CN102982518A - Fusion method of infrared image and visible light dynamic image and fusion device of infrared image and visible light dynamic image - Google Patents
Fusion method of infrared image and visible light dynamic image and fusion device of infrared image and visible light dynamic image Download PDFInfo
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Abstract
The invention discloses a fusion method of an infrared image and a visible light dynamic image and a fusion device of the infrared image and the visible light dynamic image and belongs to the image processing field. The image fusion method comprises calculating an image registration parameter; collecting the infrared image and the visible light image respectively and carrying out image registration to the infrared image and the visible light image according to the image registration parameter; and carrying out image fusion to the infrared image and the visible light image after the image registration are carried out to the infrared image and the visible light image. Due to the fact that in a image fusion process of the infrared image and the visible light image, the image registration is achieved according to the image registration parameter, the calculated amount of numerical value change is decreased greatly, calculating speed is improved, and further speed of the image fusion is improved, and real-time requirements of image processing are met.
Description
Technical field
The present invention relates to image processing field, relate to particularly a kind of fusion method and device of infrared and Visible Dynamic Image.
Background technology
Because all restrictions of the various aspects such as imageing sensor self physical characteristics, imaging mechanism and observation visual angle, single imageing sensor often can not extract enough information from scene, so that be difficult to even can't independently obtain the comprehensive description to a width of cloth scene.In order to satisfy the needs in the reality, take full advantage of the image information of multisensor, various image fusion technology fast developments are got up.
Visible images is reflected image, and radio-frequency component is many, can reflect the details of scene under certain illumination, but the contrast of the visible images of illumination when not good is lower; Infrared image is radiation image, and gray scale is determined by the temperature difference of target and background, can not reflect real scene.Use separately visible light or the equal Shortcomings part of infrared image, when large or thermal background emission characteristic is weak when each position temperature variation of target itself, the target that infrared image comprises or the detailed information of background are less, and visible images then can contain abundant detailed information; Yet dark or have in a small amount of cigarette, cloud, the mist environment at light, visible images is second-rate, and the target in the infrared image is but still clear and legible.The fusion of visible images and infrared image just can adapt to the larger situation of round the clock light conversion, and possesses certain penetration capacity, thereby effectively comprehensive and excavate separately characteristic information, enhanced scene is understood, outstanding target, be conducive to hide, faster in the situation of camouflage and fascination, the detection of a target more accurately.
Image co-registration causes people's attention day by day as a kind of effective technical way of overall treatment multi-sensor image data, and its range of application has spreaded all over the fields such as military affairs, remote sensing, medical science, security monitoring.Image co-registration is the modern high technology of comprehensive sensor, image processing, signal processing, computing machine and artificial intelligence.Pohl and Genderen have done as giving a definition image co-registration: image co-registration synthesizes a width of cloth new images by a kind of special algorithm with two width of cloth or multiple image exactly.Its main thought is to adopt certain algorithm, the imageing sensor that is operated in different wavelength range, has different imaging mechanisms is fused into a new images to a plurality of image-forming informations of same scene, thereby make the image reliability of fusion higher, fuzzy less, intelligibility is better, is more suitable for the processing such as people's vision and COMPUTER DETECTION, classification, identification, understanding.
There is the problem that counting yield is low, real-time is relatively poor in the present image interfusion method.
Summary of the invention
The present invention is intended to solve at least the technical matters that exists in the prior art, special innovation ground has proposed a kind of image interfusion method and device of infrared and Visible Dynamic Image, realize image registration according to the image registration parameter, greatly reduced the calculated amount of numerical transformation, improved computing velocity, thereby improved the speed of image co-registration, satisfied the requirement of real-time that image is processed.
In order to realize above-mentioned purpose of the present invention, the invention provides a kind of image interfusion method of infrared and Visible Dynamic Image, it is characterized in that may further comprise the steps:
S1, calculate the image registration parameter;
S2, gather infrared image and visible images respectively, and according to this image registration parameter, this infrared image and visible images are carried out image registration;
The mode that S3, employing are merged is frame by frame carried out dynamic image fusion to the infrared image after image registration, visible images.
The present invention is in the image co-registration process of infrared image and visible images, at first realize image registration according to the image registration parameter, greatly reduced the calculated amount of numerical transformation, improved computing velocity, thereby improved the speed of image co-registration, satisfied the requirement of real-time that image is processed.
