CN103337080A - Registration technology of infrared image and visible image based on Hausdorff distance in gradient direction - Google Patents

Registration technology of infrared image and visible image based on Hausdorff distance in gradient direction Download PDF

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CN103337080A
CN103337080A CN2013102946761A CN201310294676A CN103337080A CN 103337080 A CN103337080 A CN 103337080A CN 2013102946761 A CN2013102946761 A CN 2013102946761A CN 201310294676 A CN201310294676 A CN 201310294676A CN 103337080 A CN103337080 A CN 103337080A
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gradient direction
angle
infrared image
angle point
image
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吴炜
冯晓磊
李智
任和
王美洁
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Sichuan University
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Sichuan University
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Abstract

The invention discloses a registration technology of an infrared image and a visible image based on a Hausdorff distance in a gradient direction, and belongs to the field of image matching. The technology is characterized by comprising the following steps of 1) extracting angular points from the infrared image and the visible image respectively, and obtaining an initial angular point set, 2) calculating the gradient direction of each angular point, and decomposing the initial angular point set into eight subsets, and 3) only looking for registration point pairs in the corresponding subsets when the Hausdorff distance is calculated for registration, thereby reducing interference of the points in the corresponding subsets in different intervals. Compared with the existing Hausdorff distance registration algorithm, the technology has better accuracy in the registration of the infrared image and the visible image.

