sync pulse jamming for controlling the image camera 10 and positioning camera 30；Specifically, synchronous trigger unit can connect at
As the shutter of camera 10 and positioning camera 30 is protected for synchronously controlling 30 shutter of shutter and positioning camera of image camera 10
Card image camera 10 and positioning camera 30 simultaneously shoot image.The synchronization of the mechanical form, electricity form of synchronous trigger unit
Trigger unit can have various forms, and details are not described herein.The setting of synchronous trigger unit ensure that the synchronism of shooting, side
It is subsequent according to the positioning camera shoot multiple positioning image mosaics described in image camera shoot multiple topographies
Operation.
In the present embodiment, due to the presence of synchronous trigger unit, image camera 10 and positioning camera 30 can be same
Moment shooting, can be according to shooting time, the topography shot in conjunction with positioning camera, the above-mentioned offset distance apart from midpoint
Determine the topography that image camera 10 is shot.But in other embodiments, image camera 10 and positioning camera 30 be not
It is limited to sync pulse jamming.It is shot for example, several milliseconds can be separated by therebetween, as long as in certain primary shooting, imaging
Camera 10 shoot topography and positioning camera 30 shoot topography can between or indirectly realize position on pair
It answers.
In one embodiment, if image camera 10 and positioning camera 30 are not shot in synchronization, such as positioning camera
It shoots for 30 milliseconds later, position captured by the two and the image taken do not correspond to.But due to 100 He of subject
The motion track of positioning camera 30 is known (for example, at the uniform velocity moving), therefore before can calculating or estimating 30 milliseconds
The position and image that positioning camera 30 is shot, recycle offset distance, the position for calculating or estimating and image can be with imagings
The position and image that camera 10 is shot are corresponding, thus also may be implemented the embodiment of the present invention according to positioning camera shooting
The purpose of multiple topographies of the shooting of image camera described in multiple positioning image mosaics.Therefore, the image acquisition and processing equipment
It is not limited to include synchronous trigger unit.
Topography and the positioning camera 30 of the processing unit 40 for receiving the shooting of image camera 10 shoot
The image of the telltale mark, and the image camera shooting according to multiple positioning image mosaics that the positioning camera is shot
Multiple topographies.
For example, the positioning image that processing unit 40 is taken using each determines the pose of shooting time positioning camera 30
Information.It in the present embodiment, at this time can be according to multiple since positioning camera 30 and subject 100 are fixed to each other
The shooting posture information of positioning camera 30 determines the shooting posture information of subject 100, to captured by image camera 10
Multiple topographies are spliced.
Above-mentioned shooting posture information includes subject 100 or positioning camera 30 with respect to given reference coordinate system
The position XYZ and pitch angle, rotation angle and roll angle, i.e., skilled person will appreciate that six-freedom degree.Shoot posture information
Also it may include a part of above- mentioned information and not all, details are not described herein.
The process spliced to topography uses dislocation information.Misplace information are as follows: for being deposited using digital picture
Two image I1 (x, y) and the I2 (x, y) of format are stored up, wherein x, y is the ranks coordinate of two-dimensional image sensor array；Dislocation letter
Breath refers in particular to a kind of mathematic(al) manipulation x, y → f (x, y), g (x, y), so that transformed image I1 (f (x, y), g (x, y)) can be with
I2 (x, y) zero defect is stitched together；Specifically, the mathematical transformation functions may be selected to be transitting probability:
By obtaining above-mentioned posture information, the parameter h of above-mentioned mathematical transformation functions can be determined1To h8, this is this field
Content well known to technical staff, details are not described herein.
The embodiment of the present invention provides the method that two kinds of processing units 40 realize stitching image, as an example.