Described step S1 is: gather a secondary infrared image, a width of cloth visible images, and selecting respectively four auxiliary points and this auxiliary point corresponding one by one on infrared image, visible images on infrared image and the visible images, publish picture as registration parameter according to the coordinate Calculation of four pairs of auxiliary points: scaling and translational movement.
Also can set up image registration parameter look-up table among the described step S1, thereby further improve image registration efficient, improve computing velocity.
Described step S2 is comprised of following steps:
S20, continuation synchronously continue respectively to gather infrared image, visible images;
S21, in process of image registration, select that a conduct is with reference to image in infrared image and the visible images, another adopts the image registration parameter that this infrared image and visible images are carried out image registration as image subject to registration.
In described step S20, also comprise this infrared image, visible images are carried out pretreated step, this pre-service comprises image format conversion, image denoising, figure image intensifying and image conversion, wherein in this image format conversion process visible images is converted to the image of yuv format; Y channel image to the visible images of infrared image and yuv format in this image denoising process is carried out spatial filtering; In this figure image intensifying process the infrared image after denoising and visible images are carried out histogram enhancement; In this image transform processes infrared image and visible images after strengthening are carried out wavelet transformation.In process of image registration, at first respectively infrared image, visible images are carried out pre-service, improved the precision of image registration.
All carry out image co-registration according to following steps for infrared image and the visible images of each frame after image registration among the described step S3:
S30, the infrared image according to after image registration, visible images, corresponding the first numerical result of infrared image and the second value result of visible images of obtaining;
S31, this first numerical result and second value result are carried out respectively wavelet transformation, obtain accordingly the third value result of infrared image and the 4th numerical result of visible images;
S32, this third value result and the 4th numerical result are merged decision-making treatment, obtain the 5th numerical result; Concrete step is:
The order of magnitude of this third value result and the 4th numerical result relatively: the weighting coefficient of the numerical result that absolute value is larger is set to 0.8, and the weighting coefficient of the numerical result that absolute value is less is set to 0.2; This third value result and the 4th numerical result are weighted summation, obtain the 5th numerical result;
S33, the 5th numerical result is carried out wavelet inverse transformation, obtain the fused images of infrared image and visible images, adopt thus the mode that merges frame by frame, realized the dynamic image fusion of infrared image and visible images.
The present invention also provides a kind of image co-registration device of infrared and Visible Dynamic Image, it is characterized in that: comprise infrared imaging sensor, visual light imaging sensor, video processing module and computing machine, wherein said video processing module is used for this infrared imaging sensor of control, the visual light imaging sensor gathers infrared image, visible images accordingly;
Described computing machine is used for calculating the image registration parameter and sending to this video processing module;
Described video processing module is used for this infrared image, visible images are carried out image registration, and the infrared image after image registration, visible images are sent to this computing machine;
Described computing machine also is used for the infrared image after image registration, visible images are carried out image co-registration.
This infrared and image co-registration device Visible Dynamic Image also comprise turntable and turntable control card, this turntable comprises turntable body, the first AC servo motor and the second AC servo motor, and wherein said computing machine is used for sending the turntable steering order to this turntable control card;
Described turntable control card is controlled this first AC servo motor, the action of the second AC servo motor according to this turntable steering order, thereby controls this turntable around vertical axis, horizontal rotational shaft.Thus, realized motion control to infrared imaging sensor, visual light imaging sensor.
This infrared imaging sensor and visual light imaging sensor are fixed on the same turntable side by side, and keep the parallel of both optical axises and imager coordinate axle.Infrared imaging sensor is consistent with the position angle with the angle of pitch of visual light imaging sensor imaging thus, only needs to adjust scaling and translational movement in process of image registration, has reduced the difficulty of image registration.
This visual light imaging sensor disposes motor-driven lens, and the controller of this motor-driven lens is connected with this video processing module, can carry out convergent-divergent, zoom and the control of diaphragm to this motor-driven lens by this video processing module.
In sum, owing to adopted technique scheme, the invention has the beneficial effects as follows:
1, the present invention is in the image co-registration process of infrared image and visible images, at first realize image registration according to the image registration parameter, greatly reduced the calculated amount of numerical transformation, improved computing velocity, thereby improved the speed of image co-registration, satisfied the requirement of real-time that image is processed;
2, in the image registration parameter calculation procedure, also can set up image registration parameter look-up table, thereby further improve image registration efficient, improve computing velocity;
3, in process of image registration, at first respectively infrared image, visible images are carried out pre-service, improved the precision of image registration;
4, in the image co-registration device of this infrared and Visible Dynamic Image infrared imaging sensor and visual light imaging sensor are fixed on the same turntable side by side, and keep the parallel of both optical axises and imager coordinate axle, the angle of pitch of both imagings is consistent with the position angle thus, in process of image registration, only need to adjust scaling and translational movement, reduced the difficulty of image registration.
