CN104517279A - 一种图像互相关比对方法 - Google Patents

一种图像互相关比对方法 Download PDF

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Publication number
CN104517279A
CN104517279A CN201310563830.0A CN201310563830A CN104517279A CN 104517279 A CN104517279 A CN 104517279A CN 201310563830 A CN201310563830 A CN 201310563830A CN 104517279 A CN104517279 A CN 104517279A
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China
Prior art keywords
moment
image
correlation comparison
comparison
cross
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CN201310563830.0A
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English (en)
Inventor
吕键
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GUANGDONG LAUNCA MEDICAL DEVICE TECHNOLOGY Co Ltd
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GUANGDONG LAUNCA MEDICAL DEVICE TECHNOLOGY Co Ltd
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Priority to CN201310563830.0A priority Critical patent/CN104517279A/zh
Publication of CN104517279A publication Critical patent/CN104517279A/zh
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration

Abstract

本发明涉及一种图像互相关比对方法，通过对t1时刻的左右图像进行比对以获得三维坐标，并用t1时刻的左(或右)图像分别与t2时刻的左和右图像进行互相关比对以获得两个时间的姿态关联，从而避免由于使用不同参照图像进行比对所引起的误差叠加，提高了图像相互关比对的精确度。

Description

一种图像互相关比对方法
技术领域
本发明属于相机领域，具体涉及一种图像互相关比对方法。
背景技术
现有的三维相机在做不同时刻的图像的比对前，往往是先将一个时刻t2的图像扭曲或者投射到之前t1的图像平面以减少两组图像间的差异。在比对过程中，常见的方法是对t1和t2的左右图像分别进行互相关比对来获得各自时间的三维坐标，对t1和t2的左(或右)图像进行互相关比对来获得两个时间的姿态关联进而得到相机的姿态变化；由于任何一次互相关比对本身存在误差，这种比对方法的最终误差是t1和t2的左(或右)图像互相关误差和t2的左右图像互相关误差的叠加，误差较大。
发明内容
为了解决上述问题，本发明提供了一种图像互相关比对方法，包括如下步骤：
步骤一，将t2时刻的图像扭曲或者投射到t1时刻的图像平面；
步骤二，对t1时刻的左右图像进行比对以获得三维坐标；
步骤三，将t1时刻的左图像或右图像分别与t2时刻的左图像和右图像进行互相关比对，以获得两个时刻的姿态关联。
本发明的有益效果在于：通过对t1时刻的左右图像进行比对以获得三维坐标，并用t1时刻的左(或右)图像分别与t2时刻的左和右图像进行互相关比对以获得两个时间的姿态关联，从而避免由于使用不同参照图像进行比对所引起的误差叠加，提高了图像相互关比对的精确度。
附图说明
图1为本发明的流程框图；
图2为本发明的结构示意图。
具体实施方式
下面将结合附图对本发明的具体实施例进行详细说明。
如图1和图2所示，一种图像互相关比对方法，包括如下步骤：
步骤一，将t2时刻的图像扭曲或者投射到t1时刻的图像平面；
步骤二，对t1时刻的左右图像进行比对以获得三维坐标；
步骤三，将t1时刻的左图像或右图像分别与t2时刻的左图像和右图像进行互相关比对，以获得两个时刻的姿态关联。
本发明通过对t1时刻的左右图像进行比对以获得三维坐标，并用t1时刻的左(或右)图像分别与t2时刻的左和右图像进行互相关比对以获得两个时间的姿态关联，从而避免由于使用不同参照图像进行比对所引起的误差叠加，提高了图像相互关比对的精确度。
以上所述的内容仅仅是本发明的具体实施例，并不是对本发明的限制。本领域的技术人员在该实施例的启示下所作出的由常规技术手段变化所得的发明创造，都在本发明的保护范围内。

Claims (1)

1.一种图像互相关比对方法，其特征在于，包括如下步骤：
步骤一，将t2时刻的图像扭曲或者投射到t1时刻的图像平面；
步骤二，对t1时刻的左右图像进行比对以获得三维坐标；
步骤三，将t1时刻的左图像或右图像分别与t2时刻的左图像和右图像进行互相关比对，以获得两个时刻的姿态关联。
CN201310563830.0A 2013-11-14 2013-11-14 一种图像互相关比对方法 Pending CN104517279A (zh)

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CN104517279A true CN104517279A (zh) 2015-04-15

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108805927A (zh) * 2017-04-26 2018-11-13 发那科株式会社 物体识别装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101884222A (zh) * 2007-12-20 2010-11-10 诺基亚公司 用于支持立体呈现的图像处理
US20110242282A1 (en) * 2010-04-05 2011-10-06 Sony Corporation Signal processing device, signal processing method, display device, and program product
CN102445681A (zh) * 2011-09-30 2012-05-09 深圳市九洲电器有限公司 一种可移动设备的室内定位方法与系统

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101884222A (zh) * 2007-12-20 2010-11-10 诺基亚公司 用于支持立体呈现的图像处理
US20110242282A1 (en) * 2010-04-05 2011-10-06 Sony Corporation Signal processing device, signal processing method, display device, and program product
CN102445681A (zh) * 2011-09-30 2012-05-09 深圳市九洲电器有限公司 一种可移动设备的室内定位方法与系统

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108805927A (zh) * 2017-04-26 2018-11-13 发那科株式会社 物体识别装置
CN108805927B (zh) * 2017-04-26 2019-11-19 发那科株式会社 物体识别装置

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