CN103413282A - Image splicing method based on cable-stayed bridge cable - Google Patents
Image splicing method based on cable-stayed bridge cable Download PDFInfo
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- CN103413282A CN103413282A CN201310283045XA CN201310283045A CN103413282A CN 103413282 A CN103413282 A CN 103413282A CN 201310283045X A CN201310283045X A CN 201310283045XA CN 201310283045 A CN201310283045 A CN 201310283045A CN 103413282 A CN103413282 A CN 103413282A
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Abstract
The invention relates to an image splicing method based on a cable-stayed bridge cable. The method comprises the following steps: (1) obtaining a proportional relationship between an image distance and an object distance of each of cameras in a cable-stayed bridge cable surface detection device; (2) collecting an image with a laser point by using each camera, detecting the position of the laser point in the image, calculating an image center point position, and obtaining a distance from an actual camera visual center to the laser point according to the proportional relationship between the image distance and the object distance; (3) employing the following formula to calculate the actual radius of the cable-stayed bridge cable; (4) obtaining the respectively calculated radii of the cable-stayed bridge cable by fives cameras, and obtaining the best radius by using a minimum variance algorithm formula; (5) using an interpolation algorithm to carry out grey filling, then projecting a plane image to a cylindrical surface to obtain a stereo image corresponding to the plane image; (6) carrying out image splicing according to the laser points on the image to obtain a cable-stayed bridge cable stereo image. Compared with the prior art, the method has the advantages of high image splicing accuracy and small algorithm complexity.
Description
Technical field
The present invention relates to image processing field, especially relate to a kind of image split-joint method based on Character of Cable Force of Cable stayed Bridge.
Background technology
The Image Mosaics technology refers to the image (being generally the image that lap is arranged that the different time of same sensor or different visual angles or different sensors are obtained) that some are had to lap, uses certain methods that it is spliced into to the technology of a satisfactory image.
The Image Mosaics technology is generally image acquisition and the process field for great visual angle.Because image aspects is larger, can not its shooting be completed by piece image, can only be at times, or after by different sensors, taking, it is carried out to the later stage splicing.
The Image Mosaics problem is due to the difference of application platform, multiple image split-joint method for different problems is arranged, and basic skills substantially can be divided into three kinds: the image split-joint method of intensity-based, based on the image split-joint method of feature and based on the image split-joint method of explaining.
For some images without obvious characteristic, namely image some signs that can't be provided for splicing itself, can not extract lap, and such image just can not be with gray scale method and the Eigenvalue Extraction Method in Image Mosaics.
Even for the image can use characteristic extracted, it is also generally larger extracting the required calculated amount of feature, need the system availability of processing in time lower for a large amount of pictures.
Summary of the invention
Purpose of the present invention is exactly to provide for the defect that overcomes above-mentioned prior art existence the image split-joint method based on Character of Cable Force of Cable stayed Bridge that a kind of accuracy is high, algorithm complex is little.
Purpose of the present invention can be achieved through the following technical solutions:
A kind of image split-joint method based on Character of Cable Force of Cable stayed Bridge, the method is for being spliced into several Character of Cable Force of Cable stayed Bridge surface images of Character of Cable Force of Cable stayed Bridge surface detection apparatus collection Character of Cable Force of Cable stayed Bridge 360 degree stereo-pictures, described Character of Cable Force of Cable stayed Bridge surface detection apparatus comprises circle ring rack and be evenly distributed on five cameras and five laser lamps on circle ring rack, and described image split-joint method comprises the following steps:
(1) obtain image distance and the object distance proportionate relationship of camera in the Character of Cable Force of Cable stayed Bridge surface detection apparatus, described image distance is the distance that image center arrives laser spots, and described object distance is the distance of actual camera optic centre to laser spots;
(2) camera collection is with the image of laser spots, and the position of laser spots in detected image, calculate the image center position, obtains the distance of actual camera optic centre to laser spots according to image distance and object distance proportionate relationship;
(3) adopt the following real radius R that calculates Character of Cable Force of Cable stayed Bridge:
In formula, m is the distance of actual camera optic centre to laser spots, and α is the angle according to the known camera optic centre of Character of Cable Force of Cable stayed Bridge surface detection apparatus and laser spots and the Character of Cable Force of Cable stayed Bridge line of centres;
(4) repeating step (2) and (3), obtain five Character of Cable Force of Cable stayed Bridge radiuses that camera calculates respectively, and adopt the minimum formula of variance to obtain optimum radius;
(5) utilize interpolation algorithm to carry out after gray scale fills up, the radius according to step (4) is calculated, project to cylindrical surface by plane picture, obtains the stereo-picture that plane picture is corresponding;
(6) repeating step (5), obtain five five stereo-pictures that camera is corresponding, and carry out Image Mosaics according to the laser spots on image, obtains Character of Cable Force of Cable stayed Bridge 360 degree stereo-pictures.