Description

Infrared image and visible light image registration technology based on gradient direction Hausdorff distances
Technical field
The present invention relates to infrared image and visible light image registration method, belong to technical field of image matching.
Background technology
Image registration is exactly that two width or multiple image that obtain (weather, illumination, camera position and angle etc.) under different time, different sensors (imaging device) or different condition carry out the process of best match, that is, finding one makes the most close or most like conversion of two images.Image registration has been widely used in multiple fields, for example：The fields such as remotely-sensed data analysis, computer vision, image procossing.
Infrared image is different with the image-forming principle of visible images, and what infrared image was obtained is thermal image, and the gray value of image is corresponding with scene temperature profile；And it is the power of visible ray that visible images, which are obtained, its gray scale is that reflection by object to light and dash area are determined.Due to infrared image and the different qualities of visible images so that the two has complementarity.This complementary effect, makes to result in more comprehensively information after infrared image and visual image fusion, and image registration is the indispensable step of image co-registration.
Conventional heterologous method for registering images, can be divided into the algorithm of algorithm and feature based based on pixel, the algorithm based on pixel is suitable for having the image of certain correlation between the intensity profile of two images at present；The algorithm of feature based is applied to the obvious image of structure.The algorithm of feature based can in most cases obtain preferable registration effect in actual applications.
Conventional feature includes characteristic point and edge at present.Because edge pixel number can be relatively more, when edge is as feature, amount of calculation can be made larger；Angle point has geometric figure consistency, is a kind of effective characteristic point, therefore calculated in the present invention from angle point as characteristic point.Based on Hausdorff apart from matching algorithm, due to the simplicity of its calculating process, the registration of heterologous image is had been widely used for.But existing Hausdorff distance algorithms are directly directly to calculate Hausdorff distances with edge pixel set to carry out registration mostly, this causes 1）Operand is larger；2）Due to not classifying to characteristic point, therefore noise spot is more, influences the degree of accuracy of registration.
The content of the invention
Accuracy and reduction amount of calculation of the invention in order to improve infrared image and visible light image registration, it is proposed that a kind of Hausdorff based on gradient direction is apart from infrared image and visible light image registration algorithm.Extract the angle point of infrared image and visible images respectively first；Then the angle point of extraction is divided into 8 subclass according to gradient direction, and calculates the Hausdorff distances between corresponding subset conjunction；Finally calculate and obtain the Hausdorff distances based on gradient direction.The present invention not only eliminates the interference of noise spot compared with traditional Hausdorff distance methods, reduces registration error, and reduce amount of calculation.
Current Hausdorff algorithms are typically that selection edge is calculated, and the pixel at edge is more, and amount of calculation can be made larger.Calculated to reduce selection characteristic point in the amount of calculation present invention, due to the premium properties that Harris angle points have, therefore the present invention uses Harris angle points as characteristic point.The basic thought of Harris Corner Detection Algorithms is to determine angle point using variation of image grayscale rate, this method is by calculating a distance feature being associated with image auto-correlation function, i.e. the single order curvature of auto-correlation function come judge certain point whether as angle point, if two curvature values are all high, then think that the point is angle point.The pixel quantity of angle point is far smaller than the pixel count at edge, therefore greatly reduces amount of calculation from Corner Feature progress registration, shortens the registering time.
The present invention using Harris detective operators after angle point is extracted, and the angle point obtained to extraction is divided into 8 characteristic point subclass according to the angular interval where the gradient direction angle of angle point；Then the Hausdorff distances between corresponding subset conjunction are calculated；The average of 4 Hausdorff distances of minimum is finally calculated, the Hausdorff distances based on gradient direction are used as.The present invention divides angle point set according to gradient direction, calculates the Hausdorff distances between corresponding subset conjunction, eliminates the interference of angle point in other subclass, improves the degree of accuracy of registration.
The present invention is realized by following technical scheme：Hausdorff based on gradient direction is apart from registration Algorithm, it is characterised in that including following 4 big step：1）Extract Harris angle points and calculate the gradient direction angle of each angle point；2）It is interval according to the difference residing for angle point gradient direction, angle point set is divided into 8 different subclass；3）Calculate the Hausdorff distances between the subclass in two images corresponding to same angular interval；4）The average of 4 minimum Hausdorff distances is calculated, the Hausdorff distances based on gradient direction are used as.
The step 1）In, the Harris angle points of infrared image and visible images are extracted first, obtain corner location figure；Then the gradient direction angle of each pixel of image is calculated, gradient direction figure is obtained；Finally the gradient direction angle that point multiplication operation obtains each angle point is carried out with corner location figure and gradient direction figure.
The step 2）In, by 1）In the obtained scope of gradient direction angle be
