CN104240261A

CN104240261A - Image registration method and device

Info

Publication number: CN104240261A
Application number: CN201410536323.2A
Authority: CN
Inventors: 陈景伟; 徐成华; 杨鹤松
Original assignee: ZHONGKE JIUDU (BEIJING) SPATIAL INFORMATION TECHNOLOGY Co Ltd
Current assignee: State owned Assets Management Co., Ltd.; Zhongke Jiudu (Beijing) Spatial Information technology Co., Ltd.
Priority date: 2014-10-11
Filing date: 2014-10-11
Publication date: 2014-12-24
Anticipated expiration: 2034-10-11
Also published as: CN104240261B

Abstract

The invention discloses an image registration method and device. The image registration method includes acquiring a first pixel point set in a target area of image to be registered and a second pixel point set in a target area of a standard image; acquiring a third pixel point set on the edge of the target area of the image to be registered and a forth pixel point set on the edge of the target area of the standard image; combining the first and the third pixel point sets to acquire a first target match control point set of the image to be registered; combining the second and the forth pixel point sets to acquire a second target match control point set of the standard image; correcting the first target match control point set through the second target match control point set to acquire the standard image. In this way, the problem of the prior art that in the image registration, few match control points on the edge of the target area are selected, thus image registration accuracy is low is solved, and the image registration accuracy is improved.

Description

Image registration method and device

Technical field

The present invention relates to remote sensing fields, in particular to a kind of Image registration method and device.

Background technology

The multi-source multidate of current remote sensing image makes the anamorphose of image very complicated, the image that different satellite and sensor obtain can cause image in deformation geometrically due to the difference of orbit altitude, camera perspective, imaging pattern, thus remote sensing image needs through a series of image processing process usually, to improve remote sensing image quality, it is made better to be applied.Image registration is an important content of image processing, also be carry out the basis of graphical analysis (as image mosaic, change detection, visual fusion etc.) and a crucial step in conjunction with multiple image data source, therefore how to extract high-precision match point and become the major issue that Image registration will solve, and Image registration first committed step extracts registering control points exactly, choosing of registering control points will directly affect final registration effect.

Conventional Remote Sensing Image Matching is when selecting registering control points, and only consider choosing of image zone line registering control points, have ignored the effect of image edge region registration, the registration effect especially for mountain area and edge, mountain area is very undesirable.Such registration effect is used for image mosaic, can have a strong impact on the effect of image mosaic.Conventional image is registered in when extracting registering control points exists following problem.

(1) registering control points is distributed in the zone line of image usually, and image edge areal distribution very little, causes image edge registration accuracy undesirable.

(2) match point can be chosen preferably for the landform with regular distribution, and for the irregular mountain area of topography profile, the precision of registering control points is often not accurate enough.

For Image Matching reference mark choosing method existing defects in the Image registration in correlation technique, this defect is in particular in the negligible amounts of the registering control points at the edge, target area chosen in Image registration and causes the problem that Image registration degree of accuracy is low, not yet proposes effective solution at present.

Summary of the invention

Fundamental purpose of the present invention is to provide a kind of Image registration method and device, to solve the low problem of Image registration degree of accuracy that in prior art, in Image registration, image edge registering control points causes very little.

According to an aspect of the present invention, a kind of Image registration method is provided.

Image registration method according to the present invention comprises: the second pixel point set obtaining the first pixel point set of the inside, target area of image subject to registration and the inside, described target area of reference images, wherein, described target area is the overlapping region of described image subject to registration and described reference images; Obtain the 4th pixel point set at the 3rd pixel point set at the edge, described target area of described image subject to registration and the edge, described target area of described reference images; Combine described first pixel point set and described 3rd pixel point set, obtain the first object match control point set of described image subject to registration; Combine described second pixel point set and described 4th pixel point set, the second object matching obtaining described reference images controls point set; And utilize first object match control point set described in described second object matching reference mark set pair to correct, obtain registration image.

Further, the pixel that 4th pixel at the edge, described target area of the pixel that the 3rd pixel obtaining the edge, described target area of described image subject to registration is concentrated and described reference images is concentrated comprises: obtain pixel to be added to (pb, pb ') and described pixel to be added to (pb, pb ') in the coordinate (pb.x of pixel pb to be added, pb.y) and the coordinate of pixel pb ' to be added (pb ' .x, pb ' .y), wherein, described pixel pb to be added is the pixel on the limit of described image subject to registration, pixel on the limit that described pixel pb ' to be added is described reference images, judge whether described pixel pb to be added is target pixel points, when judging that described pixel pb to be added is target pixel points, the coordinate (pb.x, pb.y) of described pixel pb to be added being revised, obtains coordinates of targets (pm.x, pm.y), by the coordinate (pb.x of described pixel pb to be added, pb.y) described coordinates of targets (pm.x is changed to, pm.y), according to the pixel that described coordinates of targets (pm.x, pm.y) is concentrated from edge, the described target area described pixel pb to be added of acquisition of described image subject to registration as described 3rd pixel, and according to the coordinate of described pixel pb ' to be added (pb ' .x, pb ' .y), obtain the pixel that described pixel pb ' to be added concentrates as described 4th pixel from the edge, described target area of described reference images.

Further, judge whether described pixel pb to be added is that target pixel points comprises: concentrate from described first pixel point set and described second pixel and obtain initial registration point to (pi, pi '), wherein, described initial registration point is to (pi, pi ') in initial registration point pi be described first pixel concentrate pixel, described initial registration point is to (pi, pi ') in initial registration point pi ' concentrate the pixel corresponding with described initial registration point pi for described second pixel, i and i ' gets 1 to n all successively, n is the number of the pixel that the pixel concentrated of described first pixel or described second pixel are concentrated, obtain described initial registration point to the coordinate of initial registration point pi ' in (pi, pi ') (pi ' .x, pi ' .y), relative distance d is [i '] is calculated according to the coordinate of the coordinate (pb.x, pb.y) of described pixel pb to be added and described initial registration point pi ' (pi ' .x, pi ' .y), and judge whether the value of described relative distance minimum in relative distance d is [1] to relative distance d is [n] is greater than preset value, wherein, when judging that the value of described relative distance minimum in described relative distance d is [1] to described relative distance d is [n] is greater than described preset value, determine that described pixel pb to be added is described target pixel points.

Further, when judging that described pixel pb to be added is target pixel points, to the coordinate (pb.x of described pixel pb to be added, pb.y) revise, obtain coordinates of targets (pm.x, pm.y) comprising: according to the preset instructions received, the relative distance that j minimum is selected in described relative distance d is [1] to described relative distance d is [n], and obtain the first initial registration point corresponding to the relative distance minimum with j to (pa, pa '), wherein, a and a ' gets 1 to j all successively, j is the number of the described minimum relative distance selected, first initial registration point is to (pa, pa ') for described initial registration point is to (pi, pi ') in initial registration point pair, calculate the mean value (dx, dy) of described first initial registration point to the coordinate offset amount of (pa, pa '), and determine coordinates of targets (pm.x, pm.y) according to the mean value (dx, dy) of described coordinate offset amount and the coordinate (pb.x, pb.y) of described pixel pb to be added.

Further, obtain pixel to be added to comprise (pb, pb '): obtain the length of the limit Ak of described image subject to registration and the limit Ak ' of described reference images, wherein, k and k ' gets 1 to 4 successively; According to the length of described limit Ak and the quotient of default step-length, determine the first acquisition number of times mk; According to the length of described limit Ak ' and the quotient of default step-length, determine the second acquisition number of times mk '; Determine that described first acquisition number of times mk is the number obtaining edge pixel point from described limit Ak; Determine that described second acquisition number of times mk ' is the number obtaining edge pixel point from described limit Ak '; Mk described edge pixel point is obtained, as described pixel pb to be added from described limit Ak according to described default step-length; And obtain the individual described edge pixel point of mk ', as pixel pb ' to be added according to described default step-length from described limit Ak '.

Further, after the acquisition first pixel point set of inside, target area of image subject to registration and the second pixel point set of the inside, described target area of reference images, described method also comprises screens described first pixel point set and described second pixel point set respectively, obtain the first screening pixel point set and the second screening pixel point set, wherein: combine described first pixel point set and described 3rd pixel point set, the first object match control point set obtaining described image subject to registration comprises: combine described first screening pixel point set and described 3rd pixel point set, obtain the first object match control point set of described image subject to registration, combine described second pixel and described 4th pixel point set, the second object matching obtaining described reference images controls point set and comprises: combine described second screening pixel point set and described 4th pixel point set, the second object matching obtaining described reference images controls point set.