Described five cameras and five laser lamps are crisscross arranged on circle ring rack, and two laser spots that laser lamp get adjacent with this camera are arranged on the image of each camera collection.
Described circle ring rack and Character of Cable Force of Cable stayed Bridge are concentric circles.
The concrete steps of described step (1) are:
(11) obtain a plurality of image patterns, use the dual threshold algorithm to extract the laser spots in image, obtain the distance sample of a plurality of image centers to laser spots;
(12), according to the distance of actual camera optic centre corresponding to each image pattern to laser spots, adopt least square method to draw the proportionate relationship of image distance and object distance.
The angle of described camera optic centre and laser spots and the Character of Cable Force of Cable stayed Bridge line of centres is on the Character of Cable Force of Cable stayed Bridge surface detection apparatus between adjacent camera 1/2 of angle.
In described step (4), adopt the minimum formula of variance to obtain the optimum radius specific formula for calculation as follows:
x
p＝argminf(x)
Wherein, x
pFor optimum radius,
R
iBe the Character of Cable Force of Cable stayed Bridge radius that i camera calculates, i=1,2 ..., 5, R
min≤ x≤R
max.
In described step (5), interpolation algorithm comprises the bilinear curve interpolation algorithm.
In described step (6), according to the laser spots on image, carry out Image Mosaics and be specially:
Use the dual threshold algorithm to extract the laser spots on image, then according to laser spots, determine the overlay region between two width images, adjacent image is spliced.
Compared with prior art, the present invention has following beneficial effect:
1) using laser spots and mark up a little as the outer of image, assistant images extracts the overlapping region of image, can reduce the difficulty of Image Mosaics, improves the accuracy of Image Mosaics.
2) utilize known angle and the distance calculated to calculate the radius of cable-stayed bridge, complexity coefficient is little.
3) by making the square error minimum ask for optimum diameter, Recovery image more accurately.
The accompanying drawing explanation
Fig. 1 is schematic flow sheet of the present invention.
Embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.The present embodiment be take technical solution of the present invention and is implemented as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
A kind of image split-joint method based on Character of Cable Force of Cable stayed Bridge, the method is for being spliced into several Character of Cable Force of Cable stayed Bridge surface images of Character of Cable Force of Cable stayed Bridge surface detection apparatus collection Character of Cable Force of Cable stayed Bridge 360 degree stereo-pictures, described Character of Cable Force of Cable stayed Bridge surface detection apparatus comprises circle ring rack and is evenly distributed on five cameras and five laser lamps on circle ring rack, described five cameras and five laser lamps are crisscross arranged on circle ring rack, and two laser spots that laser lamp get adjacent with this camera are arranged on the image of each camera collection.Described circle ring rack and Character of Cable Force of Cable stayed Bridge are concentric circles, can guarantee in the situation that the cable radius changes, the angle of the line of camera optic centre and laser spots and Character of Cable Force of Cable stayed Bridge central point is constant, and physical construction can guarantee that two radial differences between circle are 10CM, can go to solve some needed parameters by trigonometric function.