Figure 894427DEST_PATH_IMAGE001
, 8 intervals are divided into, each interval is accounted for
Figure 138326DEST_PATH_IMAGE002
, 8 angular intervals are respectively：
Figure 593578DEST_PATH_IMAGE003
,
Figure 804986DEST_PATH_IMAGE004
,
Figure 433413DEST_PATH_IMAGE005
,
Figure 282551DEST_PATH_IMAGE006
,
Figure 971022DEST_PATH_IMAGE007
,
Figure 358141DEST_PATH_IMAGE008
,
Figure 773947DEST_PATH_IMAGE009
,.According to the division methods of 8 Direction intervals, the angle point of infrared image and visible ray figure is all divided into 8 subclass.
The step 3）In, the Hausdorff distances between the corresponding subclass of same angular interval in two images with punctual, is only calculated.
The step 4）In, step 3）Middle calculating obtains the corresponding 8 Hausdorff distance values of 8 subclass, and the present invention takes the average of 4 distance values of minimum as the Hausdorff distances based on gradient direction.
Brief description of the drawings
Fig. 1 is the flow chart of the registration Algorithm of the Hausdorff distances of the invention based on gradient direction；
Fig. 2 is the division methods schematic diagram of gradient direction angle range.
Embodiment
With reference to embodiment, the present invention is described in further detail：
1st, the imaging features of infrared image and visible images
The imaging system of infrared image is the Temperature Distribution using object each several part, and formation is temperature profile, and its gradation of image is changed with the radiation variation of different parts.Visible images are that reflection by object to light and dash area are determined.Infrared image is different with the image-forming principle of visible images, the two is had complementary effect.Infrared image can overcome the obstacle on partial visual and detect target, and night being capable of normal imaging, the necessity as detection device, but have more noise in infrared image.There is less noise in visible images, but can not normal imaging at night.More comprehensively information is resulted in after this complementary effect, infrared image and visual image fusion, image registration is the essential step of fusion.
2nd, the Hausdorff distances based on gradient direction realize the registration of infrared image and visible images：
To visible images
Figure 602543DEST_PATH_IMAGE011
Translated, rotated and change of scale
Figure 211379DEST_PATH_IMAGE012
, obtain
Figure 447188DEST_PATH_IMAGE013
, wherein
Figure 769454DEST_PATH_IMAGE014
With
Figure 799727DEST_PATH_IMAGE015
Translational movement horizontally and vertically is represented respectively；Want to obtain preferable matching effect visible ray and infrared image at least 1/9 lap, that is to say, that what visible ray and infrared image at least 1/9 part were represented is Same Scene, so in the present invention
Figure 708908DEST_PATH_IMAGE014
With
Figure 154933DEST_PATH_IMAGE015
Span be
Figure 348017DEST_PATH_IMAGE016
,
Figure 798459DEST_PATH_IMAGE017
, here
Figure 444204DEST_PATH_IMAGE018
With
Figure 506969DEST_PATH_IMAGE019
It is the height and width of image respectively；
Figure 741510DEST_PATH_IMAGE020
Rotation parameter is represented, it is changed with 2 for step-length every time；Because visible ray resolution ratio is more than infrared resolution rate, therefore change of scale parameter
Figure 113586DEST_PATH_IMAGE021
, it is changed every time with 0.1 for step-length.For each transformation parameter, step 2-1 is performed）, obtain a corresponding Hausdorff distance based on gradient direction of conversion。
 2-1)Reference picture 1, the Hausdorff distances based on gradient direction comprise the following steps：
The first step, extracts angle point, obtains corner location figure.To infrared image
Figure 549301DEST_PATH_IMAGE023
With the image after visible images translation, rotation and change of scale
Figure 451398DEST_PATH_IMAGE013
Harris angle points are extracted respectively, obtain the angle point set of two images.The principle of Harris operators detection angle point is whether the angle point response for judging each pixel is more than threshold value, is then judged to angle point if greater than threshold value, is not angle point otherwise.Angle point response depends on correlation matrix
Figure 745107DEST_PATH_IMAGE024
,It is：
Figure 104485DEST_PATH_IMAGE025
Response diagramFor：
Figure 512649DEST_PATH_IMAGE027
Wherein,
Figure 371015DEST_PATH_IMAGE028
Represent that two matrix corresponding elements are multiplied；,
Figure 688919DEST_PATH_IMAGE030
,
Figure 839277DEST_PATH_IMAGE031
,
Figure 919360DEST_PATH_IMAGE032
It is Gaussian function,With
Figure 895461DEST_PATH_IMAGE034
It is respectively
Figure 216721DEST_PATH_IMAGE035
With
Figure 518520DEST_PATH_IMAGE036
The difference in direction,Value be typically that 0.04 ~ 0.06, * represents convolution.Obtain after response diagram R, the value to each element in R is analyzed, the value of some element is more than threshold value T set in advance, be considered as the element correspondence position for angle point.Corner location figure representation is：
Figure 418398DEST_PATH_IMAGE038
Wherein,
Figure 582663DEST_PATH_IMAGE039
Corner location figure is represented,
Figure 886605DEST_PATH_IMAGE040
Represent
Figure 240357DEST_PATH_IMAGE039
Figure position is
Figure 680566DEST_PATH_IMAGE041
Value, ifValue be 1, represent positionIt is angle point, if
Figure 462949DEST_PATH_IMAGE040
Value be 0, represent position
Figure 773976DEST_PATH_IMAGE041
It is not angle point；
Figure 342360DEST_PATH_IMAGE042
Represent
Figure 870163DEST_PATH_IMAGE026
Figure position is
Figure 752668DEST_PATH_IMAGE041
Value；
Figure 167469DEST_PATH_IMAGE043
For angle point response threshold value.The present invention is selected when extracting angle point
Figure 657487DEST_PATH_IMAGE044
；When handling infrared image
Figure 157739DEST_PATH_IMAGE043
Take 67, during processing visible images
Figure 155519DEST_PATH_IMAGE043
Take 500.
Second step, calculates the gradient direction angle of each pixel of image, obtains gradient direction figure.Here the gradient direction angle of each pixel is calculated with Sobel operators, specifically, using the both direction template of Sobel operators, calculated level and vertical gradient value, then calculate according to Grad and obtain gradient direction angle respectively.The both horizontally and vertically template of wherein Sobel operators is respectively：
Figure 362510DEST_PATH_IMAGE045
         
