CN104574276A - Method and device for aligning images on basis of optical flow - Google Patents
Method and device for aligning images on basis of optical flow Download PDFInfo
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Abstract
The invention discloses a method and a device for aligning images on the basis of an optical flow. The method includes respectively carrying out zoom-out processing and gray-scale processing on to-be-processed images and contrast images to obtain zoomed-out to-be-processed gray images and zoomed-out contrast gray images; computing the zoomed-out to-be-processed gray images by the aid of the optical flow technology on the basis of the zoomed-out contrast gray images to obtain deviation values of the to-be-processed gray images; reassigning the to-be-processed images according to zoom scales during zoom-out processing and the obtained deviation values of the to-be-processed images, and aligning the to-be-processed images; computing color values of each pixel point on the aligned to-be-processed images to obtain aligned images. The method and the device have the advantages that the optical flow processing performance can be improved, and excellent picture quality of the processed aligned images can be guaranteed.
Description
Technical field
The present invention relates to technical field of image processing, particularly a kind of method of the image alignment based on optical flow method and the device of application the method thereof.
Background technology
In prior art, image alignment all uses unique point to align, and Performance Ratio is poor, and alignment effect is also poor.Light stream is a kind of expression way of simple and practical image motion, the research of light stream be the time domain change of the pixel intensity data utilized in image sequence and correlativity to determine " motion " of respective location of pixels, i.e. the relation of object structures and motion thereof in the change in time of research gradation of image and scene.Optical flow computation method is broadly divided into three classes: based on the method for mating, the method for frequency domain and the method for gradient.
(1) the optical flow computation method based on coupling comprises feature based and based on two kinds, region.The method of feature based constantly positions target principal character and follows the tracks of, and has robustness to the motion of general objective and brightness change.Problems existing is that light stream is usually very sparse, and feature extraction and exact matching also very difficult.Method based on region first positions similar region, then calculates light stream by the displacement of similar area.This method is widely used in Video coding.But the light stream that it calculates is still not dense.
(2) based on the method for frequency domain, also referred to as the method based on energy, the filter bank output frequency utilizing speed adjustable or phase information.Although high-precision initial light stream can be obtained to be estimated, often relate to complicated calculating.In addition, reliability evaluation is carried out also very difficult.
(3) the space-time differential calculation 2D velocity field (light stream) of image sequence brightness is utilized based on the method for gradient.Owing to calculating simple and good effect, the method based on gradient obtains to be studied widely.Although the light stream method of estimation much based on gradient achieves good light stream estimation, but owing to relating to the selection difficulty of manually the choosing of adjustable parameter, the reliability evaluation factor when calculating light stream, and pre-service is on the impact of optical flow computation result, the result precision of method that the spectral aliasing formed in the existence of noise and image acquisition ground process in a small amount of frame all will have a strong impact on based on gradient.
Summary of the invention
The present invention, for solving the problem, provides a kind of method and apparatus of the image alignment based on optical flow method, and it is by realizing the effective registration process fast of image in conjunction with the scheme of optical flow method and resampling.
For achieving the above object, the technical solution used in the present invention is:
Based on a method for the image alignment of optical flow method, it is characterized in that, comprise the following steps:
10. pair pending image and contrast images reduce process and gray proces respectively, obtain the pending gray level image that reduces and contrast gray level image;
20. pairs of pending gray level images reduced carry out optical flow method calculating based on contrast gray level image, obtain the off-set value of pending gray level image;
30., according to scaling when reducing process and the off-set value of pending image that obtains, carry out registration process to pending image again assignment, calculate the color value of each pixel on the pending image after alignment, obtain registration image.
Preferably, in described step 10, reduce process, mainly adopt bilinear interpolation method algorithm or cubic convolution method interpolation algorithm to process.
Preferably, the computing formula of the gray proces in described step 10 is:
GRAY＝0.299*RED+0.587*GREEN+0.114*BLUE；
Or
GRAY＝(RED*306+GREEN*601+BLUE*117+512)/1024；
Wherein, GRAY is the gray-scale value of the current pixel point of pending gray level image or contrast gray level image; RED, GREEN, BLUE are respectively the color value of the red, green, blue passage of the current pixel point of pending image or contrast images.