Additional aspect of the present invention and advantage in the following description part provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Description of drawings
Above-mentioned and/or additional aspect of the present invention and advantage are from obviously and easily understanding becoming the description of embodiment in conjunction with following accompanying drawing, wherein:
Fig. 1 is circuit theory diagrams of the present invention.
Embodiment
The below describes embodiments of the invention in detail, and the example of described embodiment is shown in the drawings, and wherein identical or similar label represents identical or similar element or the element with identical or similar functions from start to finish.Be exemplary below by the embodiment that is described with reference to the drawings, only be used for explaining the present invention, and can not be interpreted as limitation of the present invention.
This infrared and image interfusion method Visible Dynamic Image may further comprise the steps:
S1, calculate the image registration parameter;
S2, gather infrared image and visible images respectively, and according to this image registration parameter, this infrared image and visible images are carried out image registration;
The mode that S3, employing are merged is frame by frame carried out dynamic image fusion to the infrared image after image registration, visible images.
The concrete steps of step S1 are: gather a secondary infrared image, a width of cloth visible images, and selecting respectively four auxiliary points and this auxiliary point corresponding one by one on infrared image, visible images on infrared image and the visible images, publish picture as registration parameter according to the coordinate Calculation of four pairs of auxiliary points: scaling and translational movement.
In addition, in step S1, rule of thumb parameter (parameters such as target range, enlargement factor, focal length) is set up image registration parameter look-up table, thereby further improves image registration efficient, improves computing velocity.
The concrete steps of step S2 are:
S20, continuation synchronously continue respectively to gather infrared image, visible images, this infrared image, visible images are carried out pre-service, this pre-service comprises image format conversion, image denoising, figure image intensifying and image conversion, wherein in this image format conversion process visible images is converted to the image of yuv format; Y channel image to the visible images of infrared image and yuv format in this image denoising process is carried out spatial filtering; In this figure image intensifying process the infrared image after denoising and visible images are carried out histogram enhancement; In this image transform processes infrared image and visible images after strengthening are carried out wavelet transformation.
A conduct is with reference to image in S21, selection infrared image and the visible images, and another adopts this image registration parameter that infrared image after pretreatment and visible images are carried out image registration as image subject to registration.
The present invention is in the image co-registration process of infrared image and visible images, at first realize image registration according to the image registration parameter, greatly reduced the calculated amount of numerical transformation, improved computing velocity, thereby improved the speed of image co-registration, satisfied the requirement of real-time that image is processed.
All carry out image co-registration according to following steps for infrared image and the visible images of each frame after image registration among the step S3:
S30, the infrared image according to after image registration, visible images, corresponding the first numerical result of infrared image and the second value result of visible images of obtaining;
S31, this first numerical result and second value result are carried out respectively wavelet transformation, obtain accordingly the third value result of infrared image and the 4th numerical result of visible images;
S32, this third value result and the 4th numerical result are merged decision-making treatment, obtain the 5th numerical result; Concrete step is: the order of magnitude of this third value result and the 4th numerical result relatively: the weighting coefficient of the numerical result that absolute value is larger is set to 0.8, and the weighting coefficient of the numerical result that absolute value is less is set to 0.2; This third value result and the 4th numerical result are weighted summation, obtain the 5th numerical result.
S33, the 5th numerical result is carried out wavelet inverse transformation, obtain the fused images of infrared image and visible images, adopt thus the mode that merges frame by frame, realized the dynamic image fusion of infrared image and visible images.
As shown in Figure 1, this infrared and image co-registration device Visible Dynamic Image comprise infrared imaging sensor, visual light imaging sensor, turntable, turntable control card, video processing module and computing machine, and wherein this turntable comprises turntable body, the first AC servo motor and the second AC servo motor.This video processing module is used for this infrared imaging sensor of control, the visual light imaging sensor gathers infrared image, visible images accordingly; Computing machine is used for calculating the image registration parameter and sending to this video processing module; Video processing module is used for this infrared image, visible images are carried out image registration, and the infrared image after image registration, visible images are sent to this computing machine; Computing machine also is used for the infrared image after image registration, visible images are carried out image co-registration.