Figure 538276DEST_PATH_IMAGE046
Gradient direction figure
Figure 276556DEST_PATH_IMAGE047
Computing formula be：
Figure 563181DEST_PATH_IMAGE048
 
Wherein,
Figure 201842DEST_PATH_IMAGE049
For pending image,
Figure 486192DEST_PATH_IMAGE050
,
Figure 695457DEST_PATH_IMAGE051
,With
Figure 780405DEST_PATH_IMAGE053
It is Sobel both horizontally and vertically template pair respectively
Figure 547241DEST_PATH_IMAGE049
Result after being handled.
Figure 447064DEST_PATH_IMAGE054
Representing matrixWith
Figure 924630DEST_PATH_IMAGE055
Pointwise is divided by.
3rd step, obtains the gradient direction angle of each angle point, and is classified according to gradient direction angle angle steel joint.Corner location figure and gradient direction figure are carried out into corresponding element to be multiplied, the gradient direction angle of each angle point is obtained.Here the two carry out computing be：
Figure 613100DEST_PATH_IMAGE056
, wherein
Figure 734640DEST_PATH_IMAGE057
It is angle point gradient direction figure.
Will8 intervals are divided into, the interval according to where the gradient direction angle of each angle point is different, and angle point set is decomposed into 8 subclass.Wherein interval division methods reference picture 2, subinterval is respectively：
Figure 634518DEST_PATH_IMAGE003
,
Figure 244622DEST_PATH_IMAGE004
,
Figure 915774DEST_PATH_IMAGE005
,
Figure 823688DEST_PATH_IMAGE006
,,,
Figure 85408DEST_PATH_IMAGE009
,
Figure 859329DEST_PATH_IMAGE010
。
4th step, calculates the Hausdorff distances between each subclass, can obtain 8 Hausdorff distance values.
a）Hausdorff distances
Hausdorff distances are the direct similarities calculated between two point sets, and calculating process is easy.The definition of Hausdorff distances is minimax distance, it is assumed that is extracted from two images and obtains two point sets, the two set of characteristic points are designated as respectively
Figure 990096DEST_PATH_IMAGE058
With
Figure 440537DEST_PATH_IMAGE059
, traditional Hausdorff distance definitions are：
Figure 820703DEST_PATH_IMAGE060
  
