CN110298872A - A kind of method for registering of ultraviolet light camera and Visible Light Camera array - Google Patents
A kind of method for registering of ultraviolet light camera and Visible Light Camera array Download PDFInfo
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- CN110298872A CN110298872A CN201910594003.5A CN201910594003A CN110298872A CN 110298872 A CN110298872 A CN 110298872A CN 201910594003 A CN201910594003 A CN 201910594003A CN 110298872 A CN110298872 A CN 110298872A
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- 239000011159 matrix material Substances 0.000 claims abstract description 78
- 238000013519 translation Methods 0.000 claims description 22
- 238000004422 calculation algorithm Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000000605 extraction Methods 0.000 claims description 3
- 238000012216 screening Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000003595 spectral effect Effects 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10052—Images from lightfield camera
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
- G06T2207/30208—Marker matrix
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Abstract
The invention discloses the method for registering of a kind of ultraviolet light camera and Visible Light Camera array, image is shot by obtaining ultraviolet light image shot by camera and Visible Light Camera first, unified resolution, obtain the ultraviolet light image for updating resolution ratio, outer parameter matrix of the ultraviolet light camera with respect to Visible Light Camera is calculated using stereo matching method according to the ultraviolet light image for updating resolution ratio and Visible Light Camera shooting image, matching treatment finally is carried out to the ultraviolet light image for updating resolution ratio using the outer parameter matrix, complete the registration of ultraviolet light image shot by camera and Visible Light Camera shooting image.The ultraviolet light image for updating resolution ratio is adjusted by outer parameter matrix, so that ultraviolet light image shot by camera matches with Visible Light Camera shooting image, can completely avoid due to the problem that feature point mass is bad or distribution is bad and causes registration error big.
Description
Technical field
The present invention relates to image identification technical field, in particular to a kind of ultraviolet light camera is matched with Visible Light Camera array
Quasi- method.
Background technique
Image registration is exactly by (weather, is taken the photograph illumination under different time, different sensors (imaging device) or different condition
Image position and angle etc.) two width that obtain or the multiple image process that is matched, be superimposed.In general one can consider that being
One figure is matched to the process of another figure, one of them is reference picture (reference image), and one is perceptual map
As (senseimage).Due to the difference of image-forming condition, obtained image is also different, so we need image registration skill
Art synthesizes picture.This technology is in remote sensing, and medical, drawing, computer vision field is widely used.
Image registration is divided into multi-source image registration, the registration based on template, multi-angle image registration, time-series image and matches
Quasi- four major class.Wherein multi-source image registration refers to the registration between the Same Scene image obtained by heterologous imaging sensor.Tradition
The exemplary spectrum working range of Visible imaging system be 410nm-720nm, increasing amount of image information demand is drawn
The demand of extended parallel port spectral region.Present multi-optical spectrum imaging system can extended parallel port spectral region well, specifically
For have typical ultraviolet-cameras that can expand 200nm-400nm spectral band.Each method for registering is usually all directed to certain
A particular problem and design, in numerous methods, unique general character is exactly that each registration problems finally will be in transformation space
A kind of optimal transformation is found, this transformation can make to reach matching between two images in some sense, but for difference
Application field, requirement to image type is different, it is necessary to particular problem concrete analysis.It directly will be wait locate currently based on feature
The method that reason Visible Light Camera image and ultraviolet light camera image are registrated can be because feature point mass be bad or distribution is bad
And cause registration error very big.
Summary of the invention
The purpose of the present invention is intended to overcome the shortcomings of the prior art, provides a kind of ultraviolet light camera and visible light phase
The method for registering of machine array can be avoided currently based on feature directly by Visible Light Camera image to be processed and ultraviolet light camera figure
The method that picture is registrated can be bad because of feature point mass or be distributed bad and causes registration error very big.
In order to solve the above-mentioned technical problem the present invention provides the side of registration of a kind of ultraviolet light camera and Visible Light Camera array
Method, which comprises
It obtains ultraviolet light image shot by camera and Visible Light Camera shoots image；
The resolution ratio of the unified ultraviolet light image shot by camera and Visible Light Camera shooting image obtains to update and divide
The ultraviolet light image of resolution；
Stereo matching method is utilized according to the ultraviolet light image for updating resolution ratio and Visible Light Camera shooting image
Calculate outer parameter matrix of the ultraviolet light camera with respect to Visible Light Camera；
Matching treatment is carried out to the ultraviolet light image for updating resolution ratio using the outer parameter matrix.