In one approach, the global image referring to body 20 is stored in processing unit 40 or storage unit of its connection
Pref.In i-th shooting, the topography P (i) of subject and the topography P referring to body are obtainedref(i).Processing is single
Member is from global image PrefMiddle search topography PrefThe location of (i) information determines that topography P (i) is being taken pair
Location information in the global image of elephant；Processing unit detects obtained Pref(i) relative to global image PrefCorresponding part is former
Scaling, rotation and the distortion of beginning topography, and according to resulting scaling, rotation, distortion factor, P (i) is modified；It
Post-processing unit 40 splices revised topography into global image according to location information.
In another approach, processing unit 40 does not store the global image P referring to bodyref.In i-th shooting, processing
Unit 40 obtains the topography P (i) of subject and the topography P referring to bodyref(i), it in jth time shooting, obtains
The topography P (j) of subject and topography P referring to bodyref(j).Topography Pref(i) and topography Pref
(j) overlap region between, and processing unit calculates P according to the matching relationship of overlapping regionref(i) and Pref(j) between
Relative position information, and the relative position information of topography P (i) He P (j) are obtained according to corresponding relationship；Processing unit according to
Scaling, rotation and the distortion of overlapping region determine the scaling of Image Acquisition, rotation, distortion factor twice, to topography P (i)
It is modified with P (j)；Processing unit is by revised topography P (i) and P (j), according to above-mentioned gained topography P (i)
With the relative position information of P (j), the splicing of Liang Ge topography is completed.And so on, processing unit 40 can be completed entirely to scheme
The splicing of picture.
As shown in the above, first embodiment of the invention proposes a kind of image acquisition and processing equipment, by relatively solid
Fixed subject and positioning camera and relatively-stationary image camera and referring to body, using captured by positioning camera
The telltale mark for including in image referring to body accordingly determines the joining method of the topography of subject.Due to logical
Image offset information needed for crossing telltale mark and can rapidly obtaining image mosaic, the present invention is based on telecontrol equipments and image to spell
The imaging mode connect ensure that image offset information can be very accurate by the design of imaging system and algorithm from principle
With stable acquisition, and to the precision and stability of of driving device itself require it is very low, have system it is simple, it is at low cost,
The accuracy of manufacture requires the advantages that low, image mosaic stability is high.
In addition, the present invention is not necessarily to high-precision displacement sensor, guide rail, servo-system, kinematic system is required very low；No
It is interfered vulnerable to environment temperature, humidity etc.；Ambient adaptability is extensive；The present invention does not do any limit to subject appearance
System, to be evenly distributed, single and texture-free object area, can also realize accurate splicing on a large scale.And between the mistake image
Position information calculation amount is small.
In an alternative embodiment, described image acquiring and processing device can also include driving device, described for controlling
Subject 100 and the positioning camera 30 move synchronously, or for controlling the image camera 10 and described referring to body
20 move synchronously.The specific thin portion structure of driving device is that those skilled in the art can know that details are not described herein.
In one embodiment, image camera 10 and referring to not having relative motion between body 20, but 100 He of subject
Positioning camera 30 can carry out the movement of aforementioned six-freedom degree under the driving of driving device.For example, translation or rotation.
In other embodiments, driving device also can control imaging camera 10 and moving synchronously referring to body 20.
In one embodiment, the image camera and the positioning camera may each comprise imaging sensor and processing is single
Member.Imaging sensor can repeat no more for the common image sensor that market is sold, thin portion structure.The processing unit 40
The image of described image sensor is received, and the topography is spliced.Specifically, the bat of positioning camera 30 is being received
After the positioning image comprising telltale mark 21 taken the photograph, processing unit 40 for example can according to the telltale mark of the positioning image, with
Control image under the without motion state shot in advance compares, and calculates the translation of shooting time positioning camera 30 and turns
It is dynamic, to obtain the translation and rotation of image camera 10, using the translation and rotation of image camera, determine dislocation information, thus
Multiple topographies are spliced.Processing unit 40 can not be limited herein by software or hardware realization.
