CN103325088A - Multichannel image processing method for curved compound eye imaging system - Google Patents
Multichannel image processing method for curved compound eye imaging system Download PDFInfo
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Abstract
The invention discloses a multichannel image processing method for a curved compound eye imaging system and relates to the application fields of biologic clinical experiments, industrial machine vision, aerial surveillance in defense industries and the like. The image processing method aims at a distribution structure of curved surfaces of the curved compound eye imaging system and imaging features of multi-dimensional optical channels, the corresponding multichannel image processing method is provided by analyzing and researching the relation between a two-dimensional image collected by each sub-eye image collection channel and a curved three-dimensional space structure of the compound eye imaging system; the large-visual-field dead-zone-free detection of the curved compound eye imaging system is realized by utilizing techniques such as slicing, rotating and developing of the image; the image processed and obtained by utilizing the multichannel image processing method is high in definition and strong in visuality and meets practical requirements, and the application of the curved compound eye imaging system is further promoted by a research result.
Description
Technical field
The present invention relates to compound eye imaging system and technical field of image processing, be specifically related to a kind of multichannel image disposal route of curved compound eye imaging system.
Background technology
Along with the widespread use of optical imaging system in fields such as biology, industry and national defence, people are more and more higher to the performance requirement of system.Wherein the field angle of imaging system is as the important indicator of optical detection system, and its performance is anxious to be waited to improve.The method that traditional single channel imaging arrangement increases field angle is to adopt the complicated folding/commingled system of spreading out, and has comprised the aspherics glass structure of multiple material in this structure, and these optical glass materials are not only expensive, and processing is very difficult; Secondly, the second order spectrum in this imaging arrangement is difficult to proofread and correct, and has restricted its image quality.When being used for large view field imaging structural design, be difficult to meet the demands.Therefore, the breakthrough that how to utilize novel imaging arrangement to obtain field angle becomes the focus of people's research.
The compound eye of insect is comprised of tens to several thousand ommatidiums that point to different azimuth, and the compound eye structural that utilizes this numerous ommatidium to form can carry out omnidirectional detection.Be subject to its inspiration, scientists has proposed the artificial compound eye imaging system, and this structure utilizes the ommatidium of the sub-glasses connector analog insect that array arranges to form the multichannel image acquisition system to obtain large view field imaging.
In recent years, lot of domestic and international research group had all carried out the correlative study of artificial compound eye imaging system.2004, the people such as Japanese TanidaJ. proposed the fingerprint recognition system based on TOMBO, by image processing techniques, obtained complete fingerprint image.This system adopts common refractive microlens array, greatly reduced thickness, become compound eye imaging system truly, but the planar structure of system has limited its field angle performance index, the image processing techniques taked of this system also only is directed to slab construction simultaneously.2006, the people such as U.S. Ki-Hun Jeong are studied bionic compound eyes, adopt micro-processing technology to carry out the preparation of bionic compound eyes structure, successfully produced the bionic compound eyes structure that outnumbers 8000 at curved surface, this allows scientists see the hope of bionic insect compound eye research.But this research is difficult to realize strict face shape control and precision control in preparation process, is difficult to satisfy practical requirement.2007, German JACQUES etc. designed the spherical optics compound eye.This bionics optics compound eye has the advantages such as volume is little, and quality is light, but because size is little, ommatidium adopts the microlens array of rule to carry out bionical, increased the manufacture difficulty of compound eye, obtain simultaneously image blurring, have the dead band, need research successive image disposal route.Above-mentioned research all rests on theoretical research and the laboratory study level, also have very large distance from practical application, simultaneously the research of the multichannel image disposal route of curved compound eye imaging system also become the necessary links that advances the curved compound eye imaging system practical application.
Summary of the invention
The problem that the technology of the present invention solves: overcome the deficiencies in the prior art, a kind of multichannel image disposal route of curved compound eye imaging system is provided, guarantee in the image processing process that image definition is high, visual strong, satisfy practical requirement.
Technical solution of the present invention is: a kind of multichannel image disposal route of curved compound eye imaging system comprises the steps:
(1) according to forming in the curved compound eye imaging system each sub-eye pattern as the feature of arranging of acquisition channel, for the curved-surface structure of compound eye imaging system, determines that adjacent each sub-eye pattern forms relation between the visual field as acquisition channel;
(2) obtain each sub-eye pattern as the original image of acquisition channel;
(3) according to each sub-eye pattern in the curved compound eye imaging system as the feature of arranging of acquisition channel, the original image in the step (2) is carried out cutting process, to remove the image of redundancy section;
(4) according to each sub-eye pattern in the curved compound eye imaging system as the feature of arranging of acquisition channel, corresponding each sub-eye pattern is rotated processing as the three-dimensional spatial distribution of acquisition channel to the image after the cutting in the step (3), obtains the image of corresponding distribution space;
(5) postrotational image in the step (4) is carried out projection splicing and the processing of elimination splicing seams, obtain large visual field seamless image splicing.