Preferably, the resolution ratio of the unification ultraviolet light image shot by camera and Visible Light Camera shooting image
Include:
Judge whether the resolution ratio of the ultraviolet light image shot by camera is less than point of the Visible Light Camera shooting image
Resolution；
If the resolution ratio of the ultraviolet light image shot by camera is less than the resolution ratio of Visible Light Camera shooting image,
The resolution ratio of the ultraviolet light image shot by camera is then increased to the Visible Light Camera using bilinear interpolation algorithm to shoot
The resolution ratio of image.
Preferably, described that the resolution ratio of the ultraviolet light image shot by camera is increased into institute using bilinear interpolation algorithm
State Visible Light Camera shooting image resolution ratio include:
It is the ultraviolet light image shot by camera and the Visible Light Camera by the Coordinate Setting of bilinear interpolation algorithm
Shoot the geometric center of image；
The resolution ratio of the ultraviolet light image shot by camera is increased using interpolating function f (x, y) according to the geometric center
Add to the resolution ratio of the Visible Light Camera shooting image；
The interpolating functionWhereinThe resolution ratio of the Visible Light Camera shooting image is m*n, institute
The resolution ratio for stating ultraviolet light image shot by camera is a*b.
Preferably, described to be utilized according to the ultraviolet light image for updating resolution ratio and Visible Light Camera shooting image
Stereo matching method calculates ultraviolet light camera with respect to the outer parameter matrix of Visible Light Camera
Utilize the ultraviolet light image and the Visible Light Camera that resolution ratio is updated described in feature extraction and matching algorithmic match
Shoot the characteristic point of image；
The characteristic point is screened using RANSAC algorithm；
The essential matrix for being calculated ultraviolet light camera and Visible Light Camera using 8 methods according to the screening characteristic point, is obtained
The spin matrix R of Visible Light Camerargb, Visible Light Camera translation matrix Trgb, ultraviolet light camera spin matrix RuvAnd it is purple
The translation matrix T of outer smooth camerauv；
According to the spin matrix R of the Visible Light Camerargb, the Visible Light Camera translation matrix Trgb, it is described ultraviolet
The spin matrix R of light camerauvAnd the translation matrix T of the ultraviolet light camerauvUltraviolet light camera is calculated with respect to Visible Light Camera
Outer parameter matrix.
Preferably, the outer parameter matrix includes spin matrix R and translation matrix T；
The calculation formula of the spin matrix R are as follows:
The calculation formula of the translation matrix T are as follows:
T=Trgb-RTuv。
Preferably, described that matching treatment is carried out to the ultraviolet light image for updating resolution ratio using the outer parameter matrix
Include:
The ultraviolet light image for updating resolution ratio is converted according to the spin matrix R and the translation matrix T.
Technical solution provided by the embodiments of the present application the utility model has the advantages that the method by obtain ultraviolet light camera shooting figure
Picture and Visible Light Camera shoot image, point of the unified ultraviolet light image shot by camera and Visible Light Camera shooting image
Resolution obtains the ultraviolet light image for updating resolution ratio, according to the ultraviolet light image for updating resolution ratio and the visible light phase
Machine shoots image and calculates outer parameter matrix of the ultraviolet light camera with respect to Visible Light Camera using stereo matching method, finally using described
Outer parameter matrix carries out matching treatment to the ultraviolet light image for updating resolution ratio, completes ultraviolet light image shot by camera and can
The registration of light-exposed image shot by camera.The method for registering of ultraviolet light camera and Visible Light Camera provided by the present application passes through to ultraviolet
Light image shot by camera and Visible Light Camera shooting image Stereo matching handle to obtain ultraviolet light camera with respect to Visible Light Camera
Outer parameter matrix is adjusted the ultraviolet light image for updating resolution ratio according to obtained outer parameter matrix, so that ultraviolet
Light image shot by camera matches with Visible Light Camera shooting image, can completely avoid since feature point mass is bad or distribution
The bad and problem that causes registration error big.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the method for registering process signal of ultraviolet light camera provided by the embodiments of the present application and Visible Light Camera array
Figure；
Fig. 2 is that Visible Light Camera provided by the embodiments of the present application shoots example images；
Fig. 3 is ultraviolet light image shot by camera example provided by the embodiments of the present application；
Fig. 4 is the example images figure after ultraviolet light image shot by camera interpolation shown in Fig. 3 embodiment；
Fig. 5 is the example images figure after the registration of ultraviolet light image shot by camera shown in Fig. 3 embodiment.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the method for registering process for ultraviolet light provided by the embodiments of the present application and Visible Light Camera array is shown
It is intended to.The described method includes:
Step S101: obtaining ultraviolet light image shot by camera and Visible Light Camera shoots image.