Preferably, in described step 20, based on contrast gray level image, optical flow method calculating is carried out to the pending gray level image reduced, obtain the off-set value of pending gray level image, further comprising the steps:
Each pixel in 21. pairs of pending gray level images gives a velocity, forms light stream vector;
22. according to the velocity feature of each pixel, and carry out performance analysis to pending gray level image, if do not have moving target in pending gray level image, then light stream vector is continually varying at whole image-region; When there being moving target in pending gray level image, the correspondence position pixel of target and contrast gray level image also exists relative motion;
23. velocities formed according to the moving target in pending gray level image and the skew of the velocity of the correspondence position pixel of contrast gray level image, obtain the off-set value of pending gray level image, and calculate the position of moving target.
Preferably, according to scaling when reducing process and the off-set value of pending image that obtains in described step 30, carry out registration process to pending image again assignment, the computing method of the coordinate figure after its alignment are:
px＝x+u/rat；
py＝y+v/rat；
Wherein, x, y are the initial coordinate values of current pixel point on pending image; Px, py are the alignment coordinate figure of the corresponding pixel points after pending image alignment; Rat is scaling; U, v are the off-set value that pending gray level image obtains through optical flow method.
Preferably, described step 30 fall into a trap get it right neat after pending image on the color value of each pixel, the alignment coordinate figure of the corresponding pixel points after the pending image alignment that main utilization calculates, and carry out interpolation calculation according to the surrounding pixel point of this alignment coordinate figure and this pixel, obtain the color value of the corresponding pixel points of the pending image after aliging, thus obtain registration image.
In addition, present invention also offers a kind of device adopting the above-mentioned image alignment method based on optical flow method, it is characterized in that, it comprises:
Reduce processing unit, respectively process is reduced to pending image and contrast images;
Gray proces unit, carries out gray proces respectively to pending image and contrast images,
Optical flow analysis unit, carries out optical flow method calculating to the pending gray level image reduced after reducing process and gray proces based on contrast gray level image, obtains the off-set value of pending gray level image;
Registration process unit, according to scaling when reducing process and the off-set value of pending image that obtains, carries out registration process to pending image again assignment, calculates the color value of each pixel on the pending image after alignment, obtain registration image.
The invention has the beneficial effects as follows:
The method and apparatus of a kind of image alignment based on optical flow method of the present invention, it is by reducing process and gray proces respectively to pending image and contrast images, obtain the pending gray level image that reduces and contrast gray level image, and further based on the contrast gray level image reduced, the off-set value that optical flow method calculates pending gray level image is carried out to the pending gray level image reduced, scaling when last basis reduces process and the off-set value of pending image obtained, registration process is carried out to pending image again assignment, calculate the color value of each pixel on the pending image after alignment, obtain registration image, the performance of light stream process can not only be improved, ensure that the image quality of the registration image after process is better simultaneously, and, it is without the need to carrying out registration process to whole pending image, but only to the moving target of pending image, accelerate processing speed further, realize the effective registration process fast of image.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, forms a part 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 general flow chart of the method for a kind of image alignment based on optical flow method of the present invention;
Fig. 2 is the structural representation of the device of a kind of image alignment based on optical flow method of the present invention;
Fig. 3 is the schematic diagram of the pending image H (x, y) of one embodiment of the invention;
Fig. 4 is the schematic diagram of the contrast images I (x, y) of one embodiment of the invention.
Embodiment
In order to make technical matters to be solved by this invention, technical scheme and beneficial effect clearly, understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, the method for a kind of image alignment based on optical flow method of the present invention, it comprises the following steps:
10. pair pending image and contrast images reduce process and gray proces respectively, obtain the pending gray level image that reduces and contrast gray level image;
20. pairs of pending gray level images reduced carry out optical flow method calculating based on contrast gray level image, obtain the off-set value of pending gray level image;
30., according to scaling when reducing process and the off-set value of pending image that obtains, carry out registration process to pending image again assignment, calculate the color value of each pixel on the pending image after alignment, obtain registration image.
Reduce process in described step 10, mainly adopt bilinear interpolation method algorithm or cubic convolution method interpolation algorithm to process.Conventional method for resampling has the most contiguous interpolation method (nearest neighborinterpolation), bilinear interpolation method (linear interpolation) and cubic convolution method interpolation (cubic convolution interpolation), and the present embodiment can adopt bilinear interpolation method algorithm or cubic convolution method interpolation algorithm to obtain good visual effect.In the present embodiment, pending image and the wide and high of contrast images are synchronously reduced into originally wide and high rat doubly respectively, and wherein rat is scaling, and when reducing, rat value is for being less than 1, and during amplification, rat value is for being greater than 1; The value of this scaling rat is mainly according to determining the demand of the speed of image blurring process and the speed of optical flow analysis, if require that the speed of process is fast, then scaling rat can get higher value, if it is too fast to require processing speed not need, then scaling rat can get smaller value, thus improves operation efficiency; And after optical flow analysis terminates, utilize interpolation algorithm to carry out again assignment be reduced to original size, to ensure the image quality of registration image.