Wherein
Figure 149047DEST_PATH_IMAGE061
,
Figure 196638DEST_PATH_IMAGE062
,
Figure 817981DEST_PATH_IMAGE063
With
Figure 685443DEST_PATH_IMAGE064
It is the angle point in two images respectively,
Figure 738849DEST_PATH_IMAGE065
With
Figure 391679DEST_PATH_IMAGE066
Represent respectivelyIn setmIndividual point andnThe corresponding coordinate value horizontally and vertically of individual angle point.Find out that it is more sensitive to noise spot, as long as there is a point far from the minimum range of image subject to registration from Hausdorff definition, then can make that the distance of calculating is very big, this makes registration result error easily occur.
b）Hausdorff distance algorithms based on gradient direction
After decomposition by diagonal point set, 8 point sets in infrared image are designated as, it is seen that 8 point sets in light image are designated as
Figure 645046DEST_PATH_IMAGE069
.In order to reduce the interference of noise spot, between calculating corresponding point set apart from when, add restrictive condition, i.e., when in larger distance between two points, for example distance is more than 6 pixel distances, it is believed that the two is unlikely to be registering point pair.Distance in this patent
Figure 604912DEST_PATH_IMAGE070
And distanceComputing formula uses improved Hausdorff distances, is expressed as：
Figure 911577DEST_PATH_IMAGE072
Figure 369103DEST_PATH_IMAGE073
Wherein,
Figure 495059DEST_PATH_IMAGE074
With
Figure 652544DEST_PATH_IMAGE075
It is respectively
Figure 732626DEST_PATH_IMAGE076
With
Figure 993844DEST_PATH_IMAGE077
In arbitrfary point；
Figure 285891DEST_PATH_IMAGE078
；For distance threshold, 6 are taken in the present invention.
Figure 220535DEST_PATH_IMAGE024
With
Figure 285443DEST_PATH_IMAGE080
Represent respectively in correspondence formulaThe number being not zero.
Calculate the distance between corresponding subset conjunction
Figure 848460DEST_PATH_IMAGE082
, the point pair of registration is only looked in corresponding subset conjunction, computing formula is：
5th step, calculates the Hausdorff distances based on gradient direction
Figure 942372DEST_PATH_IMAGE022
Calculate the Hausdorff distance values between 4 minimum subclass
Figure 195630DEST_PATH_IMAGE084
Average, this average is used as to the Hausdorff distances based on gradient direction.In order to eliminate the distance caused registration error bigger than normal between Direction interval correspondence point set, the average value of less 4 distance values is only taken, the Hausdorff distances based on gradient direction are expressed as：
Figure 858693DEST_PATH_IMAGE085
Wherein
Figure 633620DEST_PATH_IMAGE086
It isOrdered series of numbers after being arranged by ascending order,
Figure 272728DEST_PATH_IMAGE022
Represent correspondent transform
Figure 857425DEST_PATH_IMAGE012
When the Hausdorff distances based on gradient direction.
 2-2)The calculating of registration parameter
Pass through 2-1）Calculate and obtain a series of Hausdorff distances based on gradient direction
Figure 870380DEST_PATH_IMAGE088
；The distance value of gained is compared, a minimum distanceCorresponding translation, rotation and change of scale parameter
Figure 479271DEST_PATH_IMAGE014
,
Figure 234868DEST_PATH_IMAGE015
,
Figure 735120DEST_PATH_IMAGE047
,
Figure 421316DEST_PATH_IMAGE089
It is exactly optimal registration parameter：I.e.
                     
Figure 115657DEST_PATH_IMAGE091

Claims (6)