In one embodiment, the image camera 10 and the positioning camera 30 can also include shutter, the synchronous touching
Hair cell signal connects the shutter of the image camera 10 and the shutter of the positioning camera 30, for controlling the same of the two shutter
Step is opened.Optionally, the image camera 10 and the positioning camera 30 can also include light source.Light source is to be always on or strobe light
Source, if image camera 10, positioning camera 30 have selected the light source of stroboscopic type, synchronous trigger unit can also be accordingly in respective phase
Synchronous triggering stroboscopic light source when machine is taken pictures guarantees the imaging obtained and positioning image while property.
It should be noted that in some embodiments, since image camera is synchronous triggering with positioning camera, touching simultaneously
The image of hair is paired with each other in storage with positioning image.
Processing unit 40 may include Attitude estimation module and image mosaic module two parts, this two parts can be by soft
Part or hardware realization, the present invention do not limit.
Attitude estimation module analyzed from positioning camera image captured by obtained pattern, and by and other times shooting
Positioning picture between pattern difference, identification image whether have translation, scaling, rotation etc. variation, and successively detect and calculate
Positioning camera and referring to the attitudes vibrations such as relative bearing, angle between body, to positioning camera relative to the shooting posture referring to body
Estimated；Since positioning camera and image camera relative position are constant, and it is constant referring to body and subject relative position,
Can by positioning camera 30 relative to the anti-image camera 10 of releasing of the shooting posture information referring to body 20 relative to subject
100 shooting posture information.
Optionally, Attitude estimation module can also be with the phases such as external position sensor, velocity sensor, acceleration transducer
Even, in conjunction with external sensor information and positioning image, more precisely reliably current pose is calculated.
Posture information of the image mosaic module from Attitude estimation module acquisition image camera when shooting every picture, and according to
This by during moving sweep image and information sequence be stitched together each other, form big visual field, high-precision result.
Synchronization trigger unit herein is only referred to realize this functional module of synchronously control, and physically, it can be
It is independent with processing unit, be also possible to it is integrated, in same circuit board, or in same component.
Likewise, may be physically mutual independences for Attitude estimation module and image mosaic module in processing unit
, be also possible to it is integrated, in same circuit board, or in same component.
In one embodiment, described image acquiring and processing device further includes position sensor, velocity sensor, acceleration biography
Sensor at least one, for acquiring the shooting posture information of the positioning camera and/or the image camera, and correct institute
State the shooting posture information of image camera.
In one embodiment, the reference body 20 is two or more, such as may include being arranged in fixed angle
First referring to body and second referring to body.That is, can also include another on the basis of Fig. 4 and reference body 20 shown in fig. 5
Referring to body.It is more than two that other coordinates for example can be more easily obtained for positioning camera referring to body, for example, Fig. 4 or Fig. 5 institute
That shows is used to provide the telltale mark of X-Y plane referring to body 20, and second is used to provide the telltale mark of Z axis referring to body.It is multiple
30 pairs of positioning camera different to shoot respectively referring to body 20, can make that processing unit is faster, easily calculates and obtains
Taking location information.For another example multiple telltale marks referring to body 20 captured by positioning camera 30 can embody a concentrated reflection of shooting
Position, compared to one referring to body, multiple settings referring to body are it is also possible that processing unit is faster, easily calculates acquisition
Taking location information.
It can be seen from the above, the difference of the scheme 1 of the present invention program and the prior art at least is being to use multiple take pictures
The image mosaic imaging that position obtains；The difference of the scheme 2 of the present invention program and the prior art at least that: in the present solution,
The multiple images being spliced are to be walked by the same image camera by movement, are obtained in the different time, thus are needed
Accurate athletic posture is wanted to estimate；And in scheme 2, multiple images are constant from multiple cameras, each other posture, can thing
It first calibrates, estimates without athletic posture；The difference of the scheme 3 of the present invention program and the prior art at least that: this programme exists
Positioning camera obtains the dislocation information between image to be spliced by shooting the image obtained referring to body；Raw information is by positioning
Imaging sensor in camera obtains, rather than one or more one dimension displacement sensor outside using, also non-to use imaging
The image information of camera misplaces between calculating image.So the present invention is not necessarily to high accuracy displacement sensor, it is not necessarily to high stability microscope carrier
With high-precision motion mechanism, cost is very low；Meanwhile appearance characteristics referring to body and pattern can be designed specially, it is general have it is abundant
Label and texture information, avoid the problem that uniform outer appearance region can not be spliced by image self information.