Article photo under Same Scene is shot by using ultraviolet light camera and Visible Light Camera respectively, by ultraviolet light phase
Machine shooting image and Visible Light Camera shooting image are saved into the matrix form in Matlab program, are illustrated in figure 2 visible light
Image shot by camera example, Fig. 3 are ultraviolet light image shot by camera example.
Step S102: the resolution ratio of the unified ultraviolet light image shot by camera and Visible Light Camera shooting image,
Obtain the ultraviolet light image for updating resolution ratio.
If the ultraviolet light image shot by camera is identical with resolution ratio, that is, size of Visible Light Camera shooting image,
The unified ultraviolet light image shot by camera and Visible Light Camera shooting image are not needed then.
Specifically, the resolution ratio of the unification ultraviolet light image shot by camera and Visible Light Camera shooting image
Include:
Judge whether the resolution ratio of the ultraviolet light image shot by camera is less than point of the Visible Light Camera shooting image
Resolution；
If the resolution ratio of the ultraviolet light image shot by camera is less than the resolution ratio of Visible Light Camera shooting image,
The resolution ratio of the ultraviolet light image shot by camera is then increased to the Visible Light Camera using bilinear interpolation algorithm to shoot
The resolution ratio of image.
Wherein, described that the resolution ratio of the ultraviolet light image shot by camera is increased to described using bilinear interpolation algorithm
Visible Light Camera shooting image resolution ratio may include:
It is the ultraviolet light image shot by camera and the Visible Light Camera by the Coordinate Setting of bilinear interpolation algorithm
Shoot the geometric center of image；
The resolution ratio of the ultraviolet light image shot by camera is increased using interpolating function f (x, y) according to the geometric center
Add to the resolution ratio of the Visible Light Camera shooting image；
The interpolating functionWhereinThe resolution ratio of the Visible Light Camera shooting image is m*n, institute
The resolution ratio for stating ultraviolet light image shot by camera is a*b.
The resolution ratio of Visible Light Camera shooting image is m*n, the resolution ratio of ultraviolet light image shot by camera in the present embodiment
For a*b.The side ratio of so two images is respectively as follows: m/a and n/b.This usual ratio is not integer, when program storage
Use floating type.(i, j) a pixel (i row j column) of ultraviolet light image shot by camera can correspond to Hui Yuan by side ratio
Image.Its coordinate for corresponding to Visible Light Camera shooting image is (i*m/a, j*n/b).Obviously, this respective coordinates is generally come
Say it is not integer, and the coordinate of non-integer can not use in this discrete data of image.Bilinear interpolation passes through searching
Four pixels nearest apart from this respective coordinates, to calculate the value (gray value or rgb value) of the point.
Bilinear interpolation, also known as bilinear interpolation.Mathematically, bilinear interpolation is the interpolating function there are two variable
Linear interpolation extension, core concept is to carry out once linear interpolation respectively in both direction.If we expect unknown
Value of the function f in point P=(x, y), it is assumed that our known function f are in Q11=(x1,y1), Q12=(x1,y2), Q21=(x2,y1) and
Q22=(x2,y2) four points value.Linear interpolation is carried out in the direction x first, is obtained:
Then linear interpolation is carried out in the direction y, obtained:
Desired result f (x, y) is thus obtained,
If selection one coordinate system make f four known point coordinates be respectively (0,0), (0,1), (1,0) and (1,
1), then interpolation formula can abbreviation are as follows:
f(x,y)≈f(0,0)(1-x)(1-y)+f(1,0)x(1-y)+f(0,1)(1-x)y+f(1,1)xy
Or it is indicated with matrix operation are as follows:
The interpolating function of the embodiment of the present application can indicate are as follows:Wherein The resolution ratio of the Visible Light Camera shooting image is m*n, the ultraviolet light camera shooting figure
The resolution ratio of picture is a*b；I, j are point (i, j) coordinate value on ultraviolet light image shot by camera.According to above-mentioned interpolating function,
The resolution ratio of ultraviolet light image shot by camera is increased to the resolution ratio of the Visible Light Camera shooting image.If visible light phase
The resolution ratio that machine shoots image is less than the resolution ratio of ultraviolet light image shot by camera, can using same bilinear interpolation algorithm
The resolution ratio of light-exposed image shot by camera increases to the resolution ratio of ultraviolet light image shot by camera, so that Visible Light Camera shooting figure
The resolution ratio of picture and the resolution ratio of ultraviolet light image shot by camera are completely the same.It is illustrated in figure 4 ultraviolet light camera shown in Fig. 3
Example images figure after shooting image interpolation.