Each sub-eye pattern is specific as follows as the feature of arranging of acquisition channel in described step (1) curved compound eye imaging system:
(1) compound eye imaging system is comprised of as acquisition channel a plurality of sub-eye patterns;
(2) each sub-eye pattern is arranged on the curved surface as acquisition channel and points to the object that different directions is surveyed different azimuth in the compound eye imaging system;
(3) there is the overlapping region between adjacent each sub-eye pattern visual field as acquisition channel, surveys thereby form covering without the dead band of compound eye imaging system.
Described step (3) is specific as follows:
(1) according to the arrange feature of adjacent each sub-eye pattern as acquisition channel, calculates adjacent each sub-eye pattern as the intersecting point coordinate between the acquisition channel formation visual field;
(2) according to the intersecting point coordinate in the step (1), the original image of all adjacent each sub-eye patterns as acquisition channel cut, remove redundancy section.
Described step (5) according to each sub-eye pattern of compound eye imaging system as the visual field of the acquisition channel situation of arranging, the Two-dimensional image transitions, be mapped to three-dimensional corresponding relation, postrotational image projection is spliced processing to corresponding distribution space, there is the slit at adjacent each sub-eye pattern in three-dimension space image after the splicing as the acquisition channel place, medium filtering and picture smooth treatment are carried out in this slit, and spliced large view field image does not have dead band and blind spot.
Beneficial effect of the present invention is: the present invention is directed to the compound eye imaging system that curved surface is arranged, utilize the multichannel image disposal route with each independently the image that obtains as acquisition channel of sub-eye pattern process to be stitched together and form large visual field and cover without the dead band and survey.Guarantee in the image processing process that image definition is high, visual strong, satisfy practical requirement, invention has further advanced the practical application of curved compound eye imaging system.
Description of drawings
Fig. 1 is the process flow diagram that the present invention realizes the multichannel image disposal route of curved compound eye imaging system;
Fig. 2 is the sectional view of a kind of curved compound eye imaging system among the embodiment;
Fig. 3 is the visual field distribution plan of a kind of curved compound eye imaging system among the embodiment;
Fig. 4 is the schematic diagram that a kind of curved compound eye imaging system is carried out image capture among the embodiment to scene;
Fig. 5 is the original image of each image acquisition passage of a kind of curved compound eye imaging system among the embodiment;
Fig. 6 cuts and postrotational image original image among the embodiment;
Fig. 7 is projection and spliced panorama sketch among the embodiment; (a) be three-dimensional graph; (b) be vertical view.
Embodiment
Introduce in detail the present invention below in conjunction with the drawings and the specific embodiments.But following embodiment only limits to explain the present invention, and protection scope of the present invention should comprise the full content of claim, and by following examples, those skilled in the art namely can realize the full content of claim of the present invention.
As shown in Figure 1, the multichannel image disposal route of curved compound eye imaging system of the present invention comprises the steps:
(1) according to forming in the curved compound eye imaging system each sub-eye pattern as the feature of arranging of acquisition channel, for the curved-surface structure of compound eye imaging system, determines that adjacent each sub-eye pattern forms relation between the visual field as acquisition channel;
(2) obtain each sub-eye pattern as the original image of acquisition channel;
(3) as the feature of arranging of acquisition channel original image is carried out cutting process according to each sub-eye pattern in the curved compound eye imaging system, remove the image of redundancy section;
(4) according to each sub-eye pattern in the curved compound eye imaging system as the feature of arranging of acquisition channel, corresponding each sub-eye pattern is rotated processing as the three-dimensional spatial distribution of acquisition channel to the image after the cutting;
(5) postrotational image is carried out projection splicing and the processing of elimination splicing seams.