Second embodiment
Second embodiment of the invention proposes that a kind of image acquisition and processing method, Fig. 6 show the image acquisition and processing method
Flow chart, the method which proposes can be understood as global localization method, such as may include steps of:
S301 obtains the global image P referring to bodyref；
In this step, it obtains or is stored in advance referring to body 20 in processing unit 40 or the storage unit of its connection
Global image Pref。
S302, when obtaining i-th shooting, the topography P [i] of subject and the topography P referring to bodyref
[i]。
In this step, processing unit 40 can obtain the topography P [i] of subject when i-th is shot
With the topography P referring to bodyref[i]。
S303, from the global image PrefTopography P of the middle search referring to bodyrefThe location of [i], obtains complete
Office image PrefIn with topography PrefCoordinate (x, y) of the image block that [i] matches with respect to origin position；
In this step, processing unit 40 can be from global image PrefMiddle search topography PrefPosition locating for [i]
It sets, obtains in global image PrefIn with topography PrefCoordinate (x, y) of the image block that [i] matches with respect to origin position；
Specific searching method can pass through accomplished in many ways disclosed in this field, such as global search, gradient decline, gold
Word tower search etc., herein not reinflated narration.
S304 calculates the coordinate of the opposite origin of topography P [i] in the global image P of subject；
In this step, processing unit 40 can calculate topography P [i] in the global image P of subject
Opposite origin coordinate (u, v)=(a1x+b1y+c1,a2x+b2y+c2)。
Wherein coefficient a1、b1、c1、a2、b2、c2It is obtained by the camera parameter and installation site of image camera 10 and positioning camera 30
It arrives, after camera and its mounting means determination, coefficient is not required to calculate in real time in use process.
S305 fills the topography P [i] to the global image according to the coordinate for calculating the opposite origin obtained
In；
In this step, processing unit 40 can be by topography P [i] according to the coordinate of (u, v), filling to shooting pair
In the global image P of elephant.
Optionally, in one embodiment, following steps can also be performed:
S306, whether detection global image, which splices, finishes；
After a test, it is finished as global image does not splice, step S307: return step S302 execution can be executed；Such as
Global image splicing finishes, and can execute step S308, terminates to execute.
3rd embodiment
Third embodiment of the invention proposes that a kind of image acquisition and processing method, Fig. 7 show the image acquisition and processing method
Flow chart, the method which proposes can be understood as relative positioning method, and in this process, processing unit 40 can be with
The global image P referring to body 20 is not storedref.The method that this embodiment proposes for example may include steps of:
S401 obtains the topography P [i] of subject and the topography P referring to body in i-th shootingref
[i]。
S402 obtains the topography P [j] of subject and the topography P referring to body in jth time shootingref
[j], topography Pref[j] and topography PrefOverlap region between [i].
S403, processing unit search for overlapping region image respectively in image Pref[i] and image PrefLocating position in [j]
It sets, obtains relative coordinate offset (the Δ x, Δ y) of two positions.
S404, according to relative coordinate offset, (Δ x, Δ y) processing unit calculate topography P [j] relative to part
Coordinate shift (Δ u, Δ v) in image P [i]；
Wherein, the calculation formula of the coordinate shift is for example are as follows:
(Δ u, Δ v)=(a1Δx+b1Δy+c1,a2Δx+b2Δy+c2)；Wherein coefficient a1、b1、c1、a2、b2、c2By at
As the camera parameter and installation site of camera 10 and positioning camera 30 obtain, after camera and its mounting means determine, use process
Middle coefficient is not required to calculate in real time.