Further, after the acquisition first pixel point set of inside, target area of image subject to registration and the second pixel point set of the inside, described target area of reference images, described method also comprises screens described first pixel point set and described second pixel point set respectively, obtain the first screening pixel point set and the second screening pixel point set, concentrate from described first pixel point set and described second pixel and obtain initial registration point to (pi, pi ') comprising: concentrate from described first screening pixel point set and described second screening pixel and obtain described initial registration point to (pi, pi ').

According to a further aspect in the invention, a kind of Image registration device is provided.

Image registration device according to the present invention comprises the first acquiring unit, for the second pixel point set of the inside, described target area of the first pixel point set and reference images that obtain the inside, target area of image subject to registration, wherein, described target area is the overlapping region of described image subject to registration and described reference images; Second acquisition unit, for the 4th pixel point set at the edge, described target area of the 3rd pixel point set and described reference images that obtain the edge, described target area of described image subject to registration; First assembled unit, for combining described first pixel point set and described 3rd pixel point set, obtains the first object match control point set of described image subject to registration; Second assembled unit, for combining described second pixel point set and described 4th pixel point set, the second object matching obtaining described reference images controls point set; And correcting unit, for utilizing first object match control point set described in described second object matching reference mark set pair to correct, obtain registration image.

Further, described second acquisition unit comprises: first obtains subelement, for obtaining pixel to be added to (pb, pb ') and described pixel to be added to (pb, pb ') in the coordinate (pb.x of pixel pb to be added, pb.y) and the coordinate of pixel pb ' to be added (pb ' .x, pb ' .y), wherein, described pixel pb to be added is the pixel on the limit of described image subject to registration, the pixel on the limit that described pixel pb ' to be added is described reference images; Judgment sub-unit, for judging whether described pixel pb to be added is target pixel points; Revise subelement, for when judging that described pixel pb to be added is target pixel points, the coordinate (pb.x, pb.y) of described pixel pb to be added being revised, obtains coordinates of targets (pm.x, pm.y); Second obtains subelement, for the coordinate (pb.x by described pixel pb to be added, pb.y) described coordinates of targets (pm.x is changed to, pm.y), according to the pixel that described coordinates of targets (pm.x, pm.y) is concentrated from edge, the described target area described pixel pb to be added of acquisition of described image subject to registration as described 3rd pixel; And the 3rd obtains subelement, for according to described pixel pb ' to be added coordinate (pb ' .x, pb ' .y), the pixel that described pixel pb ' to be added concentrates as described 4th pixel is obtained from the edge, described target area of described reference images.

Further, described judgment sub-unit comprises: the first acquisition module, initial registration point is obtained to (pi for concentrating from described first pixel point set and described second pixel, pi '), wherein, described initial registration point is to (pi, pi ') in initial registration point pi be described first pixel concentrate pixel, described initial registration point is to (pi, pi ') in initial registration point pi ' concentrate the pixel corresponding with described initial registration point pi for described second pixel, i and i ' gets 1 to n all successively, n is the number of the pixel that the pixel concentrated of described first pixel or described second pixel are concentrated, second acquisition module, for obtaining described initial registration point to the coordinate of initial registration point pi ' in (pi, pi ') (pi ' .x, pi ' .y), first computing module, calculates relative distance d is [i '] for the coordinate (pi ' .x, pi ' .y) according to the coordinate (pb.x, pb.y) of described pixel pb to be added and described initial registration point pi ', and judge module, for judging whether the value of described relative distance minimum in relative distance d is [1] to relative distance d is [n] is greater than preset value, wherein, when judging that the value of described relative distance minimum in described relative distance d is [1] to described relative distance d is [n] is greater than described preset value, determine that described pixel pb to be added is described target pixel points.

Further, described correction subelement comprises: select module, for the preset instructions according to reception, the relative distance that j minimum is selected in described relative distance d is [1] to described relative distance d is [n], and obtain the first initial registration point corresponding to the relative distance minimum with j to (pa, pa '), wherein, a and a ' gets 1 to j all successively, j is the number of the described minimum relative distance selected, first initial registration point to (pa, pa ') for described initial registration point is to the initial registration point pair in (pi, pi '); Second computing module, for calculating the mean value (dx, dy) of described first initial registration point to the coordinate offset amount of (pa, pa '); And first determination module, for determining coordinates of targets (pm.x, pm.y) according to the mean value (dx, dy) of described coordinate offset amount and the coordinate (pb.x, pb.y) of described pixel pb to be added.

Further, described first obtains subelement comprises: the 3rd acquisition module, and for the limit Ak ' of the length and described reference images that obtain the limit Ak of described image subject to registration, wherein, k and k ' gets 1 to 4 successively; Second determination module, for according to the length of described limit Ak and the quotient of default step-length, determines the first acquisition number of times mk; 3rd determination module, for according to the length of described limit Ak ' and the quotient of default step-length, determines the second acquisition number of times mk '; 4th determination module, for determining that described first acquisition number of times mk is the number obtaining edge pixel point from described limit Ak; 5th determination module, for determining that described second acquisition number of times mk ' is the number obtaining edge pixel point from described limit Ak '; 4th acquisition module, for obtaining mk described edge pixel point, as described pixel pb to be added according to described default step-length from described limit Ak; And the 5th acquisition module, obtain the individual described edge pixel point of mk ', as pixel pb ' to be added according to described default step-length from described limit Ak '.

Further, described device also comprises screening unit, for screening described first pixel point set and described second pixel point set respectively, obtain the first screening pixel point set and the second screening pixel point set, wherein: the first assembled unit comprises the first combination subelement, for combining described first screening pixel point set and described 3rd pixel point set, obtain the first object match control point set of described image subject to registration; Second assembled unit comprises the second combination subelement, and for combining described second screening pixel point set and described 4th pixel point set, the second object matching obtaining described reference images controls point set.

Further, described device also comprises screening unit, for screening described first pixel point set and described second pixel point set respectively, obtain the first screening pixel point set and the second screening pixel point set, wherein, described first acquisition module comprises: first obtains submodule, obtains described initial registration point to (pi, pi ') for concentrating from described first screening pixel point set and described second screening pixel.

In the present invention, adopt and obtain the first pixel point set of inside, target area of image subject to registration and the second pixel point set of the inside, target area of reference images, wherein, target area is the overlapping region of image subject to registration and reference images; Obtain the 4th pixel point set at the 3rd pixel point set at the edge, target area of image subject to registration and the edge, target area of reference images; Combine the first pixel point set and the 3rd pixel point set, obtain the first object match control point set of image subject to registration; Combine the second pixel point set and the 4th pixel point set, the second object matching obtaining reference images controls point set; And utilize the second object matching reference mark set pair first object match control point set to correct, obtain registration image.By on the basis of the second pixel point set of the first pixel point set of inside, target area and the inside, target area of reference images that obtain image subject to registration, obtain the 4th pixel point set at the 3rd pixel point set at the edge, target area of image subject to registration and the edge, target area of reference images again, and the first pixel point set and the 3rd pixel point set are carried out combination and obtains first object match control point set, second pixel point set and the 4th pixel point set are carried out combination and obtain the second object matching control point set, finally control point set according to first in the second registering control points set pair image subject to registration in reference images to correct, the registration image obtained.Because the acquisition region of the first match control point set is that edge, target area in image subject to registration and target area are inner, the acquisition region of the second match control point set is that edge, target area in reference images and target area are inner, compare the registering control points choosing method only obtaining the inside, target area in reference images and image subject to registration, add the quantity of the registering control points that edge, target area obtains, solve the negligible amounts of the registering control points at the edge, target area chosen in Image registration in prior art and the low problem of the Image registration degree of accuracy caused, and then reach the effect improving Image registration degree of accuracy.

Accompanying drawing explanation

The accompanying drawing forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:

Fig. 1 is the process flow diagram of the Image registration method according to the embodiment of the present invention;

Fig. 2 a is the Image registration method according to the embodiment of the present invention, at the schematic diagram of the first pixel point set that inside, the target area of image subject to registration gets;

Fig. 2 b is the Image registration method according to the embodiment of the present invention, at the schematic diagram of the second pixel point set that inside, the target area of reference images obtains;

Fig. 3 is the Image registration method according to the embodiment of the present invention, the process flow diagram of the pixel that the 4th pixel of the inside, target area of the pixel that the 3rd pixel obtaining the inside, target area of image subject to registration is concentrated and reference images is concentrated;

Fig. 4 a is the schematic diagram of the Image registration method according to the embodiment of the present invention, the pixel to be added got from the limit of image subject to registration;

Fig. 4 b is the schematic diagram of the Image registration method according to the embodiment of the present invention, the pixel to be added got from the limit of reference images;

Fig. 5 is the process flow diagram of Image registration method according to the preferred embodiment of the invention;

Fig. 6 is the comparison diagram according to the Image registration method of the embodiment of the present invention and the registration effect of Image registration method of the prior art;

Fig. 7 is the schematic diagram of Image registration device according to the preferred embodiment of the invention;

Fig. 8 is the structural representation of second acquisition unit in the Image registration device according to the embodiment of the present invention; And

Fig. 9 is the schematic diagram of Image registration device according to the preferred embodiment of the invention.

