CN109191368B - Method, system equipment and storage medium for realizing splicing and fusion of panoramic pictures - Google Patents
Method, system equipment and storage medium for realizing splicing and fusion of panoramic pictures Download PDFInfo
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Abstract
The invention discloses a method for realizing splicing and fusion of panoramic pictures, which comprises the following steps: preprocessing each image to be spliced respectively, and converting the overlapped images into HSI color space; carrying out contrast contourlet transformation on the obtained HSI color space image; performing inverse contrast contourlet conversion processing; fusing the images and converting the images into an RGB color space; and superposing the obtained RGB color space image to the mosaic image to obtain the panoramic image. And a system for realizing splicing and fusion of the panoramic picture. According to the method and the system for realizing the splicing and fusion of the panoramic image, the contrast contourlet conversion is adopted, the outline characteristics of the panoramic image are utilized, the detailed characteristics of the panoramic image are displayed, the overlapped area is well transited, and the panoramic image is more compact and consistent in fusion. By adopting the method, the scene image has good fusion effect, the visual effect of human eyes is very accordant, and the method has wide application value.
Description
Technical Field
The invention relates to the field of image processing, in particular to a method and a system for realizing splicing and fusion of panoramic pictures.
Background
Image fusion is a research hotspot in the fields of information fusion and image processing. The image fusion is to integrate the useful information in two frames into one frame to obtain more comprehensive information of the same scene. The development of the image fusion technology dates back to the 80 s of the 20 th century, and is mainly applied to the processing fields of remote sensing images, infrared images, medical images and the like.
In order to realize the effect of splicing and fusing the smooth and continuous panoramic pictures, aiming at the characteristics of splicing the panoramic pictures, in the splicing of the panoramic pictures (comprising image preparation, affine transformation, image fusion and the like), image fusion is an important link, and is responsible for the optimization processing of superposition at the image superposition position, and the advantages and disadvantages of the image fusion directly influence the effect of the panoramic pictures. At present, the panoramic image stitching technology includes a mean value fusion method, a weighted smooth fusion method, a multi-resolution fusion method and the like. The mean value fusion method is to directly average the overlapped parts of the images. The algorithm is easy to realize, but obvious splicing traces can be generated; although the weighted smooth fusion method is improved a lot on the basis of the averaging method, the processing of the situations such as image rotation, dislocation and the like is not satisfactory; although the multi-resolution fusion method can embody a better fusion effect, the realization is more complex and the understanding is not easy.
In summary, improvements are needed in the art.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the invention aims to provide a method and a system for realizing splicing and fusion of panoramic pictures, which have good splicing and fusion effects.
The technical scheme adopted by the invention is as follows:
the invention provides a method for realizing splicing and fusion of a panoramic image, which comprises the following steps:
preprocessing each image to be spliced respectively, and converting the overlapped images into HSI color space;
carrying out contrast contourlet transformation on the obtained HSI color space image;
performing inverse contrast contourlet conversion processing;
fusing the images and converting the images into an RGB color space;
and superposing the obtained RGB color space image to the mosaic image to obtain the panoramic image.
Preferably, the pretreatment comprises: and registering the images to be spliced, and carrying out affine transformation on the superposed regions.
Preferably, the affine transformation of the overlapped area includes converting the image from an RGB color space to an HSI color space by the following formula;
wherein RGB represents the red, green, and blue components of the primitive, respectively.
Preferably, the performing contrast contourlet transformation includes:
performing band-pass sampling on the image, establishing a Laplacian pyramid and performing multi-scale decomposition;
and continuing the directional decomposition to obtain a directional subband.
Further, the image is transformed by contourlet to obtain corresponding high-frequency components and low-frequency components; wherein, the high-frequency component is fused by adopting a weighted fusion method; and performing fusion processing on the low-frequency component by adopting an arithmetic mean method.
On the other hand, the invention also provides a system for realizing the splicing and fusion of the panoramic picture, which comprises the following steps:
the image preprocessing module is used for executing the steps of preprocessing each image to be spliced respectively and converting the overlapped images into HSI color space;
the contrast transformation module is used for carrying out contrast contourlet transformation on the obtained HSI color space image; performing inverse contrast contourlet conversion processing;
the image fusion processing module is used for executing the steps to fuse the images and converting the images into an RGB color space; and superposing the obtained RGB color space image to a mosaic image to obtain a panoramic image.
In another aspect, the present invention further provides an apparatus for implementing panorama stitching fusion, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method.
In a fourth aspect, the present invention also provides a computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the method.
The invention has the beneficial effects that: according to the method and the system for realizing the splicing and fusion of the panoramic image, the contrast contourlet conversion is adopted, the outline characteristics of the panoramic image are utilized, the detailed characteristics of the panoramic image are displayed, the overlapped area is well transited, and the panoramic image is more compact and consistent in fusion. By adopting the method, the scene image fusion method has a good fusion effect, is very suitable for the visual effect of human eyes, and has a wide application value.