S405, by topography P [i] and topography P [j], according to coordinate shift, (Δ u, Δ v) are spelled processing unit
It connects；
The step for operation after, the bigger composograph P of a width can be formedij。
S406 judges whether global image P splices and finishes.
In this step, original global image P and spliced composograph P be can useijComparison, or use
Other modes, it is determined whether splicing finishes.
When judgement, which is not spliced, to be finished, following steps S407: return step S401 can be executed, is executed to step S403,
More topographies are acquired, and coordinates computed deviates in step s 404, and by freshly harvested topography in step S405
Splice in resulting composograph after splicing supreme one acquisition.
When judgement splicing finishes, step S408 can be executed, terminates to execute.
In conclusion image acquisition and processing method proposed by the present invention at least has the advantages that
The image acquisition and processing method that the embodiment of the present invention proposes, by relatively-stationary image camera and referring to body, with
And relatively-stationary subject and positioning camera, using captured by positioning camera referring to the positioning for including in the image of body
Label accordingly determines the joining method of the topography of subject.Due to can rapidly be obtained by telltale mark
Image offset information needed for image mosaic, the present invention is based on the imaging modes of telecontrol equipment and image mosaic, are by imaging
The design of system and algorithm ensure that image offset information very accurate and stable can be obtained from principle, and to driving
The precision and stability of of device itself requires very low, accuracy of manufacture requirement low, image mosaic simple, at low cost with system
The advantages that stability is high.
In addition, the present invention is not necessarily to high-precision displacement sensor, guide rail, servo-system, kinematic system is required very low；No
It is interfered vulnerable to environment temperature, humidity etc.；Ambient adaptability is extensive；The present invention does not do any limit to subject appearance
System, to be evenly distributed, single and texture-free object area, can also realize accurate splicing on a large scale.And between the mistake image
Position information calculation amount is small.
Fourth embodiment
Fourth embodiment of the invention proposes a kind of image acquisition and processing equipment, for acquiring multiple parts of subject
Image is simultaneously spliced, comprising:
First attachment device, is used for fixed imaging camera, and the image camera is used to shoot multiple offices of subject
Portion's image；
It is provided with the reference body of telltale mark, the reference body is at least one, and relatively fixed with the image camera；
Second attachment device is used for stationary positioned camera, and the positioning camera and the subject are relatively fixed, uses
It is described referring to body in shooting, obtain the positioning image comprising at least partly telltale mark；And
Processing unit, for the shooting of the image camera according to multiple positioning image mosaics that the positioning camera is shot
Multiple topographies.
Fourth embodiment is similar to first embodiment, and related content can refer to first embodiment.The difference is that the
The image acquisition and processing equipment of four embodiments does not include image camera and one of positioning camera or the two.4th implements
The image acquisition and processing equipment of example includes the first and second attachment devices, for connecting external image camera and positioning camera.
The image acquisition and processing method that the embodiment of the present invention proposes, by relatively external image camera and referring to body, with
And relatively-stationary subject and positioning camera, using captured by positioning camera referring to the positioning for including in the image of body
Label accordingly determines the joining method of the topography of subject.Due to can rapidly be obtained by telltale mark
Image offset information needed for image mosaic, the present invention is based on the imaging modes of telecontrol equipment and image mosaic, are by imaging
The design of system and algorithm ensure that image offset information very accurate and stable can be obtained from principle, and to driving
The precision and stability of of device itself requires very low, accuracy of manufacture requirement low, image mosaic simple, at low cost with system
The advantages that stability is high.
In addition, the present invention is not necessarily to high-precision displacement sensor, guide rail, servo-system, kinematic system is required very low；No
It is interfered vulnerable to environment temperature, humidity etc.；Ambient adaptability is extensive；The present invention does not do any limit to subject appearance
System, to be evenly distributed, single and texture-free object area, can also realize accurate splicing on a large scale.And between the mistake image
Position information calculation amount is small.