According to step (1), a kind of sectional view of curved compound eye imaging system as shown in Figure 2, among the figure s1 be sub-eye pattern as acquisition channel, formed by camera lens and imageing sensor; S2 is the curved surface supporter of image acquisition passage.Whole compound eye system is comprised of as acquisition channel 37 sub-eye patterns, and each image acquisition passage is arranged on the curved surface according to the centripetal position of primary optical axis.Its concrete arrangement mode is as follows: centered by initial point, after 26.1334 ° of y axle rotations, again take initial point as the array center, do annular array in 360 ° of scopes, the item number of array is 6; By that analogy, arrange 37 sub-eye patterns as acquisition channel at the curved surface supporter, can obtain complete compound eye arrangement mode.The visual field that arrangement mode is followed the adjacent image acquisition channel meets at the principle of a bit, surveys thereby form without large visual field, dead band.Because each image acquisition passage all points to different directions, in image processing process, need at first obtain the particular location of respective image acquisition channel, again according to the principle of optical imagery, obtains the locus of corresponding original image.
By this curved compound eye imaging system of research and analysis, arrange feature and optical imaging concept according to the image acquisition passage, carry out the simulation of compound eye imaging system based on the Rhinoceros4.0 software platform, adopt the bottom surface circle of conical structure to simulate the visual field situation of single image acquisition channel, can obtain in the whole curved compound eye 37 sub-eye patterns and arrange as shown in Figure 3 as the visual field of acquisition channel.The s3 border circular areas is the visual field of single image acquisition channel among the figure; S4 marks the overlapping region of adjacent fields of view for example with oblique line, study the visual field distribution situation of whole curved compound eye imaging system, all has the overlapping region that marks such as s4 between the visible in twos adjacent visual field; S5 marks the intersection point of adjacent fields of view for example with circle, this intersection point is to be intersected and got by three adjacent visual fields.
According to step (2), as shown in Figure 4, based on 3ds Max platform, curved compound eye imaging system is positioned in any one scene, by being communicated with compound eye imaging system scene is carried out image capture, obtain 37 sub-eye patterns as the original image of acquisition channel as shown in Figure 5.
According to step (3), need to cut original image, remove the image redundancy that lap produces between each image acquisition passage visual field.According to optical imaging concept, sub-eye pattern is similar as visual field distribution situation and its image field distribution situation of acquisition channel, just there is a proportionate relationship, so can analyze its corresponding image field situation as the distribution situation of acquisition channel visual field by analyzing each sub-eye pattern of compound eye imaging system.At first, form the relation of arranging between the adjacent imaging band visual field of curved compound eye imaging system among Fig. 3 of obtaining of analytical procedure (1); Secondly, as the acquisition channel anglec of rotation and arranging rule, calculate the intersecting point coordinate between the adjacent fields of view according to sub-eye pattern; At last, according to the intersecting point coordinate value, coding cuts the original image of all passages, and cutting joins end to end according to intersecting point coordinate and connects the polygonal shape of formation, keeps the scene in the respective channel polygon, removes the edge redundancy section.
According to step (4), owing to forming the image acquisition passage of compound eye imaging system when arranging, the centripetal distribution of the target surface of imageing sensor, so before the image projection splicing, corresponding each the sub-eye pattern of image after needing will to cut accordingly respectively is as the three-dimensional spatial distribution of acquisition channel, is rotated according to the angle of arranging of target surface.Fig. 6 has provided 37 width of cloth images after cutting and the rotation.
According to step (5), before image projection, determine first image projection space radius R, then according to the three-dimensional space position of respective image acquisition channel, coding is finished large field stitching as shown in Figure 7 with postrotational image mapped to the relevant position, (a) among Fig. 7 is spliced 3 dimensional drawing, and (b) is vertical view among Fig. 7.There is the slit at adjacent each sub-eye pattern in three-dimension space image after the splicing as the acquisition channel place, in the successive image processing procedure, image is carried out the processing such as smothing filtering, realizes the seamless spliced of image.
The part that the present invention does not elaborate belongs to the known technology of this area.
Claims (4)
1. the multichannel image disposal route of a curved compound eye imaging system is characterized in that comprising the steps:
(1) according to forming in the curved compound eye imaging system each sub-eye pattern as the feature of arranging of acquisition channel, for the curved-surface structure of compound eye imaging system, determines that adjacent each sub-eye pattern forms relation between the visual field as acquisition channel;
(2) obtain each sub-eye pattern as the original image of acquisition channel;
(3) according to each sub-eye pattern in the curved compound eye imaging system as the feature of arranging of acquisition channel, the original image in the step (2) is carried out cutting process, to remove the image of redundancy section;
(4) according to each sub-eye pattern in the curved compound eye imaging system as the feature of arranging of acquisition channel, corresponding each sub-eye pattern is rotated processing as the three-dimensional spatial distribution of acquisition channel to the image after the cutting in the step (3), obtains the image of corresponding distribution space;
(5) postrotational image in the step (4) is carried out projection splicing and the processing of elimination splicing seams, obtain large visual field seamless image splicing.