Embodiment

The present invention program is understood better in order to make those skilled in the art person, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the embodiment of a part of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, should belong to the scope of protection of the invention.

It should be noted that, term " first ", " second " etc. in instructions of the present invention and claims and above-mentioned accompanying drawing are for distinguishing similar object, and need not be used for describing specific order or precedence.Should be appreciated that the data used like this can be exchanged in the appropriate case, so as embodiments of the invention described herein can with except here diagram or describe those except order implement.In addition, term " comprises " and " having " and their any distortion, intention is to cover not exclusive comprising, such as, contain those steps or unit that the process of series of steps or unit, method, system, product or equipment is not necessarily limited to clearly list, but can comprise clearly do not list or for intrinsic other step of these processes, method, product or equipment or unit.

When not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.

Description below is done to technical term involved in the embodiment of the present invention:

Image registration to refer at two width (or several) in the different time, identifies same place between different angles, the image that obtained by different sensors, and then to the correct operation that it carries out.

Reference images: during Image Matching, as the reference image of coupling benchmark.

Image subject to registration: during Image Matching, needs image coordinate to be corrected to the image to be matched under the coordinate system that is benchmark with reference to image.

Same place: i.e. corresponding image points, the constellation point of same impact point on different images.

Embodiment 1

According to the embodiment of the present invention, provide a kind of embodiment of the method that can implement by the application's device embodiment or perform, it should be noted that, can perform in the computer system of such as one group of computer executable instructions in the step shown in the process flow diagram of accompanying drawing, and, although show logical order in flow charts, in some cases, can be different from the step shown or described by order execution herein.

According to the embodiment of the present invention, provide a kind of Image registration method, Fig. 1 is the process flow diagram of the Image registration method according to the embodiment of the present invention, and as shown in Figure 1, the method comprises following step S102 to step S110:

S102: the second pixel point set obtaining the first pixel point set of the inside, target area of image subject to registration and the inside, target area of reference images, wherein, target area is the overlapping region of image subject to registration and reference images, the the first pixel point set obtained and the method for the second pixel point set can be Shift method or Surf method, the pixel that first pixel is concentrated and the pixel one_to_one corresponding that the second pixel is concentrated, and be same place, namely, 100 pixels are got from the inside, target area of image subject to registration, 100 pixels will be got from the inside, target area of reference images.Fig. 2 a is the schematic diagram of the first pixel point set got in inside, the target area of image subject to registration, and 1 is that the first pixel concentrates arbitrary pixel; Fig. 2 b is the schematic diagram of the second pixel point set obtained in inside, the target area of reference images, and 2 is that the second pixel concentrates arbitrary pixel.Overlapping region in image subject to registration and reference images is converted to planimetric coordinates, then the pixel that the first pixel in image subject to registration and reference images is concentrated and the pixel that the second pixel is concentrated can have corresponding coordinate in the image belonging to it.Before the acquisition first pixel point set of inside, target area of image subject to registration and the second pixel point set of the inside, target area of reference images, need the image subject to registration and the reference images that receive input.

S104: the 4th pixel point set obtaining the 3rd pixel point set at the edge, target area of image subject to registration and the edge, target area of reference images, particularly, 3rd pixel point set is arranged in the marginal portion of image subject to registration and reference images overlapping region, 4th pixel point set is arranged in the marginal portion of reference images and image overlap area subject to registration, the pixel that 3rd pixel is concentrated and the pixel that the 4th pixel is concentrated also are one_to_one corresponding, and be same place, namely 10 pixel composition the 3rd pixel point sets are got from the marginal portion, target area of image subject to registration, 10 pixel composition the 4th pixel point sets will be got from the marginal portion, target area of reference images.

S106: combine the first pixel point set and the 3rd pixel point set, obtain the first object match control point set of image subject to registration, namely, the pixel that the pixel concentrate the first pixel obtained from image subject to registration and the 3rd pixel are concentrated is added, and obtains the first object match control point set in image subject to registration.Such as, the first pixel is concentrated and is comprised 80 pixels, and the 3rd pixel is concentrated and comprised 20 pixels, then first object registering control points is concentrated and comprised 100 first object registering control points.

S108: combine the second pixel point set and the 4th pixel point set, the second object matching obtaining reference images controls point set, namely, the pixel that the pixel concentrate the second pixel obtained from reference images and the 4th pixel are concentrated is added, and the second object matching obtained in reference images controls point set.Such as, the second pixel is concentrated and is comprised 80 pixels, and the 4th pixel is concentrated and comprised 20 pixels, then the second object matching reference mark is concentrated and comprised 100 the second object matching reference mark.

S110: utilize the second object matching reference mark set pair first object match control point set to correct, obtain registration image, particularly, utilize the second object matching in the target area of reference images to control point set and correct first object match control point set in the target area of image subject to registration, the method of this correction can be Tin method, generates registration image.

In embodiments of the present invention, by on the basis of the second pixel point set of the first pixel point set of inside, target area and the inside, target area of reference images that obtain image subject to registration, obtain the 4th pixel point set at the 3rd pixel point set at the edge, target area of image subject to registration and the edge, target area of reference images again, and the first pixel point set and the 3rd pixel point set are carried out combination and obtains first object match control point set, second pixel point set and the 4th pixel point set are carried out combination and obtain the second object matching control point set, finally control point set according to first in the second registering control points set pair image subject to registration in reference images to correct, the registration image obtained.Because the acquisition region of the first match control point set is that edge, target area in image subject to registration and target area are inner, the acquisition region of the second match control point set is that edge, target area in reference images and target area are inner, compare the registering control points choosing method only obtaining the inside, target area in reference images and image subject to registration, add the quantity of the registering control points that edge, target area obtains, solve the negligible amounts of the registering control points at the edge, target area chosen in Image registration in prior art and the low problem of the Image registration degree of accuracy caused, and then reach the effect improving Image registration degree of accuracy.

Preferably, as shown in Figure 3, in embodiments of the present invention, the pixel that the 4th pixel at the edge, target area of the pixel that the 3rd pixel obtaining the edge, target area of image subject to registration is concentrated and reference images is concentrated comprises the steps that S302 is to step S310:

S302: obtain pixel to be added to (pb, pb ') and pixel to be added to (pb, pb ') in the coordinate (pb.x of pixel pb to be added, pb.y) and the coordinate of pixel pb ' to be added (pb ' .x, pb ' .y), wherein, pixel pb to be added is the pixel on the limit of image subject to registration, pixel on the limit that pixel pb ' to be added is reference images, pixel pb to be added and pixel pb ' one_to_one corresponding to be added.

S304: judge whether pixel pb to be added is target pixel points.

S306: when judging that pixel pb to be added is target pixel points, revises the coordinate (pb.x, pb.y) of pixel pb to be added, obtains coordinates of targets (pm.x, pm.y).In this step, only when judging that pixel pb to be added is target pixel points, the coordinate (pb.x, pb.y) of pixel pb to be added is revised, and then obtain coordinates of targets (pm.x, pm.y).Such as: after judging that pixel pb to be added is target pixel points, the coordinate (1,2) of pixel pb to be added is revised, obtains coordinates of targets (3,5).

S308: by the coordinate (pb.x of pixel pb to be added, pb.y) coordinates of targets (pm.x is changed to, pm.y), the pixel that pixel pb to be added concentrates as the 3rd pixel is obtained from the edge, target area of image subject to registration according to coordinates of targets (pm.x, pm.y).In this step, by the coordinate of pixel pb to be added by original coordinate (pb.x, pb.y) coordinates of targets (pm.x is changed to, pm.y), and according to coordinates of targets (pm.x, pm.y) pixel pb to be added is got from the marginal portion, target area of image subject to registration, using the pixel that pixel pb to be added concentrates as the 3rd pixel.Continue to adopt the citing in step S306 to be described, now the coordinate modification of pixel pb to be added is (3,5), according to coordinate (3,5) pixel pb to be added is obtained from the marginal portion, target area of image subject to registration, using the pixel that pixel pb to be added concentrates as the 3rd pixel.