Above to a kind of image acquisition and processing equipment provided herein and image acquisition and processing method, carry out in detail
It introduces, specific examples are used herein to illustrate the principle and implementation manner of the present application, the explanation of above embodiments
It is merely used to help understand the present processes and its core concept；At the same time, for those skilled in the art, according to this
The thought of application, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification is not answered
It is interpreted as the limitation to the application.
Claims (13)
1. a kind of image acquisition and processing equipment, for acquiring multiple topographies of subject and being spliced, feature
It is, comprising:
Image camera, for shooting multiple topographies of subject；
It is provided with the reference body of telltale mark, the reference body is at least one, and relatively fixed with the image camera；
Positioning camera, it is relatively fixed with the subject, it is described referring to body for shooting, it obtains comprising at least partly positioning
The positioning image of label；And
Processing unit, for the multiple of the shooting of the image camera according to multiple positioning image mosaics that the positioning camera is shot
Topography.
2. image acquisition and processing equipment according to claim 1, which is characterized in that described image acquiring and processing device also wraps
Synchronous trigger unit is included, is directed to subject respectively in the same time for controlling the image camera and the positioning camera
It is shot with referring to body.
3. image acquisition and processing equipment according to claim 1, which is characterized in that
The processing unit is used for:
The topography of the image camera shooting and the image comprising the telltale mark of positioning camera shooting are received,
And shooting posture information is determined using multiple positioning images, to splice to multiple topographies captured by image camera.
4. image acquisition and processing equipment according to claim 1, which is characterized in that the processing unit is used for:
Obtain the global image (P referring to bodyref)；
When obtaining i-th shooting, the topography (P [i]) of subject and the topography (P referring to bodyref[i])。
From the global image (P referring to bodyref) in the search topography (P referring to bodyrefThe location of [i]),
It obtains in the global image (P referring to bodyref) in the topography (P referring to bodyref[i]) image block that matches
The coordinate (x, y) of opposite origin position；
Calculate opposite origin of the topography (P [i]) of the subject in the global image (P) of subject
Coordinate；
The topography (P [i]) is filled according to the coordinate for calculating the opposite origin obtained into the global image (P).
5. image acquisition and processing equipment according to claim 1, which is characterized in that the processing unit is used for:
In i-th shooting, the topography (P [i]) for obtaining subject and the topography (P referring to bodyref[i])。
In jth time shooting, the topography (P [j]) for obtaining subject and the topography (P referring to bodyref[j]),
Described in topography (Pref[j]) and the topography (Pref[i]) between overlap region.
Overlapping region image is searched for respectively in image (Pref[i]) and image (PrefThe location of [j]) in, obtain two positions
Relative coordinate deviate (Δ x, Δ y).
According to relative coordinate offset, (Δ x, Δ y) calculate the topography (P [j]) relative to the topography (P
[i]) in coordinate shift (Δ u, Δ v)；
By the topography (P [i]) and topography (P [j]), according to the coordinate shift, (Δ u, Δ v) are spliced, are obtained
Obtain composograph Pij。
6. image acquisition and processing equipment according to claim 1, which is characterized in that the reference body includes in fixed angle
First be arranged is referring to body and second referring to body.
7. image acquisition and processing equipment according to claim 1, which is characterized in that described image acquiring and processing device also wraps
Driving device is included, for controlling the image camera and the moving synchronously referring to body, or for controlling the subject
Body and the positioning camera move synchronously.
8. image acquisition and processing equipment according to claim 3, which is characterized in that described image acquiring and processing device also wraps
Include position sensor, velocity sensor, acceleration transducer at least one, for acquiring the positioning camera and/or institute
The shooting posture information of image camera is stated, and corrects the shooting posture information of the image camera.