2. the multichannel image disposal route of curved compound eye imaging system according to claim 1, it is characterized in that: each sub-eye pattern is specific as follows as the feature of arranging of acquisition channel in described step (1) curved compound eye imaging system:
(1) compound eye imaging system is comprised of as acquisition channel a plurality of sub-eye patterns;
(2) each sub-eye pattern is arranged on the curved surface as acquisition channel and points to the object that different directions is surveyed different azimuth in the compound eye imaging system;
(3) there is the overlapping region between adjacent each sub-eye pattern visual field as acquisition channel, surveys thereby form covering without the dead band of compound eye imaging system.
3. the multichannel image disposal route of curved compound eye imaging system according to claim 1, it is characterized in that: described step (3) is specific as follows:
(1) according to the arrange feature of adjacent each sub-eye pattern as acquisition channel, calculates adjacent each sub-eye pattern as the intersecting point coordinate between the acquisition channel formation visual field;
(2) according to the intersecting point coordinate in the step (1), the original image of all adjacent each sub-eye patterns as acquisition channel cut, remove redundancy section.
4. the multichannel image disposal route of curved compound eye imaging system according to claim 1, it is characterized in that described step (5) according to each sub-eye pattern of compound eye imaging system as the visual field of the acquisition channel situation of arranging, the Two-dimensional image transitions, be mapped to three-dimensional corresponding relation, postrotational image projection is spliced processing to corresponding distribution space, there is the slit at adjacent each sub-eye pattern in three-dimension space image after the splicing as the acquisition channel place, medium filtering and picture smooth treatment are carried out in this slit, and spliced large view field image does not have dead band and blind spot.
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| CN103699885A (en) * | 2013-12-18 | 2014-04-02 | 格科微电子（上海）有限公司 | Optical fingerprint collecting method, optical fingerprint collecting device and portable type electronic device |
| CN104165626A (en) * | 2014-06-18 | 2014-11-26 | 长春理工大学 | Bionic facetted eye imaging target positioning system |
| CN104165626B (en) * | 2014-06-18 | 2019-08-13 | 长春理工大学 | Bionic compound eyes imageable target positioning system |
| CN104320565A (en) * | 2014-09-28 | 2015-01-28 | 中国科学院长春光学精密机械与物理研究所 | Multi-lens detector array curved image surface splicing method |
| CN106483577A (en) * | 2015-09-01 | 2017-03-08 | 中国航天科工集团第四研究院指挥自动化技术研发与应用中心 | A kind of optical detecting gear |
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| CN105352482A (en) * | 2015-11-02 | 2016-02-24 | 北京大学 | Bionic compound eye microlens technology-based 3-3-2 dimension object detection method and system |
| CN105352482B (en) * | 2015-11-02 | 2017-12-26 | 北京大学 | 332 dimension object detection methods and system based on bionic compound eyes micro lens technology |
| CN110738610A (en) * | 2019-09-19 | 2020-01-31 | 天津大学 | compound eye image quality improving method |
| CN110716305A (en) * | 2019-10-28 | 2020-01-21 | 长春理工大学 | Hexagonal sub-eye splicing and positioning method for bionic compound eye |
| CN110716305B (en) * | 2019-10-28 | 2022-01-18 | 长春理工大学 | Hexagonal sub-eye splicing and positioning method for bionic compound eye |
| CN112102401A (en) * | 2020-09-21 | 2020-12-18 | 中国科学院上海微系统与信息技术研究所 | Target positioning method, device, system, equipment and storage medium |
| CN112698350A (en) * | 2020-12-09 | 2021-04-23 | 北京机电工程研究所 | Laser active imaging radar target echo signal simulation system and method |
| CN112698350B (en) * | 2020-12-09 | 2023-04-14 | 北京机电工程研究所 | Laser active imaging radar target echo signal simulation system and method |
| CN112595418A (en) * | 2020-12-16 | 2021-04-02 | 中国科学院西安光学精密机械研究所 | Super-large field-of-view polarization camera based on bionic curved compound eye |
| CN112595418B (en) * | 2020-12-16 | 2022-05-06 | 中国科学院西安光学精密机械研究所 | Super-large field-of-view polarization camera based on bionic curved compound eye |
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Application publication date: 20130925 |