S310: according to the coordinate of pixel pb ' to be added (pb ' .x, pb ' .y), obtain the pixel that pixel pb ' to be added concentrates as the 4th pixel from the edge, target area of reference images.In this step, from the marginal portion, target area of reference images according to coordinate (pb ' .x, pb ' .y), obtain pixel pb ' to be added, and using a pixel that pixel pb ' to be added concentrates as the 4th pixel.

Can repeated execution of steps S302 to S310, concentrate whole pixels and the 4th pixel to concentrate whole pixels until get the 3rd pixel.In embodiments of the present invention, by first judging whether pixel pb to be added is target pixel points, decrease the correction of the coordinate to unnecessary pixel pb to be added, improve the efficiency of pixel that acquisition the 3rd pixel concentrates and the pixel that the 4th pixel is concentrated, saved the time.

Particularly, in embodiments of the present invention, judge whether pixel pb to be added is that object edge pixel comprises the steps:

Concentrate from the first pixel point set and the second pixel and obtain initial registration point to (pi, pi '), wherein, initial registration point is to (pi, pi ') in initial registration point pi be the first pixel concentrate pixel, initial registration point is to (pi, pi ') in initial registration point pi ' be that the second pixel concentrates the pixel corresponding with initial registration point pi, i and i ' gets 1 to n all successively, and n is the number of the pixel that the pixel concentrated of the first pixel or the second pixel are concentrated.Such as: the first pixel concentrate have 80 pixels: 1,2 ..., 80, second pixel concentrate also have 80 pixels: 1 ', 2 ' ..., 80 ', then there are 80 initial registration points pair, i.e. (p1, p1 '), (p2, p2 ') ... (p80, p80 ').

Obtaining initial registration point to the coordinate of initial registration point pi ' in (pi, pi ') (pi ' .x, pi ' .y), obtaining above-mentioned coordinate for calculating relative distance.

According to the coordinate (pb.x of pixel pb to be added, pb.y) with the coordinate of initial registration point pi ' (pi ' .x, pi ' .y) calculate relative distance d is [i '], calculate the formula of relative distance be dis [i']=| pi'.x-pb.x|+|pi'.y-pb.y| calculates each relative distance, wherein, dis [i '] be initial registration point pi ' and the relative distance of pixel pb to be added, pi ' .x is the horizontal ordinate of initial registration point pi ', pi ' .y is the ordinate of initial registration point pi ', pb.x is the horizontal ordinate of pixel pb to be added, pb.y is the ordinate of pixel pb to be added.

Judge whether the value of relative distance minimum in relative distance d is [1] to relative distance d is [n] is greater than preset value, particularly, preset value can be arranged according to user's request, in embodiments of the present invention, preset value is 10, then judge whether the value of relative distance minimum in relative distance d is [1] to relative distance d is [n] is greater than 10.

Wherein, when judging that the value of relative distance minimum in relative distance d is [1] to relative distance d is [n] is greater than preset value, determine that pixel pb to be added is target pixel points.Still adopt above-mentioned citing to be described, the value of relative distance minimum in relative distance d is [1] to relative distance d is [n] is greater than 10, pixel pb to be added is target pixel points.

Preferably, in embodiments of the present invention, when judging that pixel pb to be added is target pixel points, namely, when the value of relative distance minimum in relative distance d is [1] to relative distance d is [n] is greater than preset value, the coordinate (pb.x, pb.y) of pixel pb to be added is revised, obtain coordinates of targets (pm.x, pm.y) to comprise the steps:

According to the preset instructions received, the relative distance that j minimum is selected in relative distance d is [1] to relative distance d is [n], and obtain the first initial registration point corresponding to the relative distance minimum with j to (pa, pa '), wherein, a and a ' gets 1 to j all successively, j is the number of the minimum relative distance selected, first initial registration point to (pa, pa ') for initial registration point is to the initial registration point pair in (pi, pi ');

Calculate the mean value (dx, dy) of the first initial registration point to the coordinate offset amount of (pa, pa ').At the mean value (dx of coordinates computed side-play amount, dy) before, first the coordinate (pi.x, pi.y) of initial registration point pi is obtained, because the first initial registration point is to (pa, pa ') belong to initial registration point to (pi, pi '), so the first initial registration point pa also just belongs to initial registration point pi, namely, also the coordinate (pa.x, pa.y) of the first initial registration point pa has just been got; Again because obtained the coordinate (pi ' .x, pi ' .y) of initial registration point pi ' in step before, same, also just get the coordinate (pa ' .x, pa ' .y) of the first initial registration point pa ', then according to formula

dx = \frac{1}{j} Σ_{k = 1}^{j} | pa . x - {pa}^{'} . x |

With

dy = \frac{1}{j} Σ_{k = 1}^{j} | pa . y - {pa}^{'} . y |

Calculate the first initial registration point to (pa, pa ') the mean value (dx, dy) of coordinate offset amount, wherein, dx is the mean value of horizontal ordinate side-play amount, dy is the mean value of ordinate side-play amount, and (pa.x, pa.y) is the coordinate of the first initial registration point pa, (pa ' .x, pa ' .y) be the coordinate of the first initial registration point pa ', j is the first initial registration point to the number of (pa, pa ').

Coordinates of targets (pm.x, pm.y) is determined according to the mean value (dx, dy) of coordinate offset amount and the coordinate (pb.x, pb.y) of pixel pb to be added.In this step, coordinates of targets (pm.x is calculated according to formula pm.x=pb.x+dx and pm.y=pb.y+dy, pm.y), wherein, pb.x is the horizontal ordinate of pixel pb to be added, and pb.y is the ordinate of pixel pb to be added, dx is that the first initial registration point is to (pa, pa ') horizontal ordinate side-play amount, dy is the first initial registration point to the ordinate side-play amount of (pa, pa ').

In the invention process row, by choosing the nearer initial registration point pair of some and pixel relative distance to be added initial registration point centering, and calculate the right coordinate offset amount of the initial registration point chosen, and then revised by the coordinate of coordinate offset amount to pixel to be added calculated, improve the accuracy of registration of this pixel to be added.

Particularly, in embodiments of the present invention, obtain pixel to be added and comprise the length of the limit Ak obtaining image subject to registration and the limit Ak ' of reference images to (pb, pb '), wherein, k and k ' gets 1 to 4 successively; According to the length of length of side Ak and the quotient of default step-length, determine the first acquisition number of times mk; According to the length of length of side Ak ' and the quotient of default step-length, determine the second acquisition number of times mk '; Determine that the first acquisition number of times mk is the number obtaining edge pixel point from limit Ak; Determine that the second acquisition number of times mk ' is the number obtaining edge pixel point from limit Ak '; Mk edge pixel point is obtained, as pixel pb to be added from limit Ak according to default step-length; The individual edge pixel point of mk ' is obtained, as pixel pb ' to be added from limit Ak ' according to default step-length.

Pixel centering to be added pixel to be added pb is obtained identical with the process of pixel pb ' to be added in the embodiment of the present invention, be described to obtain pixel pb to be added, specific as follows: the length first obtaining the limit A1 of image subject to registration, the length of such as A1 is 100 pixels, the length presetting step-length is 20 pixels, then the quotient of A1 and default step-length is 5, determine that obtaining number of times m1 is 5 times, then there are 5 edge pixel points, 5 edge pixel points are respectively A, B, C, D and E, A is that in length of side A1, length is the edge pixel point at 20 pixel places, B is that in length of side A1, length is the edge pixel point at 40 pixel places, C is that in length of side A1, length is the edge pixel point at 60 pixel places, D is that in length of side A1, length is the edge pixel point at 80 pixel places, E is that in length of side A1, length is the edge pixel point at 100 pixel places, successively by 5 edge pixel point A, B, C, D and E is as pixel pb to be added, if the length of A1 is 90 pixels, the length presetting step-length is 40 pixels, then the quotient of A1 and default step-length is 2, determine that obtaining number of times m1 is 2 times, then there are 2 edge pixel points, 2 edge pixel points are respectively F and G, F is that in length of side A1, length is the edge pixel point at 40 pixel places, G is that in length of side A1, length is the edge pixel point at 80 pixel places, successively using 2 edge pixel point F and G as pixel pb to be added, the limit A1 of image subject to registration is obtained respectively according to above-mentioned obtain manner, A2, pixel to be added in A3 and A4 and the limit A1 of reference images, A2, pixel to be added in A3 and A4.Edge pixel point in the limit Ak of image subject to registration is equal with the edge pixel point number in reference images Ak ', and one_to_one corresponding, thus the number of pixel pb to be added and pixel pb ' to be added is equal, and one_to_one corresponding.Fig. 4 a is the schematic diagram of the pixel to be added got from the limit of image subject to registration according to the embodiment of the present invention, and 3 is arbitrary pixel to be added in image subject to registration, is namely also edge pixel point.Fig. 4 b is the schematic diagram of the pixel to be added got from the limit of reference images according to the embodiment of the present invention, 4 be in reference image with the pixel arbitrary to be added in image subject to registration, be namely also edge pixel point.