1. a kind of infrared image and the method for registering of visible images of the Hausdorff distances based on gradient direction, it is characterized in that comprising the following steps：
1）To visible images
Figure 178034DEST_PATH_IMAGE001
Translated, rotated and change of scale
Figure 402342DEST_PATH_IMAGE002
, obtain
Figure 791735DEST_PATH_IMAGE003
, wherein
Figure 623556DEST_PATH_IMAGE004
With
Figure 36083DEST_PATH_IMAGE005
Translational movement horizontally and vertically is represented respectively；Want to obtain preferable matching effect visible ray and infrared image at least 1/9 lap, that is to say, that what visible ray and infrared image at least 1/9 part were represented is Same Scene, so in the present invention
Figure 126398DEST_PATH_IMAGE004
With
Figure 619565DEST_PATH_IMAGE005
Span be
Figure 74818DEST_PATH_IMAGE006
,
Figure 771378DEST_PATH_IMAGE007
, here
Figure 150538DEST_PATH_IMAGE008
With
Figure 452206DEST_PATH_IMAGE009
It is the height and width of image respectively；
Figure 140677DEST_PATH_IMAGE010
Rotation parameter is represented, it is changed with 2 for step-length every time；Because visible ray resolution ratio is more than infrared resolution rate, therefore change of scale parameter
Figure 573801DEST_PATH_IMAGE011
, it is changed every time with 0.1 for step-length；
     2）Extract infrared image
Figure 943602DEST_PATH_IMAGE012
And image
Figure 162094DEST_PATH_IMAGE003
Angle point, obtain corner location figure；
3）The gradient direction angle of each pixel of image is calculated, gradient direction figure is obtained；
4）The gradient direction angle of each angle point is obtained, according to the gradient direction angle of each angle point, one in 8 subintervals divided in advance is referred to, after the completion of all angle points are sorted out, 8 angle point subclass can be obtained；
5）The Hausdorff distances between the conjunction of same direction corresponding subset are calculated, 8 distance values are obtained；
6）The average of the Hausdorff distance values between 4 subclass of minimum is sought, the Hausdorff distances based on gradient direction are used as；
7）Calculate and obtain a series of Hausdorff distances
Figure 381034DEST_PATH_IMAGE014
, the Hausdorff distance values of gained are compared, a minimum Hausdorff distance
Figure 351264DEST_PATH_IMAGE014
Corresponding translation, rotation and change of scale parameter
Figure 673530DEST_PATH_IMAGE004
,
Figure 641486DEST_PATH_IMAGE005
,,
Figure 324588DEST_PATH_IMAGE016
It is exactly optimal registration parameter.
2. the infrared image and the method for registering of visible images of a kind of Hausdorff distances based on gradient direction according to claim 1, it is characterized in that the step 2）Extract infrared imageAnd image
Figure 390950DEST_PATH_IMAGE003
Angle point, utilize Harris operator extractions infrared image and the angle point of visible images, calculate the angle point response of each pixel
Figure 309400DEST_PATH_IMAGE017
,
Figure 824695DEST_PATH_IMAGE017
During more than threshold value set in advance, the pixel is judged as angle point；Otherwise, pixel is not angle point, and the computing formula of response diagram is：
Figure 606706DEST_PATH_IMAGE018
Wherein,Represent that two matrix corresponding elements are multiplied；,
Figure 915962DEST_PATH_IMAGE021
,
Figure 755742DEST_PATH_IMAGE022
,
Figure 547986DEST_PATH_IMAGE023
It is Gaussian function,
Figure 168324DEST_PATH_IMAGE024
With
Figure 572891DEST_PATH_IMAGE025
It is respectively
Figure 267178DEST_PATH_IMAGE026
With
Figure 246635DEST_PATH_IMAGE027
The difference in direction,
Figure 337957DEST_PATH_IMAGE028
Matrix point multiplication operation is represented,Value be typically that 0.04 ~ 0.06, * represents convolution；Obtain after response diagram R, the value to each element in R is analyzed, the value of some element is more than threshold value T set in advance, be considered as the element correspondence position for angle point, corner location figure representation is：
Figure 245367DEST_PATH_IMAGE031
Wherein,
Figure 512400DEST_PATH_IMAGE032
Corner location figure is represented,
Figure 773617DEST_PATH_IMAGE033
Represent
Figure 754080DEST_PATH_IMAGE032
Figure position is
Figure 809761DEST_PATH_IMAGE034
Value, if
Figure 564091DEST_PATH_IMAGE033
Value be 1, represent position
Figure 114152DEST_PATH_IMAGE034
It is angle point, if
Figure 699854DEST_PATH_IMAGE033
Value be 0, represent positionIt is not angle point；Represent
Figure 20349DEST_PATH_IMAGE017
Figure position isValue；
Figure 812035DEST_PATH_IMAGE036
For angle point response threshold value, the present invention is selected when extracting angle point
Figure 603274DEST_PATH_IMAGE037
；When handling infrared image
Figure 682088DEST_PATH_IMAGE036
Take 67, during processing visible images
Figure 491650DEST_PATH_IMAGE036
Take 500.
3. the infrared image and the method for registering of visible images of a kind of Hausdorff distances based on gradient direction according to claim 1, it is characterized in that the step 3）The gradient direction angle of each pixel of image is calculated, gradient direction figure is obtained, the gradient direction angle of each pixel is calculated using Sobel operators, the both horizontally and vertically template of Sobel operators is respectively：
Figure 325614DEST_PATH_IMAGE038
         