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FIG. 1 is a control schematic of an embodiment of the present invention;
FIG. 2 is a control schematic of another embodiment of the present invention;
FIG. 3 is a schematic diagram of contourlet conversion according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a directional filter according to an embodiment of the invention.
Detailed Description
It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict.
The scheme utilizes an image fusion algorithm combining color space transformation and contourlet transformation with contrast pyramid decomposition. Firstly, HSI color space transformation is carried out to obtain the brightness characteristic of an image, then the cone type decomposition is carried out on the brightness characteristic based on contourlet transformation of a contrast pyramid to obtain different frequency band characteristics, and then fusion processing is carried out on different frequency bands. The algorithm provided by the scheme makes full use of the contourlet transformation outline characteristics and shows the detail characteristics of the image, thereby well realizing the splicing and fusion effect of the panoramic image.
Referring to fig. 1-2, the invention provides a method for realizing splicing and fusion of panoramic pictures, which comprises the following steps:
preprocessing each image to be spliced respectively, and converting the overlapped images into HSI color space;
carrying out contrast contourlet transformation on the obtained HSI color space image;
performing inverse contrast contourlet conversion processing;
fusing the images and converting the images into an RGB color space;
and superposing the obtained RGB color space image to the mosaic image to obtain the panoramic image.
The control method of the embodiment comprises the following steps: and carrying out preprocessing, HSI decomposition, contrast contourlet transformation, fusion, inverse transformation and HSI reconstruction on the image.
For panorama stitching, preprocessing operations such as registration and affine transformation are firstly carried out. According to the scheme, the registration processing is carried out on the images to be spliced by combining the SURF algorithm with the secondary turning matching method, and then the unified transformation, namely affine transformation, is carried out on the left side of the registered images. Due to the fact that two images with overlapped parts are captured at the same place, due to the fact that an image acquisition module such as a camera rotates, the coordinates of the actual images can change; therefore, affine transformation is required for the original image.
In addition to the above processing, in order to improve the quality of the fused image, it is necessary to perform processing such as exposure compensation, enhancement, and noise removal on the image before fusion.
For a color image represented in the form of three primary colors of RGB, the perception of human eyes is not well satisfied in terms of image processing. What is more acceptable to the human eye for describing color features is the HSI color space called hue, saturation, brightness. The hue and saturation are collectively referred to as chroma. Chrominance and luminance directly characterize the color information perceived by the human eye.
For an image in RGB format, it can be converted to HSI color space by the following formula;
wherein RGB represents the red, green, blue components of the primitive, respectively.
Referring to fig. 3, then a contrast contourlet transform is performed; the contourlet transform can well capture the orientation characteristics of the image and has low redundancy. contourlet transformation includes: performing band-pass sampling on the image, establishing a Laplacian pyramid and performing multi-scale decomposition; and adopting a directional filter bank to continue the directional decomposition to obtain directional sub-bands. The two processes are independent from each other, and are beneficial to understanding.
The contrast pyramid, also called ratio low-pass pyramid, has a recognition effect more favorable for human eye recognition. The construction of the contrast pyramid is a process of filtering layer by layer through a Gaussian low-pass filter. If the input original image is I (x.y), it is defined as layer 0I 0 Each layer obtained by Gaussian low-pass filtering is I n Then, the process of filtering to construct the next layer is Rd (), and can obtain:
wherein N is more than or equal to 1 and less than or equal to N. Since each layer generated in the low-pass filtering process has a low resolution, the low-pass layer is interpolated to generate high-frequency data. Defining the interpolation process as Ed () i, then:
is represented by I n Interpolating k times to obtain I n,k Wherein w (m, n) is a filter function.
The scheme is contourlet transformation based on a contrast pyramid, and the contrast of an image is defined as follows:
where g denotes the brightness of a point in the image, g 1 Representing the background brightness of the spot. Defining the contrast pyramid as:
the contrast pyramid is a complete and reversible decomposition process for the original image, and the image I (x.y) can be restored by adopting a corresponding inverse process, as follows:
contourlet transformation includes low pass filtering and directional filtering. The scheme adopts a directional filter/group to carry out directional filtering. The Directional Filter Bank (DFB) is an algorithm that performs a tree decomposition on an image. Referring to FIG. 4, a 4-way DFB structure is shown, with the first and second levels identified as Q, respectively 0 、Q 1 For the entire system, the down-sampling matrix can be represented as Q 0 Q 1 ＝2E 2 Wherein:
and a Laplace expansion process is adopted to replace contrast pyramid decomposition, so that the contrast characteristic of the fused image is enhanced, and the image identification effect is improved.