In the process of this turntable of control, computing machine is used for sending the turntable steering order to this turntable control card; The turntable control card is controlled this first AC servo motor, the action of the second AC servo motor according to this turntable steering order, thereby controls this turntable around vertical axis, horizontal rotational shaft.Thus, realized motion control to infrared imaging sensor, visual light imaging sensor.
In addition, this infrared imaging sensor and visual light imaging sensor are fixed on the same turntable side by side, and keep the parallel of both optical axises and imager coordinate axle, the angle of pitch of both imagings is consistent with the position angle thus, in process of image registration, only need to adjust scaling and translational movement, reduced the difficulty of image registration.
In the first embodiment of the present invention, the high-performance far infrared imagery instrument that this infrared imaging sensor adopts French CE DIP (Infrared Systems) company to produce, the imager rear end has an Analog Composite Video output port, an eight digit number word video-out port and a Serial Control port.
The visual light imaging sensor adopts the UM-301 camera of U.S. UNIQ company, it is a kind of high-performance visible light imaging sensor with Near Infrared CCD imaging characteristic, and the camera rear end has the connector (comprising power interface) of a video output interface, a gain-adjusted knob and 12 pins.Visible light sensor is equipped with a motor-driven lens, and the controller of motor-driven lens is connected with video processing module by the RS232 serial line interface, can carry out convergent-divergent, zoom and the control of diaphragm to this motor-driven lens by this video processing module.
PT (Pan and Tilt) the two dimension NC auto turntable that turntable adopts solid high company to produce.The dedicated multimedia chip TMS320DM642 that video processing module is intended adopting TI company to produce in 2002 is acp chip, and video processing module is connected with computing machine by Ethernet interface.
Particularly, the principle of work of the image co-registration device of this infrared and Visible Dynamic Image is:
A1, computing machine send an image registration instruction to video processing module, video processing module is controlled this infrared imaging sensor according to this image registration instruction and is gathered a secondary infrared image, the visual light imaging sensor gathers a width of cloth visible images, and this infrared image and visible images are sent to computing machine; In addition, computing machine is selecting respectively four auxiliary points and this auxiliary point corresponding one by one on infrared image, visible images on this infrared image and the visible images, computing machine is according to the coordinate Calculation of the four pairs of auxiliary points picture registration parameter of publishing picture: scaling and translational movement, and this image registration parameter sent to video processing module.
A2, this video processing module are controlled this infrared imaging sensor, the continuation of visual light imaging sensor synchronously corresponding collection infrared image, visible images after receiving this image configurations parameter, and this infrared image, visible images are carried out pre-service; A conduct is with reference to image in this video processing module selection infrared image and the visible images, and another adopts the image registration parameter that infrared image after pretreatment, visible images are carried out image registration as image subject to registration.
A3, this video processing module send to computing machine with the infrared image after image registration, visible images, and this computing machine obtains the second value result of the first numerical result and the visible images of infrared image accordingly; Computing machine carries out respectively wavelet transformation with this first numerical result and second value result, obtains accordingly the third value result of infrared image and the 4th numerical result of visible images; This third value result and the 4th numerical result are merged decision-making treatment, obtain the 5th numerical result; The 5th numerical result is carried out wavelet inverse transformation, obtain fused image.Adopt the mode that merges frame by frame to realize dynamic image fusion by this step.
In the description of this instructions, the description of reference term " embodiment ", " some embodiment ", " example ", " concrete example " or " some examples " etc. means to be contained at least one embodiment of the present invention or the example in conjunction with specific features, structure, material or the characteristics of this embodiment or example description.In this manual, the schematic statement of above-mentioned term not necessarily referred to identical embodiment or example.And the specific features of description, structure, material or characteristics can be with suitable mode combinations in any one or more embodiment or example.
Although illustrated and described embodiments of the invention, those having ordinary skill in the art will appreciate that: can carry out multiple variation, modification, replacement and modification to these embodiment in the situation that does not break away from principle of the present invention and aim, scope of the present invention is limited by claim and equivalent thereof.
Claims (10)
1. one kind infrared image interfusion method with Visible Dynamic Image is characterized in that may further comprise the steps:
S1, calculate the image registration parameter;
S2, gather infrared image and visible images respectively, and according to this image registration parameter, this infrared image and visible images are carried out image registration;
The mode that S3, employing are merged is frame by frame carried out dynamic image fusion to the infrared image after image registration, visible images.