Preferably, Fig. 5 is the process flow diagram of the Image registration method of the preferred embodiment of the present invention, and as shown in Figure 5, the method mainly comprises the steps S502 to S512:

S502: the second pixel point set obtaining the first pixel point set of the inside, target area of image subject to registration and the inside, target area of reference images, this step is equivalent to step S102, does not repeat them here.

S504: screen the first pixel point set and the second pixel point set respectively, obtain the first screening pixel point set and the second screening pixel point set, the number that pixel and second in the first screening pixel after screening screens the pixel that pixel is concentrated is equal, and one_to_one corresponding, this screening technique can be Ransac method.

S506: the 4th pixel point set obtaining the 3rd pixel point set at the edge, target area of image subject to registration and the edge, target area of reference images, this step is equivalent to step S104, does not repeat them here.

S508: combination first screening pixel point set and the 3rd pixel point set, obtain the first object match control point set of image subject to registration, that is, the pixel that the first screening pixel is concentrated is added with the pixel that the 3rd pixel is concentrated, obtains first object match control point set.Such as: the first screening pixel is concentrated and comprised 60 pixels, and the 3rd pixel is concentrated and comprised 20 pixels, comprises 80 pixels in first object registering control points.

S510: combination second screening pixel point set and the 4th pixel point set, the second object matching obtaining reference images controls point set, that is, the pixel that the second screening pixel is concentrated is added with the pixel that the 4th pixel is concentrated, obtains the second object matching and control point set.Such as: the second screening pixel is concentrated and comprised 60 pixels, and the 4th pixel is concentrated and comprised 20 pixels, comprises 80 pixels in the second object matching reference mark.

S512: utilize the second object matching reference mark set pair first object match control point set to correct, this step is equivalent to step S110, does not repeat them here.

In embodiments of the present invention, by screening respectively the first pixel set second pixel point set obtained, although the quantity of the pixel that after screening, the first pixel is concentrated and the pixel that the second pixel is concentrated all reduces, but the obtain first screening pixel concentrates the precision of pixel to be higher than the concentrated pixel of the first pixel, same, the precision of the pixel that the second screening pixel is concentrated also is higher than the concentrated pixel of the second pixel, the precision of the pixel the first screening pixel point set and the 3rd pixel point set combined in the first object registering control points obtained also just uprises, the precision of the pixel in the second object matching reference mark obtained equally also just uprises, reach the effect improving Image registration degree of accuracy.

Particularly, after the acquisition first pixel point set of inside, target area of image subject to registration and the second pixel point set of the inside, target area of reference images, the Image registration method that the embodiment of the present invention provides also comprises screens the first pixel point set and the second pixel point set respectively, obtain the first screening pixel point set and the second screening pixel point set, initial registration point is obtained to (pi from the first pixel and the second pixel, pi ') correspondingly, carrying out initial registration point to (pi, pi ') in acquisition process, then concentrate from the first screening pixel point set and the second screening pixel to obtain initial registration point to (pi, pi ').

Fig. 6 is the comparison diagram of the registration effect according to Image registration method of the present invention and Image registration method of the prior art.For first group of same place, AA represents same place in reference images, BB represents same place in the registration image obtained by Image registration method of the prior art, CC represents same place in the registration image that the Image registration method provided by the embodiment of the present invention is obtained, for second group of same place, DD represents the same place in reference images, FF represents the same place in the registration image obtained by Image registration method of the prior art, EE represents the same place in the registration image that the Image registration method provided by the embodiment of the present invention is obtained, known by contrasting, error between same place BB and same place AA is obviously greater than the error between same place CC and same place AA, error between same place FF and same place DD is obviously greater than the error between same place EE and same place DD, therefore can draw, it is more accurate that the registration image that the Image registration method provided by the embodiment of the present invention is obtained obtains registration image than Image registration method of the prior art, so the Image registration method that the application provides improves the degree of accuracy of registration image, improve the effect of Image registration, for the subsequent applications of Image registration, as image joint etc., provide good basis.

It should be noted that, for aforesaid each embodiment of the method, in order to simple description, therefore it is all expressed as a series of combination of actions, but those skilled in the art should know, the present invention is not by the restriction of described sequence of movement, because according to the present invention, some step can adopt other orders or carry out simultaneously.Secondly, those skilled in the art also should know, the embodiment described in instructions all belongs to preferred embodiment, and involved action and module might not be that the present invention is necessary.

Through the above description of the embodiments, those skilled in the art can be well understood to the mode that can add required general hardware platform by software according to the method for above-described embodiment and realize, hardware can certainly be passed through, but in a lot of situation, the former is better embodiment.Based on such understanding, technical scheme of the present invention can embody with the form of software product the part that prior art contributes in essence in other words, this computer software product is stored in a storage medium (as ROM/RAM, magnetic disc, CD), comprising some instructions in order to make a station terminal equipment (can be mobile phone, computing machine, server, or the network equipment etc.) perform method described in each embodiment of the present invention.

Embodiment 2

According to the embodiment of the present invention, additionally provide a kind of Image registration device for implementing above-mentioned Image registration method, this Image registration device is mainly used in the Image registration method that execution embodiment of the present invention foregoing provides, and does concrete introduction below to the Image registration device that the embodiment of the present invention provides.

According to the embodiment of the present invention, provide a kind of Image registration device, Fig. 7 is the schematic diagram of the Image registration device according to the embodiment of the present invention, as shown in Figure 7, this device comprises the first acquiring unit 10, second acquisition unit 20, first assembled unit 30, second assembled unit 40 and correcting unit 50, wherein:

First acquiring unit 10 is for the second pixel point set of the inside, target area of the first pixel point set and reference images that obtain the inside, target area of image subject to registration, and wherein, target area is the overlapping region of image subject to registration and reference images.The the first pixel point set obtained and the method for the second pixel point set can be Shift method or Surf method, the pixel that first pixel is concentrated and the pixel one_to_one corresponding that the second pixel is concentrated, and be same place, namely, get 100 pixels from the inside, target area of image subject to registration, 100 pixels will be got from the inside, target area of reference images.Fig. 2 a is the schematic diagram of the first pixel point set got in inside, the target area of image subject to registration, and 1 is that the first pixel concentrates arbitrary pixel; Fig. 2 b is the schematic diagram of the second pixel point set obtained in inside, the target area of reference images, and 2 is that the second pixel concentrates arbitrary pixel.Overlapping region in image subject to registration and reference images is converted to planimetric coordinates, then the pixel that the first pixel in image subject to registration and reference images is concentrated and the pixel that the second pixel is concentrated can have corresponding coordinate in the image belonging to it.Before the acquisition first pixel point set of inside, target area of image subject to registration and the second pixel point set of the inside, target area of reference images, need the image subject to registration and the reference images that receive input.

Second acquisition unit 20 is for the 4th pixel point set at the edge, target area of the 3rd pixel point set and reference images that obtain the edge, target area of image subject to registration.Particularly, 3rd pixel point set is arranged in the marginal portion of image subject to registration and reference images overlapping region, 4th pixel point set is arranged in the marginal portion of reference images and image overlap area subject to registration, the pixel that 3rd pixel is concentrated and the pixel that the 4th pixel is concentrated also are one_to_one corresponding, and be same place, namely get 10 pixel composition the 3rd pixel point sets from the marginal portion, target area of image subject to registration, 10 pixel composition the 4th pixel point sets will be got from the marginal portion, target area of reference images.

First assembled unit 30 is for combining the first pixel point set and the 3rd pixel point set, obtain the first object match control point set of image subject to registration, namely, the pixel that the pixel concentrate the first pixel obtained from image subject to registration and the 3rd pixel are concentrated is added, and obtains the first object match control point set in image subject to registration.Such as, the first pixel is concentrated and is comprised 80 pixels, and the 3rd pixel is concentrated and comprised 20 pixels, then first object registering control points is concentrated and comprised 100 first object registering control points.

Second assembled unit 40 is for combining the second pixel point set and the 4th pixel point set, the second object matching obtaining reference images controls point set, namely, the pixel that the pixel concentrate the second pixel obtained from reference images and the 4th pixel are concentrated is added, and the second object matching obtained in reference images controls point set.Such as, the second pixel is concentrated and is comprised 80 pixels, and the 4th pixel is concentrated and comprised 20 pixels, then the second object matching reference mark is concentrated and comprised 100 the second object matching reference mark.