As shown in Figure 1, image split-joint method comprises the following steps:
(1) obtain image distance and the object distance proportionate relationship of camera in the Character of Cable Force of Cable stayed Bridge surface detection apparatus, described image distance is the distance that image center arrives laser spots, and described object distance is the distance of actual camera optic centre to laser spots, is specially:
(11) obtain a plurality of image patterns, the picture that camera is photographed carries out feature point detection by the MATLAB program, use the dual threshold algorithm to extract the laser spots in image, obtain the distance sample of a plurality of image centers to laser spots, the dual threshold algorithm is the common method that image extracts;
(12) according to the distance of actual camera optic centre corresponding to each image pattern to laser spots, adopt least square method to draw the proportionate relationship of image distance and object distance, make and take radius value and be horizontal ordinate, the proportionate relationship of image distance and object distance of take is ordinate, draws object distance and apart the proportionate relationship corresponding curve map with radius value.
(2) camera collection is with the image of laser spots, and the position of laser spots in detected image, calculate the image center position, obtains the distance of actual camera optic centre to laser spots according to image distance and object distance proportionate relationship.
(3) adopt the following real radius R that calculates Character of Cable Force of Cable stayed Bridge:
In formula, m is the distance of actual camera optic centre to laser spots, α is the angle according to the known camera optic centre of Character of Cable Force of Cable stayed Bridge surface detection apparatus and laser spots and the Character of Cable Force of Cable stayed Bridge line of centres, and this angle is on the Character of Cable Force of Cable stayed Bridge surface detection apparatus between adjacent camera 1/2 of angle.
(4) repeating step (2) and (3), obtain five Character of Cable Force of Cable stayed Bridge radiuses that camera calculates respectively, and adopt the minimum formula of variance to obtain optimum radius, and specific formula for calculation is as follows:
x
p＝argminf(x)
Wherein, x
pFor optimum radius,
R
iBe the Character of Cable Force of Cable stayed Bridge radius that i camera calculates, i=1,2 ..., 5, R
min≤ x≤R
max.
(5) utilize the bilinear curve interpolation algorithm to carry out after gray scale fills up, the radius according to step (4) is calculated, project to cylindrical surface by plane picture, obtains the stereo-picture that plane picture is corresponding.
Plane picture is projected to cylindrical surface to be specially:
The fan-shaped center of circle is overlapped with true origin, and x axle positive axis is divided fan-shaped angle equally, angle a is known, radius calculates, camber line l=r * (sina), radius is known can set up type cylinder models in the Oxyz three-dimensional system of coordinate, then according to the arc length that calculates, by the image projection on section to damaged surface (x
2+ y
2=r
2(min<y<max and x>0)), so just completed recovery of shape.
(6) repeating step (5), obtain five five stereo-pictures that camera is corresponding, use the dual threshold algorithm to extract the laser spots on image, then according to laser spots, determine the overlay region between two width images, adjacent image is spliced, obtain Character of Cable Force of Cable stayed Bridge 360 degree stereo-pictures.