2. the image interfusion method of infrared and Visible Dynamic Image according to claim 1, it is characterized in that described step S1 is: gather a secondary infrared image, a width of cloth visible images, and selecting respectively four auxiliary points and this auxiliary point corresponding one by one on infrared image, visible images on infrared image and the visible images, publish picture as registration parameter according to the coordinate Calculation of four pairs of auxiliary points: scaling and translational movement.
3. the image interfusion method of infrared and Visible Dynamic Image according to claim 2 is characterized in that also can setting up among the described step S1 image registration parameter look-up table.
4. the image interfusion method of infrared and Visible Dynamic Image according to claim 1 is characterized in that described step S2 is comprised of following steps:
S20, continuation synchronously continue respectively to gather infrared image, visible images;
S21, in process of image registration, select that a conduct is with reference to image in infrared image and the visible images, another adopts the image registration parameter that this infrared image and visible images are carried out image registration as image subject to registration.
5. the image interfusion method of infrared and Visible Dynamic Image according to claim 4, it is characterized in that: in described step S20, also comprise this infrared image, visible images are carried out pretreated step, this pre-service comprises image format conversion, image denoising, figure image intensifying and image conversion, wherein in this image format conversion process visible images is converted to the image of yuv format; Y channel image to the visible images of infrared image and yuv format in this image denoising process is carried out spatial filtering; In this figure image intensifying process the infrared image after denoising and visible images are carried out histogram enhancement; In this image transform processes infrared image and visible images after strengthening are carried out wavelet transformation.
6. the image interfusion method of infrared and Visible Dynamic Image according to claim 1 is characterized in that all carrying out image co-registration according to following steps for infrared image and the visible images of each frame after image registration among the described step S3:
S30, the infrared image according to after image registration, visible images, corresponding the first numerical result of infrared image and the second value result of visible images of obtaining;
S31, this first numerical result and second value result are carried out respectively wavelet transformation, obtain accordingly the third value result of infrared image and the 4th numerical result of visible images;
S32, this third value result and the 4th numerical result are merged decision-making treatment, obtain the 5th numerical result; Concrete step is:
The order of magnitude of this third value result and the 4th numerical result relatively: the weighting coefficient of the numerical result that absolute value is larger is set to 0.8, and the weighting coefficient of the numerical result that absolute value is less is set to 0.2; This third value result and the 4th numerical result are weighted summation, obtain the 5th numerical result;
S33, the 5th numerical result is carried out wavelet inverse transformation, obtain the fused images of infrared image and visible images, adopt thus the mode that merges frame by frame, realized the dynamic image fusion of infrared image and visible images.
7. one kind infrared image co-registration device with Visible Dynamic Image, it is characterized in that: comprise infrared imaging sensor, visual light imaging sensor, video processing module and computing machine, wherein said video processing module is used for this infrared imaging sensor of control, the visual light imaging sensor gathers infrared image, visible images accordingly;
Described computing machine is used for calculating the image registration parameter and sending to this video processing module;
Described video processing module is used for this infrared image, visible images are carried out image registration, and the infrared image after image registration, visible images are sent to this computing machine;
Described computing machine also is used for the infrared image after image registration, visible images are carried out image co-registration.
8. the image co-registration device of infrared and Visible Dynamic Image according to claim 7, it is characterized in that: also comprise turntable and turntable control card, this turntable comprises turntable body, the first AC servo motor and the second AC servo motor, and wherein said computing machine is used for sending the turntable steering order to this turntable control card;
Described turntable control card is controlled this first AC servo motor, the action of the second AC servo motor according to this turntable steering order, thereby controls this turntable around vertical axis, horizontal rotational shaft.
9. according to claim 7 or the image co-registration device of 8 described infrared and Visible Dynamic Images, it is characterized in that: this infrared imaging sensor and visual light imaging sensor are fixed on the same turntable side by side, and keep the parallel of both optical axises and imager coordinate axle.
10. the image co-registration device of infrared and Visible Dynamic Image according to claim 7, it is characterized in that: this visual light imaging sensor disposes motor-driven lens, and the controller of this motor-driven lens is connected with this video processing module, can carry out convergent-divergent, zoom and the control of diaphragm to this motor-driven lens by this video processing module.
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