The computing formula of the gray proces in described step 10 is:
GRAY＝0.299*RED+0.587*GREEN+0.114*BLUE；
Or
GRAY＝(RED*306+GREEN*601+BLUE*117+512)/1024；
Wherein, GRAY is the gray-scale value of the current pixel point of pending gray level image or contrast gray level image; RED, GREEN, BLUE are respectively the color value of the red, green, blue passage of the current pixel point of pending image or contrast images.
In described step 20, based on contrast gray level image, optical flow method calculating is carried out to the pending gray level image reduced, obtain the off-set value of pending gray level image, further comprising the steps:
Each pixel in 21. pairs of pending gray level images gives a velocity, forms light stream vector;
22. according to the velocity feature of each pixel, and carry out performance analysis to pending gray level image, if do not have moving target in pending gray level image, then light stream vector is continually varying at whole image-region; When there being moving target in pending gray level image, the correspondence position pixel of target and contrast gray level image also exists relative motion;
23. velocities formed according to the moving target in pending gray level image and the skew of the velocity of the correspondence position pixel of contrast gray level image, obtain the off-set value of pending gray level image, and calculate the position of moving target.
As shown in Figure 3 and Figure 4, I (x, y) represents contrast images, and H (x, y) represents pending image.The present invention calculates the motion in H image to I image between pixel according to optical flow method, for pixel specific in H image, finds consistent with the pixel value of this specific pixel point or close to consistent corresponding pixel points in I image around correspondence position.Therefore, in optical flow analysis, need the hypothesis that two are crucial:
1. brightness constancy hypothesis: in the present embodiment, gray proces be have passed through to pending image and contrast images, therefore for gray level image, can be regarded as brightness consistent;
2. small movements hypothesis: namely, each pixel can not produce larger motion excursion.
The object of optical flow analysis finds the velocity of each pixel in image:
this velocity not only comprises the information of motion size, also comprises the information of direction of motion; According to aforesaid small movements hypothesis and brightness constancy hypothesis, can obtain:
I(x，y，t)＝I(x+dx，y+dy，t+dt)；
Above-mentioned formula one-level Taylor series expansion obtains:
That is: I
xdx+I
ydy+I
tdt=C makes:
So, I
xu+I
yv=-I
t, that is:
Suppose that its brightness is constant in (u, v) one little local domain, so:
that is:
The object of optical flow computation, makes exactly
value minimum.
According to scaling when reducing process and the off-set value of pending image that obtains in described step 30, carry out registration process to pending image again assignment, the computing method of the coordinate figure after its alignment are:
px＝x+u/rat；
py＝y+v/rat；
Wherein, x, y are the initial coordinate values of current pixel point on pending image; Px, py are the alignment coordinate figure of the corresponding pixel points after pending image alignment; Rat is scaling; U, v are the off-set value that pending gray level image obtains through optical flow method.
Described step 30 fall into a trap get it right neat after pending image on the color value of each pixel, the alignment coordinate figure of the corresponding pixel points after the pending image alignment that main utilization calculates, and carry out interpolation calculation according to the surrounding pixel point of this alignment coordinate figure and this pixel, obtain the color value of the corresponding pixel points of the pending image after aliging, thus obtain registration image.
As shown in Figure 2, present invention also offers a kind of device adopting the above-mentioned image alignment method based on optical flow method, it is characterized in that, it comprises:
Reduce processing unit A, respectively process is reduced to pending image and contrast images;
Gray proces unit B, carries out gray proces respectively to pending image and contrast images,
Optical flow analysis unit C, carries out optical flow method calculating to the pending gray level image reduced after reducing process and gray proces based on contrast gray level image, obtains the off-set value of pending gray level image;
Registration process cells D, according to scaling when reducing process and the off-set value of pending image that obtains, carries out registration process to pending image again assignment, calculates the color value of each pixel on the pending image after alignment, obtain registration image.
The present invention utilizes optical flow method to compare to two images (contrast images and pending image), obtain each pixel on pending image to move towards based on the light stream of contrast images, the i.e. deviation post of each pixel, then assignment is again carried out according to each pixel of deviation post to pending image of each pixel, the color value of the registration image after namely the color value of the pixel obtained aligns; Further, the first downscaled images of the present invention, finally reverts back original size according to off-set value recycling interpolation algorithm, improves performance and ensure image quality.