Step S103: it is utilized according to the ultraviolet light image for updating resolution ratio and Visible Light Camera shooting image vertical
Body matching method calculates outer parameter matrix of the ultraviolet light camera with respect to Visible Light Camera.
In a specific embodiment, described according to the ultraviolet light image for updating resolution ratio and the visible light phase
Machine shoots image using the outer parameter matrix that stereo matching method calculates the opposite Visible Light Camera of ultraviolet light camera
Utilize the ultraviolet light image and the Visible Light Camera that resolution ratio is updated described in feature extraction and matching algorithmic match
Shoot the characteristic point of image；
The characteristic point is screened using RANSAC algorithm；
The essential matrix for being calculated ultraviolet light camera and Visible Light Camera using 8 methods according to the screening characteristic point, is obtained
The spin matrix R of Visible Light Camerargb, Visible Light Camera translation matrix Trgb, ultraviolet light camera spin matrix RuvAnd it is purple
The translation matrix T of outer smooth camerauv；
According to the spin matrix R of the Visible Light Camerargb, the Visible Light Camera translation matrix Trgb, it is described ultraviolet
The spin matrix R of light camerauvAnd the translation matrix T of the ultraviolet light camerauvUltraviolet light camera is calculated with respect to Visible Light Camera
Outer parameter matrix.
Wherein, the outer parameter matrix includes spin matrix R and translation matrix T；
The calculation formula of the spin matrix R are as follows:
The calculation formula of the translation matrix T are as follows:
T=Trgb-RTuv。
The derivation formula of the spin matrix R and the translation matrix T are as follows:
Prgb=RrgbP+Trgb,
Puv=RuvP+Tuv,
Prgb=RPuv+T。
Step S104: matching treatment is carried out to the ultraviolet light image for updating resolution ratio using the outer parameter matrix.
Specifically, described carry out matching treatment to the ultraviolet light image for updating resolution ratio using the outer parameter matrix
Include:
The ultraviolet light image for updating resolution ratio is converted according to the spin matrix R and the translation matrix T, is completed purple
The registration of outer smooth image shot by camera and Visible Light Camera shooting image.Before image registration, as shown in Figures 2 and 3, it is seen that light
Image shot by camera has about rotated clockwise 5 ° compared to ultraviolet light image shot by camera, by the method for registering of the embodiment of the present application
Later, as shown in figure 5, the ultraviolet light image shot by camera of registration is inclined almost without rotation compared to Visible Light Camera shooting image
Shifting amount.