Correcting unit 50 corrects for utilizing the second object matching reference mark set pair first object match control point set, obtain registration image, particularly, utilize the second object matching in the target area of reference images to control point set and correct first object match control point set in the target area of image subject to registration, the method of this correction can be Tin method, generates registration image.

Preferably, as shown in Figure 8, in embodiments of the present invention, second acquisition unit 20 mainly comprises the first acquisition subelement 210, judgment sub-unit 220, revises subelement 230, second acquisition subelement 240 and the 3rd acquisition subelement 250, wherein:

First obtains subelement 210 for obtaining pixel to be added to (pb, pb ') and pixel to be added to pb, pb ') in the coordinate (pb.x of pixel pb to be added, pb.y) and the coordinate of pixel pb ' to be added (pb ' .x, pb ' .y), wherein, pixel pb to be added is the pixel on the limit of image subject to registration, pixel on the limit that pixel pb ' to be added is reference images, pixel pb to be added and pixel pb ' one_to_one corresponding to be added.

Judgment sub-unit 220 is for judging whether pixel pb to be added is target pixel points.

Revising subelement 230 for when judging that pixel pb to be added is target pixel points, the coordinate (pb.x, pb.y) of pixel pb to be added being revised, obtains coordinates of targets (pm.x, pm.y).Only when judging that pixel pb to be added is target pixel points, the coordinate (pb.x, pb.y) of pixel pb to be added is revised in subunit, and then obtain coordinates of targets (pm.x, pm.y).Such as: after judging that pixel pb to be added is target pixel points, the coordinate (1,2) of pixel pb to be added is revised, obtains coordinates of targets (3,5).

Second obtains subelement 240 for the coordinate (pb.x by pixel pb to be added, pb.y) coordinates of targets (pm.x is changed to, pm.y), the pixel that pixel pb to be added concentrates as the 3rd pixel is obtained from the edge, target area of image subject to registration according to coordinates of targets (pm.x, pm.y).In subunit, by the coordinate of pixel pb to be added by original coordinate (pb.x, pb.y) coordinates of targets (pm.x is changed to, pm.y), and according to coordinates of targets (pm.x, pm.y) pixel pb to be added is got from the marginal portion, target area of image subject to registration, using the pixel that pixel pb to be added concentrates as the 3rd pixel.Continue to adopt the citing revised in subelement 230 to be described, now the coordinate modification of pixel pb to be added is (3,5), according to coordinate (3,5) pixel pb to be added is obtained from the marginal portion, target area of image subject to registration, using the pixel that pixel pb to be added concentrates as the 3rd pixel.

3rd obtains subelement 250 for the coordinate (pb ' .x, pb ' .y) according to pixel pb ' to be added, obtains the pixel that pixel pb ' to be added concentrates as the 4th pixel from the edge, target area of reference images.In subunit, from the marginal portion, target area of reference images according to coordinate (pb ' .x, pb ' .y), obtain pixel pb ' to be added, and using a pixel that pixel pb ' to be added concentrates as the 4th pixel.

The subelement that second acquisition unit 20 comprises can be repeated, concentrate whole pixels and the 4th pixel to concentrate whole pixels until get the 3rd pixel.In embodiments of the present invention, by first judging whether pixel pb to be added is target pixel points, decrease the correction of the coordinate to unnecessary pixel pb to be added, improve the efficiency of pixel that acquisition the 3rd pixel concentrates and the pixel that the 4th pixel is concentrated, saved the time.

Particularly, in embodiments of the present invention, judgment sub-unit 220 mainly comprises the first acquisition module, the second acquisition module, the first computing module and judge module, wherein:

First acquisition module is used for concentrating from the first pixel point set and the second pixel obtaining initial registration point to (pi, pi '), wherein, initial registration point is to (pi, pi ') in initial registration point pi be the first pixel concentrate pixel, initial registration point is to (pi, pi ') in initial registration point pi ' be that the second pixel concentrates the pixel corresponding with initial registration point pi, i and i ' gets 1 to n all successively, and n is the number of the pixel that the pixel concentrated of the first pixel or the second pixel are concentrated.Such as: the first pixel concentrate have 80 pixels: 1,2 ..., 80, second pixel concentrate also have 80 pixels: 1 ', 2 ' ..., 80 ', then there are 80 initial registration points pair, i.e. (p1, p1 '), (p2, p2 ') ... (p80, p80 ').

Second acquisition module, for obtaining initial registration point to the coordinate of initial registration point pi ' in (pi, pi ') (pi ' .x, pi ' .y), obtains above-mentioned coordinate for calculating relative distance.

First computing module is used for the coordinate (pb.x according to pixel pb to be added, pb.y) with the coordinate of initial registration point pi ' (pi ' .x, pi ' .y) calculate relative distance d is [i '], calculate the formula of relative distance be dis [i']=| pi'.x-pb.x|+|pi'.y-pb.y| calculates each relative distance, wherein, dis [i '] be initial registration point pi ' and the relative distance of pixel pb to be added, pi ' .x is the horizontal ordinate of initial registration point pi ', pi ' .y is the ordinate of initial registration point pi ', pb.x is the horizontal ordinate of pixel pb to be added, pb.y is the ordinate of pixel pb to be added.

Judge module is for judging whether the value of relative distance minimum in relative distance d is [1] to relative distance d is [n] is greater than preset value, particularly, preset value can be arranged according to user's request, in embodiments of the present invention, preset value is 10, then judge whether the value of relative distance minimum in relative distance d is [1] to relative distance d is [n] is greater than 10.

Preferably, in embodiments of the present invention, revise subelement 230 and mainly comprise selection module, the second computing module and the first determination module, wherein:

Select module for the preset instructions according to reception, the relative distance that j minimum is selected in relative distance d is [1] to relative distance d is [n], and obtain the first initial registration point corresponding to the relative distance minimum with j to (pa, pa '), wherein, a and a ' gets 1 to j all successively, j is the number of the minimum relative distance selected, first initial registration point to (pa, pa ') for initial registration point is to the initial registration point pair in (pi, pi ');

Second computing module is for calculating the mean value (dx, dy) of the first initial registration point to the coordinate offset amount of (pa, pa ').At the mean value (dx of coordinates computed side-play amount, dy) before, first the coordinate (pi.x, pi.y) of initial registration point pi is obtained, because the first initial registration point is to (pa, pa ') belong to initial registration point to (pi, pi '), so the first initial registration point pa also just belongs to initial registration point pi, namely, also the coordinate (pa.x, pa.y) of the first initial registration point pa has just been got; Again because obtained the coordinate (pi ' .x, pi ' .y) of initial registration point pi ' in step before, same, also just get the coordinate (pa ' .x, pa ' .y) of the first initial registration point pa ', then according to formula

dx = \frac{1}{j} Σ_{k = 1}^{j} | pa . x - {pa}^{'} . x |

With

dy = \frac{1}{j} Σ_{k = 1}^{j} | pa . y - {pa}^{'} . y |

First determination module is used for determining coordinates of targets (pm.x, pm.y) according to the mean value of coordinate offset amount and the coordinate (pb.x, pb.y) of pixel pb to be added.In this module, coordinates of targets (pm.x is calculated according to formula pm.x=pb.x+dx and pm.y=pb.y+dy, pm.y), wherein, pb.x is the horizontal ordinate of pixel pb to be added, and pb.y is the ordinate of pixel pb to be added, dx is that the first initial registration point is to (pa, pa ') horizontal ordinate side-play amount, dy is the first initial registration point to the ordinate side-play amount of (pa, pa ').

Particularly, in embodiments of the present invention, first obtains subelement 210 comprises the 3rd acquisition module, the second determination module, the 3rd determination module, the 4th determination module, the 5th determination module, the 4th acquisition module and the 5th acquisition module, wherein, 3rd acquisition module is for the limit Ak ' of the length and reference images that obtain the limit Ak of image subject to registration, wherein, k and k ' gets 1 to 4 successively; Second determination module is used for according to the length of length of side Ak and the quotient of default step-length, determines the first acquisition number of times mk; 3rd determination module is used for according to the length of length of side Ak ' and the quotient of default step-length, determines the second acquisition number of times mk '; 4th determination module is for determining that the first acquisition number of times mk is the number obtaining edge pixel point from limit Ak; 5th determination module is used for determining that the second acquisition number of times mk ' is the number obtaining edge pixel point from limit Ak '; 4th acquisition module is for obtaining mk edge pixel point, as pixel pb to be added according to default step-length from limit Ak; 5th acquisition module, obtains the individual edge pixel point of mk ', as pixel pb ' to be added according to default step-length from limit Ak '.