It should be noted that, each embodiment in this instructions all adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar part mutually see.For device class embodiment, due to itself and embodiment of the method basic simlarity, so description is fairly simple, relevant part illustrates see the part of embodiment of the method.And, in this article, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.In addition, one of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can have been come by hardware, the hardware that also can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be ROM (read-only memory), disk or CD etc.
Above-mentioned explanation illustrate and describes the preferred embodiments of the present invention, be to be understood that the present invention is not limited to the form disclosed by this paper, should not regard the eliminating to other embodiments as, and can be used for other combinations various, amendment and environment, and can in invention contemplated scope herein, changed by the technology of above-mentioned instruction or association area or knowledge.And the change that those skilled in the art carry out and change do not depart from the spirit and scope of the present invention, then all should in the protection domain of claims of the present invention.
Claims (7)
1. based on a method for the image alignment of optical flow method, it is characterized in that, comprise the following steps:
10. pair pending image and contrast images reduce process and gray proces respectively, obtain the pending gray level image that reduces and contrast gray level image;
20. pairs of pending gray level images reduced carry out optical flow method calculating based on contrast gray level image, obtain the off-set value of pending gray level image;
30., according to scaling when reducing process and the off-set value of pending image that obtains, carry out registration process to pending image again assignment, calculate the color value of each pixel on the pending image after alignment, obtain registration image.
2. the method for a kind of image alignment based on optical flow method according to claim 1, is characterized in that: reduce process in described step 10, mainly adopts bilinear interpolation method algorithm or cubic convolution method interpolation algorithm to process.
3. the method for a kind of image alignment based on optical flow method according to claim 1, is characterized in that: the computing formula of the gray proces in described step 10 is:
GRAY＝0.299*RED+0.587*GREEN+0.114*BLUE；
Or
GRAY＝(RED*306+GREEN*601+BLUE*117+512)/1024；
Wherein, GRAY is the gray-scale value of the current pixel point of pending gray level image or contrast gray level image; RED, GREEN, BLUE are respectively the color value of the red, green, blue passage of the current pixel point of pending image or contrast images.
4. the method for a kind of image alignment based on optical flow method according to claim 1, it is characterized in that: in described step 20, based on contrast gray level image, optical flow method calculating is carried out to the pending gray level image reduced, obtain the off-set value of pending gray level image, further comprising the steps:
Each pixel in 21. pairs of pending gray level images gives a velocity, forms light stream vector;
22. according to the velocity feature of each pixel, and carry out performance analysis to pending gray level image, if do not have moving target in pending gray level image, then light stream vector is continually varying at whole image-region; When there being moving target in pending gray level image, the correspondence position pixel of target and contrast gray level image also exists relative motion;
23. velocities formed according to the moving target in pending gray level image and the skew of the velocity of the correspondence position pixel of contrast gray level image, obtain the off-set value of pending gray level image, and calculate the position of moving target.
5. the method for a kind of image alignment based on optical flow method according to claim 1, it is characterized in that: according to scaling when reducing process and the off-set value of pending image that obtains in described step 30, carry out registration process to pending image again assignment, the computing method of the coordinate figure after its alignment are:
px＝x+u/rat；
py＝y+v/rat；
Wherein, x, y are the initial coordinate values of current pixel point on pending image; Px, py are the alignment coordinate figure of the corresponding pixel points after pending image alignment; Rat is scaling; U, v are the off-set value that pending gray level image obtains through optical flow method.
6. the method for a kind of image alignment based on optical flow method according to claim 5, it is characterized in that: described step 30 fall into a trap get it right neat after pending image on the color value of each pixel, the alignment coordinate figure of the corresponding pixel points after the pending image alignment that main utilization calculates, and carry out interpolation calculation according to the surrounding pixel point of this alignment coordinate figure and this pixel, obtain the color value of the corresponding pixel points of the pending image after aliging, thus obtain registration image.
7. based on a device for the image alignment of optical flow method, it is characterized in that, it comprises:
Reduce processing unit, respectively process is reduced to pending image and contrast images;
Gray proces unit, carries out gray proces respectively to pending image and contrast images,
Optical flow analysis unit, carries out optical flow method calculating to the pending gray level image reduced after reducing process and gray proces based on contrast gray level image, obtains the off-set value of pending gray level image;
Registration process unit, according to scaling when reducing process and the off-set value of pending image that obtains, carries out registration process to pending image again assignment, calculates the color value of each pixel on the pending image after alignment, obtain registration image.
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