The method for registering of the application passes through first obtains ultraviolet light image shot by camera and Visible Light Camera shooting image, system
The resolution ratio of the one ultraviolet light image shot by camera and Visible Light Camera shooting image, obtains and updates the ultraviolet of resolution ratio
Light image utilizes stereo matching method meter according to the ultraviolet light image for updating resolution ratio and Visible Light Camera shooting image
Outer parameter matrix of the ultraviolet light camera with respect to Visible Light Camera is calculated, finally using the outer parameter matrix to the update resolution ratio
Ultraviolet light image carry out matching treatment, complete ultraviolet light image shot by camera and Visible Light Camera shooting image registration.This
Apply for that the ultraviolet light camera provided and the method for registering of Visible Light Camera pass through to ultraviolet light image shot by camera and visible light phase
Machine shooting image Stereo matching handles the outer parameter matrix for obtaining ultraviolet light camera with respect to Visible Light Camera, according to obtained outer ginseng
Matrix number is adjusted the ultraviolet light image for updating resolution ratio, so that ultraviolet light image shot by camera and Visible Light Camera
Shooting image matches, and can completely avoid causes registration error is big to ask since feature point mass is bad or distribution is bad
Topic.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to of the invention its
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are wanted by right
It asks and points out.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (6)
1. a kind of method for registering of ultraviolet light camera and Visible Light Camera array, which is characterized in that the described method includes:
It obtains ultraviolet light image shot by camera and Visible Light Camera shoots image；
The resolution ratio of the unified ultraviolet light image shot by camera and Visible Light Camera shooting image, obtains and updates resolution ratio
Ultraviolet light image；
It is calculated according to the ultraviolet light image for updating resolution ratio and Visible Light Camera shooting image using stereo matching method
Outer parameter matrix of the ultraviolet light camera with respect to Visible Light Camera；
Matching treatment is carried out to the ultraviolet light image for updating resolution ratio using the outer parameter matrix.
2. a kind of method for registering of ultraviolet light camera and Visible Light Camera array as described in claim 1, which is characterized in that institute
The resolution ratio for stating the unified ultraviolet light image shot by camera and Visible Light Camera shooting image includes:
Judge whether the resolution ratio of the ultraviolet light image shot by camera is less than the resolution ratio of the Visible Light Camera shooting image；
If the resolution ratio of the ultraviolet light image shot by camera is less than the resolution ratio of Visible Light Camera shooting image, benefit
The resolution ratio of the ultraviolet light image shot by camera is increased into the Visible Light Camera with bilinear interpolation algorithm and shoots image
Resolution ratio.
3. a kind of method for registering of ultraviolet light camera and Visible Light Camera array as claimed in claim 2, which is characterized in that institute
It states and the resolution ratio of the ultraviolet light image shot by camera is increased into the Visible Light Camera shooting using bilinear interpolation algorithm
The resolution ratio of image includes:
It is that the ultraviolet light image shot by camera and the Visible Light Camera are shot by the Coordinate Setting of bilinear interpolation algorithm
The geometric center of image；
The resolution ratio of the ultraviolet light image shot by camera is increased to using interpolating function f (x, y) according to the geometric center
The resolution ratio of the Visible Light Camera shooting image；
The interpolating functionWhereinThe resolution ratio of the Visible Light Camera shooting image is m*n,
The resolution ratio of the ultraviolet light image shot by camera is a*b.
4. a kind of method for registering of ultraviolet light camera and Visible Light Camera array as described in claim 1, which is characterized in that institute
It states and purple is calculated using stereo matching method according to the ultraviolet light image for updating resolution ratio and Visible Light Camera shooting image
Outer smooth camera includes: with respect to the outer parameter matrix of Visible Light Camera
It is shot using the ultraviolet light image and the Visible Light Camera that update resolution ratio described in feature extraction and matching algorithmic match
The characteristic point of image；
The characteristic point is screened using RANSAC algorithm；
The essential matrix for being calculated ultraviolet light camera and Visible Light Camera using 8 methods according to the screening characteristic point, is obtained visible
The spin matrix R of light camerargb, Visible Light Camera translation matrix Trgb, ultraviolet light camera spin matrix RuvAnd ultraviolet light
The translation matrix T of camerauv；
According to the spin matrix R of the Visible Light Camerargb, the Visible Light Camera translation matrix Trgb, the ultraviolet light phase
The spin matrix R of machineuvAnd the translation matrix T of the ultraviolet light camerauvIt is outer with respect to Visible Light Camera to calculate ultraviolet light camera
Parameter matrix.
5. a kind of method for registering of ultraviolet light camera and Visible Light Camera array as claimed in claim 4, which is characterized in that institute
Stating outer parameter matrix includes spin matrix R and translation matrix T；
The calculation formula of the spin matrix R are as follows:
The calculation formula of the translation matrix T are as follows:
T=Trgb-RTuv。
6. a kind of method for registering of ultraviolet light camera and Visible Light Camera array as claimed in claim 5, which is characterized in that institute
It states
Carrying out matching treatment to the ultraviolet light image for updating resolution ratio using the outer parameter matrix includes:
The ultraviolet light image for updating resolution ratio is converted according to the spin matrix R and the translation matrix T.
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Application publication date: 20191001 |