9. a kind of image acquisition and processing method characterized by comprising
Obtain the global image (P referring to bodyref)；
When obtaining i-th shooting, the topography (P [i]) of subject and the topography (P referring to bodyref[i])。
From the global image (P referring to bodyref) in the search topography (P referring to bodyrefThe location of [i]),
It obtains in the global image (P referring to bodyref) in the topography (P referring to bodyref[i]) image block that matches
The coordinate (x, y) of opposite origin position；
Calculate opposite origin of the topography (P [i]) of the subject in the global image (P) of subject
Coordinate；
The topography (P [i]) is filled according to the coordinate for calculating the opposite origin obtained into the global image (P).
10. according to the method described in claim 9, it is characterized in that, the method also includes:
Whether detection global image, which splices, finishes；
When detecting that splicing does not finish, re-execute:
Obtain the global image (P referring to bodyref)；
When obtaining i-th shooting, the topography (P [i]) of subject and the topography (P referring to bodyref[i])。
From the global image (P referring to bodyref) in the search topography (P referring to bodyrefThe location of [i]),
It obtains in the global image (P referring to bodyref) in the topography (P referring to bodyref[i]) image block that matches
The coordinate (x, y) of opposite origin position；
Calculate opposite origin of the topography (P [i]) of the subject in the global image (P) of subject
Coordinate；
The topography (P [i]) is filled according to the coordinate for calculating the opposite origin obtained into the global image (P)；
When detecting that splicing finishes, end task.
11. a kind of image acquisition and processing method characterized by comprising
In i-th shooting, the topography (P [i]) for obtaining subject and the topography (P referring to bodyref[i])。
In jth time shooting, the topography (P [j]) for obtaining subject and the topography (P referring to bodyref[j]),
Described in topography (Pref[j]) and the topography (Pref[i]) between overlap region.
Overlapping region image is searched for respectively in image (Pref[i]) and image (PrefThe location of [j]) in, obtain two positions
Relative coordinate deviate (Δ x, Δ y).
According to relative coordinate offset, (Δ x, Δ y) calculate the topography (P [j]) relative to the topography (P
[i]) in coordinate shift (Δ u, Δ v)；
By the topography (P [i]) and topography (P [j]), according to the coordinate shift, (Δ u, Δ v) are spliced, are obtained
Obtain composograph (Pij)。
12. according to the method for claim 11, which is characterized in that the method also includes:
Whether detection global image, which acquires, finishes；
When detecting that splicing does not finish, re-execute:
In i-th shooting, the topography (P [i]) for obtaining subject and the topography (P referring to bodyref[i])。
In jth time shooting, the topography (P [j]) for obtaining subject and the topography (P referring to bodyref[j]),
Described in topography (Pref[j]) and the topography (Pref[i]) between overlap region.
Overlapping region image is searched for respectively in image (Pref[i]) and image (PrefThe location of [j]) in, obtain two positions
Relative coordinate deviate (Δ x, Δ y).
According to relative coordinate offset, (Δ x, Δ y) calculate the topography (P [j]) relative to the topography (P
[i]) in coordinate shift (Δ u, Δ v)；
By the topography (P [i]) and topography (P [j]), according to the coordinate shift, (Δ u, Δ v) are spliced, are obtained
Obtain composograph (Pij)；
When detecting that splicing finishes, end task.
13. a kind of image acquisition and processing equipment, for acquiring multiple topographies of subject and being spliced, feature
It is, comprising:
First attachment device, is used for fixed imaging camera, and the image camera is used to shoot multiple Local maps of subject
Picture；
It is provided with the reference body of telltale mark, the reference body is at least one, and relatively fixed with the image camera；
Second attachment device is used for stationary positioned camera, and the positioning camera and the subject are relatively fixed, for clapping
It takes the photograph described referring to body, positioning image of the acquisition comprising at least partly telltale mark；And
Processing unit, for the multiple of the shooting of the image camera according to multiple positioning image mosaics that the positioning camera is shot
Topography.
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