During the embodiment of the present invention obtains, pixel centering to be added pixel to be added pb is identical with the process of pixel pb ' to be added, be described to obtain pixel pb to be added, specific as follows: the length first obtaining the limit A1 of image subject to registration, the length of such as A1 is 100 pixels, the length presetting step-length is 20 pixels, then the quotient of A1 and default step-length is 5, determine that obtaining number of times m1 is 5 times, then there are 5 edge pixel points, 5 edge pixel points are respectively A, B, C, D and E, A is that in length of side A1, length is the edge pixel point at 20 pixel places, B is that in length of side A1, length is the edge pixel point at 40 pixel places, C is that in length of side A1, length is the edge pixel point at 60 pixel places, D is that in length of side A1, length is the edge pixel point at 80 pixel places, E is that in length of side A1, length is the edge pixel point at 100 pixel places, successively by 5 edge pixel point A, B, C, D and E is as pixel pb to be added, if the length of A1 is 90 pixels, the length presetting step-length is 40 pixels, then the quotient of A1 and default step-length is 2, determine that obtaining number of times m1 is 2 times, then there are 2 edge pixel points, 2 edge pixel points are respectively F and G, F is that in length of side A1, length is the edge pixel point at 40 pixel places, G is that in length of side A1, length is the edge pixel point at 80 pixel places, successively using 2 edge pixel point F and G as pixel pb to be added, the limit A1 of image subject to registration is obtained respectively according to above-mentioned obtain manner, A2, pixel to be added in A3 and A4 and the limit A1 of reference images, A2, pixel to be added in A3 and A4.Edge pixel point in the limit Ak of image subject to registration is equal with the edge pixel point number in reference images Ak ', and one_to_one corresponding, thus the number of pixel pb to be added and pixel pb ' to be added is equal, and one_to_one corresponding.Fig. 4 a is the schematic diagram of the pixel to be added got from the limit of image subject to registration according to the embodiment of the present invention, and 3 is arbitrary pixel to be added in image subject to registration, is namely also edge pixel point.Fig. 4 b is the schematic diagram of the pixel to be added got from the limit of reference images according to the embodiment of the present invention, 4 be in reference image with the pixel arbitrary to be added in image subject to registration, be namely also edge pixel point.

Preferably, Fig. 9 is the schematic diagram of the Image registration device of the preferred embodiment of the present invention, as shown in Figure 9, this device mainly comprises the 3rd acquiring unit 100, screening unit 200, the 4th acquiring unit 300, first combination subelement 400, second combination subelement 500 and correcting unit 600, wherein:

3rd acquiring unit 100 is for the second pixel point set of the inside, target area of the first pixel point set and reference images that obtain the inside, target area of image subject to registration, and the 3rd acquiring unit 100 is equivalent to the first acquiring unit 10, does not repeat them here.

Screening unit 200 is for screening the first pixel point set and the second pixel point set respectively, obtain the first screening pixel point set and the second screening pixel point set, the number that pixel and second in the first screening pixel after screening screens the pixel that pixel is concentrated is equal, and one_to_one corresponding, this screening technique can be Ransac method.

4th acquiring unit 300 is for the 4th pixel point set at the edge, target area of the 3rd pixel point set and reference images that obtain the edge, target area of image subject to registration, and the 4th acquiring unit 300 is equivalent to second acquisition unit 20, does not repeat them here.

First combination subelement 400 is for combining the first screening pixel point set and the 3rd pixel point set, obtain the first object match control point set of image subject to registration, that is, the pixel that the first screening pixel is concentrated is added with the pixel that the 3rd pixel is concentrated, obtains first object match control point set.Such as: the first screening pixel is concentrated and comprised 60 pixels, and the 3rd pixel is concentrated and comprised 20 pixels, comprises 80 pixels in first object registering control points.

Second combination subelement 500 is for combining the second screening pixel point set and the 4th pixel point set, the second object matching obtaining reference images controls point set, that is, the pixel that the second screening pixel is concentrated is added with the pixel that the 4th pixel is concentrated, obtains the second object matching and control point set.Such as: the second screening pixel is concentrated and comprised 60 pixels, and the 4th pixel is concentrated and comprised 20 pixels, comprises 80 pixels in the second object matching reference mark.

Correcting unit 600 corrects for utilizing the second object matching reference mark set pair first object match control point set, and this correcting unit 600 is equivalent to correcting unit 50, does not repeat them here.

Particularly, the first acquisition module comprises the first acquisition submodule and obtains initial registration point to (pi, pi ') for concentrating from the first screening pixel point set and the second screening pixel.

From above description, can find out, the invention solves the negligible amounts of the registering control points at the edge, target area chosen in Image registration in prior art and the low problem of the Image registration degree of accuracy that causes, and then reach the effect improving Image registration degree of accuracy.

Obviously, those skilled in the art should be understood that, above-mentioned of the present invention each module or each step can realize with general calculation element, they can concentrate on single calculation element, or be distributed on network that multiple calculation element forms, alternatively, they can realize with the executable program code of calculation element, thus, they can be stored and be performed by calculation element in the storage device, or they are made into each integrated circuit modules respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the present invention is not restricted to any specific hardware and software combination.

The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims

1. an Image registration method, is characterized in that, comprising:

Obtain the second pixel point set of the first pixel point set of the inside, target area of image subject to registration and the inside, described target area of reference images, wherein, described target area is the overlapping region of described image subject to registration and described reference images;

Obtain the 4th pixel point set at the 3rd pixel point set at the edge, described target area of described image subject to registration and the edge, described target area of described reference images;

Combine described first pixel point set and described 3rd pixel point set, obtain the first object match control point set of described image subject to registration;

Combine described second pixel point set and described 4th pixel point set, the second object matching obtaining described reference images controls point set; And

Utilize first object match control point set described in described second object matching reference mark set pair to correct, obtain registration image.

2. method according to claim 1, it is characterized in that, the pixel that the 4th pixel at the edge, described target area of the pixel that the 3rd pixel obtaining the edge, described target area of described image subject to registration is concentrated and described reference images is concentrated comprises:

Obtain pixel to be added to (pb, pb ') and described pixel to be added to (pb, pb ') in the coordinate (pb.x of pixel pb to be added, pb.y) and the coordinate of pixel pb ' to be added (pb ' .x, pb ' .y), wherein, described pixel pb to be added is the pixel on the limit of described image subject to registration, the pixel on the limit that described pixel pb ' to be added is described reference images;

Judge whether described pixel pb to be added is target pixel points;

When judging that described pixel pb to be added is target pixel points, the coordinate (pb.x, pb.y) of described pixel pb to be added being revised, obtains coordinates of targets (pm.x, pm.y);

By the coordinate (pb.x of described pixel pb to be added, pb.y) described coordinates of targets (pm.x is changed to, pm.y), according to the pixel that described coordinates of targets (pm.x, pm.y) is concentrated from edge, the described target area described pixel pb to be added of acquisition of described image subject to registration as described 3rd pixel; And

According to the coordinate of described pixel pb ' to be added (pb ' .x, pb ' .y), obtain the pixel that described pixel pb ' to be added concentrates as described 4th pixel from the edge, described target area of described reference images.

3. method according to claim 2, is characterized in that, judges whether described pixel pb to be added is that target pixel points comprises:

Concentrate from described first pixel point set and described second pixel and obtain initial registration point to (pi, pi '), wherein, described initial registration point is to (pi, pi ') in initial registration point pi be described first pixel concentrate pixel, described initial registration point is to (pi, pi ') in initial registration point pi ' concentrate the pixel corresponding with described initial registration point pi for described second pixel, i and i ' gets 1 to n all successively, and n is the number of the pixel that the pixel concentrated of described first pixel or described second pixel are concentrated;

Obtain described initial registration point to the coordinate of initial registration point pi ' in (pi, pi ') (pi ' .x, pi ' .y);

Relative distance d is [i '] is calculated according to the coordinate of the coordinate (pb.x, pb.y) of described pixel pb to be added and described initial registration point pi ' (pi ' .x, pi ' .y); And

Judge whether the value of described relative distance minimum in relative distance d is [1] to relative distance d is [n] is greater than preset value,

Wherein, when judging that the value of described relative distance minimum in described relative distance d is [1] to described relative distance d is [n] is greater than described preset value, determine that described pixel pb to be added is described target pixel points.