Claims (8)
1. image split-joint method based on Character of Cable Force of Cable stayed Bridge, it is characterized in that, the method is for being spliced into several Character of Cable Force of Cable stayed Bridge surface images of Character of Cable Force of Cable stayed Bridge surface detection apparatus collection Character of Cable Force of Cable stayed Bridge 360 degree stereo-pictures, described Character of Cable Force of Cable stayed Bridge surface detection apparatus comprises circle ring rack and be evenly distributed on five cameras and five laser lamps on circle ring rack, and described image split-joint method comprises the following steps:
(1) obtain image distance and the object distance proportionate relationship of camera in the Character of Cable Force of Cable stayed Bridge surface detection apparatus, described image distance is the distance that image center arrives laser spots, and described object distance is the distance of actual camera optic centre to laser spots;
(2) camera collection is with the image of laser spots, and the position of laser spots in detected image, calculate the image center position, obtains the distance of actual camera optic centre to laser spots according to image distance and object distance proportionate relationship;
(3) adopt the following real radius R that calculates Character of Cable Force of Cable stayed Bridge:
In formula, m is the distance of actual camera optic centre to laser spots, and α is the angle according to the known camera optic centre of Character of Cable Force of Cable stayed Bridge surface detection apparatus and laser spots and the Character of Cable Force of Cable stayed Bridge line of centres;
(4) repeating step (2) and (3), obtain five Character of Cable Force of Cable stayed Bridge radiuses that camera calculates respectively, and adopt the minimum formula of variance to obtain optimum radius;
(5) utilize interpolation algorithm to carry out after gray scale fills up, the radius according to step (4) is calculated, project to cylindrical surface by plane picture, obtains the stereo-picture that plane picture is corresponding;
(6) repeating step (5), obtain five five stereo-pictures that camera is corresponding, and carry out Image Mosaics according to the laser spots on image, obtains Character of Cable Force of Cable stayed Bridge 360 degree stereo-pictures.
2. a kind of image split-joint method based on Character of Cable Force of Cable stayed Bridge according to claim 1, it is characterized in that, described five cameras and five laser lamps are crisscross arranged on circle ring rack, and two laser spots that laser lamp get adjacent with this camera are arranged on the image of each camera collection.
3. a kind of image split-joint method based on Character of Cable Force of Cable stayed Bridge according to claim 1, is characterized in that, described circle ring rack and Character of Cable Force of Cable stayed Bridge are concentric circles.
4. a kind of image split-joint method based on Character of Cable Force of Cable stayed Bridge according to claim 1, is characterized in that, the concrete steps of described step (1) are:
(11) obtain a plurality of image patterns, use the dual threshold algorithm to extract the laser spots in image, obtain the distance sample of a plurality of image centers to laser spots;
(12), according to the distance of actual camera optic centre corresponding to each image pattern to laser spots, adopt least square method to draw the proportionate relationship of image distance and object distance.
5. a kind of image split-joint method based on Character of Cable Force of Cable stayed Bridge according to claim 1, it is characterized in that, the angle of described camera optic centre and laser spots and the Character of Cable Force of Cable stayed Bridge line of centres is on the Character of Cable Force of Cable stayed Bridge surface detection apparatus between adjacent camera 1/2 of angle.
6. a kind of image split-joint method based on Character of Cable Force of Cable stayed Bridge according to claim 1, is characterized in that, in described step (4), adopts the minimum formula of variance to obtain the optimum radius specific formula for calculation as follows:
x
p＝argminf(x)
Wherein, x
pFor optimum radius,
R
iBe the Character of Cable Force of Cable stayed Bridge radius that i camera calculates, i=1,2 ..., 5, R
min≤ x≤R
max.
7. a kind of image split-joint method based on Character of Cable Force of Cable stayed Bridge according to claim 1, is characterized in that, in described step (5), interpolation algorithm comprises the bilinear curve interpolation algorithm.
8. a kind of image split-joint method based on Character of Cable Force of Cable stayed Bridge according to claim 1, is characterized in that, in described step (6), according to the laser spots on image, carries out Image Mosaics and be specially:
Use the dual threshold algorithm to extract the laser spots on image, then according to laser spots, determine the overlay region between two width images, adjacent image is spliced.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110232673A (en) * | 2019-05-30 | 2019-09-13 | 电子科技大学 | A kind of quick steady image split-joint method based on medical micro-imaging |
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| CN110232673A (en) * | 2019-05-30 | 2019-09-13 | 电子科技大学 | A kind of quick steady image split-joint method based on medical micro-imaging |
| CN110232673B (en) * | 2019-05-30 | 2023-06-23 | 电子科技大学 | Rapid and steady image stitching method based on medical microscopic imaging |
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