Figure 276252DEST_PATH_IMAGE039
The computing formula of deflection is：
Figure 971807DEST_PATH_IMAGE040
Wherein,
Figure 386608DEST_PATH_IMAGE041
,,For pending image,
Figure 374658DEST_PATH_IMAGE044
With
Figure 847228DEST_PATH_IMAGE045
It is Sobel both horizontally and vertically template pair respectively
Figure 22994DEST_PATH_IMAGE043
Result after being handled,
Figure 259810DEST_PATH_IMAGE015
For gradient direction figure,
Figure 484118DEST_PATH_IMAGE046
Representing matrix
Figure 607931DEST_PATH_IMAGE045
With
Figure 705331DEST_PATH_IMAGE047
Pointwise is divided by.
4. the infrared image and the method for registering of visible images of a kind of Hausdorff distances based on gradient direction according to claim 1, it is characterized in that the step 4）The gradient direction angle of each angle point is obtained, according to the gradient direction angle of each angle point, one in 8 subintervals divided in advance is referred to, after the completion of all angle points are sorted out, 8 angle point subclass can be obtained；Will8 subintervals are divided into, the division methods in subinterval are：,
Figure 701341DEST_PATH_IMAGE050
,
Figure 891014DEST_PATH_IMAGE051
,
Figure 853154DEST_PATH_IMAGE052
,
Figure 232314DEST_PATH_IMAGE053
,
Figure 533982DEST_PATH_IMAGE054
,
Figure 956873DEST_PATH_IMAGE055
,；Obtained gradient direction figure will be calculated
Figure 25378DEST_PATH_IMAGE015
Computing is carried out with corner location figure, the gradient direction angle of each angle point is obtained, computing formula is：
WhereinIt is angle point gradient direction figure.
 
5. the infrared image and the method for registering of visible images of a kind of Hausdorff distances based on gradient direction according to claim 1, it is characterized in that the step 5）The corresponding Hausdorff distances of same direction between subclass are calculated, 8 distances are obtained；Specially after angle steel joint is classified, infrared image and visible images obtain 8 subclass respectively, and wherein 8 in infrared image point set is designated as, it is seen that 8 point sets in light image are designated as
Figure 433040DEST_PATH_IMAGE060
, the definition of distance between corresponding subset is closed is：
Figure 755305DEST_PATH_IMAGE061
Figure 723261DEST_PATH_IMAGE062
Figure 881710DEST_PATH_IMAGE063
Wherein,WithIt is respectively
Figure 472726DEST_PATH_IMAGE066
With
Figure 367738DEST_PATH_IMAGE067
Each point element in set；
Figure 617454DEST_PATH_IMAGE068
；
Figure 665044DEST_PATH_IMAGE069
For distance threshold, 6 are taken in the present invention,
Figure 787852DEST_PATH_IMAGE070
WithRepresent respectively in correspondence formulaThe number being not zero.
 
6. the infrared image and the method for registering of visible images of a kind of Hausdorff distances based on gradient direction according to claim 1, it is characterized in that the step 6）The average of the Hausdorff distance values between 4 subclass of minimum is sought, the Hausdorff distances based on gradient direction are used as
Figure 125665DEST_PATH_IMAGE013
, it is expressed as
Figure 606325DEST_PATH_IMAGE073
Wherein
Figure 961083DEST_PATH_IMAGE074
It is
Figure 631229DEST_PATH_IMAGE075
Ordered series of numbers after being arranged by ascending order,
Figure 325516DEST_PATH_IMAGE013
Represent correspondent transform
Figure 39394DEST_PATH_IMAGE002
When the Hausdorff distances based on gradient direction.
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CN105371957A (en) * 2015-10-23 2016-03-02 国家电网公司 Transformer station equipment infrared temperature registration positioning and method
CN108765358A (en) * 2018-05-22 2018-11-06 烟台艾睿光电科技有限公司 The double light fusion methods and plug-in type thermal imager system of visible light and infrared light
US10169681B2 (en) 2014-12-15 2019-01-01 Koninklijke Philips N.V. Quality control of image registration
CN110751620A (en) * 2019-08-28 2020-02-04 宁波海上鲜信息技术有限公司 Method for estimating volume and weight, electronic device, and computer-readable storage medium

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