4. method according to claim 3, is characterized in that, when judging that described pixel pb to be added is target pixel points, to the coordinate (pb.x of described pixel pb to be added, pb.y) revise, obtain coordinates of targets (pm.x, pm.y) and comprising:

According to the preset instructions received, the relative distance that j minimum is selected in described relative distance d is [1] to described relative distance d is [n], and obtain the first initial registration point corresponding to the relative distance minimum with j to (pa, pa '), wherein, a and a ' gets 1 to j all successively, j is the number of the described minimum relative distance selected, first initial registration point is to (pa, pa ') for described initial registration point is to the initial registration point pair in (pi, pi ');

Calculate the mean value (dx, dy) of described first initial registration point to the coordinate offset amount of (pa, pa '); And

Coordinates of targets (pm.x, pm.y) is determined according to the mean value (dx, dy) of described coordinate offset amount and the coordinate (pb.x, pb.y) of described pixel pb to be added.

5. method according to claim 2, is characterized in that, obtains pixel to be added and comprising (pb, pb '):

Obtain the length of the limit Ak of described image subject to registration and the limit Ak ' of described reference images, wherein, k and k ' gets 1 to 4 successively;

According to the length of described limit Ak and the quotient of default step-length, determine the first acquisition number of times mk;

According to the length of described limit Ak ' and the quotient of default step-length, determine the second acquisition number of times mk ';

Determine that described first acquisition number of times mk is the number obtaining edge pixel point from described limit Ak;

Determine that described second acquisition number of times mk ' is the number obtaining edge pixel point from described limit Ak ';

Mk described edge pixel point is obtained, as described pixel pb to be added from described limit Ak according to described default step-length; And

The individual described edge pixel point of mk ' is obtained, as pixel pb ' to be added from described limit Ak ' according to described default step-length.

6. method according to claim 1, it is characterized in that, after the acquisition first pixel point set of inside, target area of image subject to registration and the second pixel point set of the inside, described target area of reference images, described method also comprises screens described first pixel point set and described second pixel point set respectively, obtain the first screening pixel point set and the second screening pixel point set, wherein:

Combine described first pixel point set and described 3rd pixel point set, the first object match control point set obtaining described image subject to registration comprises: combine described first screening pixel point set and described 3rd pixel point set, obtain the first object match control point set of described image subject to registration;

Combine described second pixel and described 4th pixel point set, the second object matching obtaining described reference images controls point set and comprises: combine described second screening pixel point set and described 4th pixel point set, the second object matching obtaining described reference images controls point set.

7. method according to claim 3, it is characterized in that, after the acquisition first pixel point set of inside, target area of image subject to registration and the second pixel point set of the inside, described target area of reference images, described method also comprises screens described first pixel point set and described second pixel point set respectively, obtain the first screening pixel point set and the second screening pixel point set, concentrate from described first pixel point set and described second pixel and obtain initial registration point (pi, pi ') being comprised:

Concentrate from described first screening pixel point set and described second screening pixel and obtain described initial registration point to (pi, pi ').

8. an Image registration device, is characterized in that, comprising:

First acquiring unit, for the second pixel point set of the inside, described target area of the first pixel point set and reference images that obtain the inside, target area of image subject to registration, wherein, described target area is the overlapping region of described image subject to registration and described reference images;

Second acquisition unit, for the 4th pixel point set at the edge, described target area of the 3rd pixel point set and described reference images that obtain the edge, described target area of described image subject to registration;

First assembled unit, for combining described first pixel point set and described 3rd pixel point set, obtains the first object match control point set of described image subject to registration;

Second assembled unit, for combining described second pixel point set and described 4th pixel point set, the second object matching obtaining described reference images controls point set; And

Correcting unit, for utilizing first object match control point set described in described second object matching reference mark set pair to correct, obtains registration image.

9. device according to claim 8, is characterized in that, described second acquisition unit comprises:

First obtains subelement, for obtaining pixel to be added to (pb, pb ') and described pixel to be added to (pb, pb ') in the coordinate (pb.x of pixel pb to be added, pb.y) and the coordinate of pixel pb ' to be added (pb ' .x, pb ' .y), wherein, described pixel pb to be added is the pixel on the limit of described image subject to registration, the pixel on the limit that described pixel pb ' to be added is described reference images;

Judgment sub-unit, for judging whether described pixel pb to be added is target pixel points;

Revise subelement, for when judging that described pixel pb to be added is target pixel points, the coordinate (pb.x, pb.y) of described pixel pb to be added being revised, obtains coordinates of targets (pm.x, pm.y);

Second obtains subelement, for the coordinate (pb.x by described pixel pb to be added, pb.y) described coordinates of targets (pm.x is changed to, pm.y), according to the pixel that described coordinates of targets (pm.x, pm.y) is concentrated from edge, the described target area described pixel pb to be added of acquisition of described image subject to registration as described 3rd pixel; And

3rd obtains subelement, for according to described pixel pb ' to be added coordinate (pb ' .x, pb ' .y), the pixel that described pixel pb ' to be added concentrates as described 4th pixel is obtained from the edge, described target area of described reference images.

10. device according to claim 9, is characterized in that, described judgment sub-unit comprises:

First acquisition module, initial registration point is obtained to (pi for concentrating from described first pixel point set and described second pixel, pi '), wherein, described initial registration point is to (pi, pi ') in initial registration point pi be described first pixel concentrate pixel, described initial registration point is to (pi, pi ') in initial registration point pi ' concentrate the pixel corresponding with described initial registration point pi for described second pixel, i and i ' gets 1 to n all successively, n is the number of the pixel that the pixel concentrated of described first pixel or described second pixel are concentrated,

Second acquisition module, for obtaining described initial registration point to the coordinate of initial registration point pi ' in (pi, pi ') (pi ' .x, pi ' .y);

First computing module, calculates relative distance d is [i '] for the coordinate (pi ' .x, pi ' .y) according to the coordinate (pb.x, pb.y) of described pixel pb to be added and described initial registration point pi '; And

Judge module, for judging whether the value of described relative distance minimum in relative distance d is [1] to relative distance d is [n] is greater than preset value,

11. devices according to claim 10, is characterized in that, described correction subelement comprises:

Select module, for the preset instructions according to reception, the relative distance that j minimum is selected in described relative distance d is [1] to described relative distance d is [n], and obtain the first initial registration point corresponding to the relative distance minimum with j to (pa, pa '), wherein, a and a ' gets 1 to j all successively, j is the number of the described minimum relative distance selected, first initial registration point is to (pa, pa ') for described initial registration point is to the initial registration point pair in (pi, pi ');

Second computing module, for calculating the mean value (dx, dy) of described first initial registration point to the coordinate offset amount of (pa, pa '); And

First determination module, for determining coordinates of targets (pm.x, pm.y) according to the mean value (dx, dy) of described coordinate offset amount and the coordinate (pb.x, pb.y) of described pixel pb to be added.

12. devices according to claim 9, is characterized in that, described first obtains subelement comprises:

3rd acquisition module, for the limit Ak ' of the length and described reference images that obtain the limit Ak of described image subject to registration, wherein, k and k ' gets 1 to 4 successively;

Second determination module, for according to the length of described limit Ak and the quotient of default step-length, determines the first acquisition number of times mk;

3rd determination module, for according to the length of described limit Ak ' and the quotient of default step-length, determines the second acquisition number of times mk ';

4th determination module, for determining that described first acquisition number of times mk is the number obtaining edge pixel point from described limit Ak;

5th determination module, for determining that described second acquisition number of times mk ' is the number obtaining edge pixel point from described limit Ak ';

4th acquisition module, for obtaining mk described edge pixel point, as described pixel pb to be added according to described default step-length from described limit Ak; And

5th acquisition module, obtains the individual described edge pixel point of mk ', as pixel pb ' to be added according to described default step-length from described limit Ak '.

13. devices according to claim 8, is characterized in that, described device also comprises screening unit, for screening described first pixel point set and described second pixel point set respectively, obtain the first screening pixel point set and the second screening pixel point set, wherein:

First assembled unit comprises the first combination subelement, for combining described first screening pixel point set and described 3rd pixel point set, obtains the first object match control point set of described image subject to registration;

Second assembled unit comprises the second combination subelement, and for combining described second screening pixel point set and described 4th pixel point set, the second object matching obtaining described reference images controls point set.

14. devices according to claim 10, is characterized in that, described device also comprises screening unit, for screening described first pixel point set and described second pixel point set respectively, obtain the first screening pixel point set and the second screening pixel point set, wherein, described first acquisition module comprises:

First obtains submodule, obtains described initial registration point to (pi, pi ') for concentrating from described first screening pixel point set and described second screening pixel.