The image is transformed by a contourlet to obtain a corresponding high-frequency component and a corresponding low-frequency component; the high frequency components mainly describe the details of the image, such as abrupt changes of texture, contour edges, and the like; the low-frequency component mainly describes a relatively gentle area in the image, and the image splicing effect is mainly reflected in the background characteristic. Therefore, different fusion means are required.
Preferably, a direct weighted averaging algorithm is used for the low frequency component, i.e., F (x, y) = { a (x, y) + B (x, y) } × 50%; performing fusion processing on the high-frequency components by adopting a weighted fusion method;if two high-frequency components obtained by contrast pyramid transformation are F 1 (x,y),F 2 (x, y), then the high frequency processing is obtained by:
for the high-frequency component, a mode of absolute value comparison is adopted to replace the high-frequency component of the fused image, so that the details of the image are greatly reserved, and the blurring of the image details caused by the fusion process is avoided.
The above is only for the overlapped part of the connected images, and the original image feature is retained for the non-overlapped part.
According to the scheme, firstly, multiple images from homologous sources or non-homologous sources are accurately registered, coordinate space conversion is carried out according to requirements, and finally, the images are spliced and fused.
Making color space change on the registered overlapped area of the images to be spliced, and converting the images from an RGB color space to an HSI color space;
and performing contrast pyramid-based transformation on the HSI space image obtained by the transformation, namely selecting a brightness component I of the image for transformation. Respectively carrying out arithmetic mean calculation on the basis of the chromaticity H and the saturation S, so that the difference of the chromaticity H and the saturation S can be reduced, and the continuity of fusion is increased;
processing the obtained low-frequency component coefficient according to an arithmetic mean method;
calculating the high-frequency component coefficient according to an absolute value comparison method;
carrying out inverse transformation on the obtained data based on contrast pyramid transformation to a brightness component I of the fused HSI space; the low-frequency components are fused by an arithmetic mean method, so that the operation speed is not reduced, the method is easy to realize, and the operation time can be greatly saved.
And finally, converting the fused image back to an RGB color space and adding the RGB color space into the spliced image to obtain a final panoramic image.
On the other hand, the invention also provides a system for realizing the splicing and fusion of the panoramic picture, which comprises the following steps:
the image preprocessing module is used for executing the steps of preprocessing each image to be spliced respectively and converting the overlapped images into HSI color space;
the contrast conversion module is used for executing the step to perform contrast contourlet conversion on the obtained HSI color space image; performing inverse contrast contourlet conversion processing;
the image fusion processing module is used for executing the steps to fuse the images and converting the images into an RGB color space; and superposing the obtained RGB color space image to the mosaic image to obtain the panoramic image.
In another aspect, the present invention further provides an apparatus for implementing panorama stitching fusion, including:
at least one processor; and (c) a second step of,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method.
In a fourth aspect, the present invention also provides a computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the method.
According to the method and the system for realizing the splicing and fusion of the panoramic image, the contrast contourlet conversion is adopted, the outline characteristics of the panoramic image are utilized, the detailed characteristics of the panoramic image are displayed, the overlapped area is well transited, and the panoramic image is more compact and consistent in fusion. By adopting the method, the scene image fusion method has a good fusion effect, is very suitable for the visual effect of human eyes, and has a wide application value.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. A method for realizing splicing and fusion of panoramas is characterized by comprising the following steps:
preprocessing each image to be spliced respectively, and converting the overlapped images into HSI color space;
carrying out contrast contourlet transformation on the obtained HSI color space image;
performing inverse contrast contourlet conversion processing;
fusing the images and converting the images into an RGB color space;
superposing the obtained RGB color space image to a mosaic image to obtain a panoramic image;
the performing contrast contourlet transformation includes:
performing band-pass sampling on the image, establishing a Laplacian pyramid and performing multi-scale decomposition;
continuing the directional decomposition to obtain a directional subband;
the image is transformed by contourlet to obtain corresponding high-frequency components and low-frequency components; wherein, the high-frequency component is fused by adopting a weighted fusion method; and performing fusion processing on the low-frequency component by adopting an arithmetic mean method.
2. The method for realizing splicing and fusing of panoramas according to claim 1, wherein the preprocessing comprises: and registering the images to be spliced, and carrying out affine transformation on the superposed areas.
3. The method for realizing panorama stitching fusion according to claim 2, wherein the affine transformation is performed on the overlapped area, and comprises the following steps of converting the image from an RGB color space to an HSI color space;
wherein RGB represents the red, green, blue components of the primitive, respectively.
4. The utility model provides an equipment that realizes panorama concatenation and fuses which characterized in that includes:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 3.
5. A computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the method of any one of claims 1 to 3.
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