CN104992433A - Multispectral image registration method and device based on line segment matching - Google Patents

Abstract

The invention provides a multispectral image registration method based on line segment matching and a multispectral image registration device based on the line segment matching. The multispectral image registration method based on the line segment matching comprises obtaining first intersection points of multiple groups of intersecting line segment pairs in a to-be-registered multispectral image, obtaining second intersection points of multiple groups of intersecting line segment pairs in a reference multispectral image, determining the second intersection points, matching the first intersection points, on the reference multispectral image, performing characteristic point matching on the second intersection points and the first intersection points to determine the second intersection points, matching the first intersecting points, on the reference multispectral image, determining a coordinate transformation parameter according to the first intersection points and the second intersection points matching the first intersection points, and performing registration on the to-be-registered multispectral image and the reference multispectral image according to the coordinate transformation parameter. Accuracy of the multispectral image registration is improved.

Description

Based on method and the device of the multi-spectral image registration of line match

Technical field

The present invention relates to communication technical field, particularly relate to a kind of method and device of the multi-spectral image registration based on line match.

Background technology

Image registration (Image registration) refers to the conversion parameter determining between image according to some similarity measurements, make two width or the multiple image of the Same Scene obtained from different detector, different visual angles, different time, under transforming to the same coordinate system, pixel layer obtains the process of optimum matching, it is an important prior step of the processes such as image co-registration, target identification, object variations detection, computer vision, has a wide range of applications in fields such as military affairs, remote sensing, medical science.

Existing a kind of method for registering images adopts scale invariant feature conversion (Scale-invariantfeature transform, SIFT) method, concrete steps are as follows: first synthetic image metric space, then the Local Extremum in metric space is detected, again by the low contrast point in rejecting Local Extremum and skirt response point, obtain unique point; When being described unique point, carry out gradient orientation histogram statistics to the region centered by unique point, the direction obtaining unique point is distributed, and generating feature descriptor; Find the feature point pairs mated between image finally by Feature Descriptor, then obtain image space coordinate conversion parameter by the feature point pairs of coupling, finally carry out image registration according to coordinate conversion parameter.

But when said method is used for multi-spectral image registration, due to the content more complicated of multispectral image, and do not have corresponding relation between pixel value, texture information has very big difference.Thus, unstable, not representative according to the unique point that said method is determined, carry out registration by unique point and the accuracy of registration can be caused lower.

Summary of the invention

The invention provides a kind of method and device of the multi-spectral image registration based on line match, with solve the accuracy of registration in prior art lower problem.

First aspect, the embodiment of the present invention provides a kind of method of the multi-spectral image registration based on line match, comprising:

Obtain in multispectral image subject to registration and organize the first right intersection point of crossing line segment more, and obtain to organize the second right intersection point of crossing line segment with reference in multispectral image more;

Determine multiple second intersection points with described first intersection point pre-matching on described reference multispectral image;

Feature Points Matching is carried out to described second intersection point and described first intersection point, determines described the second intersection point with reference to multispectral image mates with described first intersection point;

According to described first intersection point and the second intersection point of mating with described first intersection point, determine coordinate conversion parameter;

According to described coordinate conversion parameter, registration is carried out to described multispectral image subject to registration and described reference multispectral image.

Alternatively, before the first intersection point that the line segment that in described acquisition multispectral image subject to registration, many groups intersect is right, comprising:

Determine the marginal point of described multispectral image subject to registration;

The described marginal point of interval predeterminable range is connected to form line segment;

Calculate the angle of adjacent segments, if described angle is less than default angle threshold, then retain described adjacent segments; If be more than or equal to described default angle threshold, then delete the intersection point of described adjacent segments, another end points connecting described adjacent segments forms new line segment;

The crossing line segment pair of described many groups is obtained according to described line segment.

Alternatively, described acquisition, with reference to before the second intersection point that the line segment that groups many in multispectral image are crossing is right, comprising:

Determine the described marginal point with reference to multispectral image;

The described marginal point of interval predeterminable range is connected to form line segment;

Calculate the angle of adjacent segments, if described angle is less than default angle threshold, then retain described adjacent segments; If be more than or equal to described default angle threshold, then delete the intersection point of described adjacent segments, another end points connecting described adjacent segments forms new line segment;

The crossing line segment pair of described many groups is obtained according to described line segment.

Alternatively, described multiple second intersection points determined with described first intersection point pre-matching on described reference multispectral image, comprising:

Respectively to described first intersection point and described second intersection point calculation edge orientation histogram EOH descriptor;

Calculate the Euclidean distance between the EOH descriptor of described first intersection point and the EOH descriptor of described second intersection point;

If described Euclidean distance is less than the first default distance threshold, then determine that described second intersection point is the second intersection point with described first intersection point pre-matching.

Alternatively, described Feature Points Matching is carried out to described second intersection point and described first intersection point before, comprising:

On the line segment at described second intersection point place, choose fisrt feature point in the both sides of described second intersection point successively interval predeterminable range;

On the line segment at described first intersection point place, choose second feature point in the both sides of described first intersection point successively predeterminable range described in interval; The line segment at described second intersection point place is consistent with the line segment direction at described first intersection point place.

Alternatively, fisrt feature point is chosen in the described both sides at described second intersection point successively interval predeterminable range, specifically comprises:

The intersection point chosen on line segment in the both sides of described second intersection point is described fisrt feature point;

Second feature point is chosen in the described both sides at described first intersection point successively predeterminable range described in interval, specifically comprises:

The intersection point chosen on line segment in the both sides of described first intersection point is described second feature point.

Alternatively, Feature Points Matching is carried out to described second intersection point and described first intersection point, determines described the second intersection point with reference to multispectral image mates with described first intersection point, comprising:

Respectively EOH descriptor is calculated to described fisrt feature point and described second feature point;

Calculate the Euclidean distance between the EOH descriptor of described fisrt feature point and the EOH descriptor of described second feature point; Described fisrt feature point is corresponding with the position of described second feature point;

The described Euclidean distance exceeding predetermined number threshold value if having is less than default second distance threshold value, then determine that described second intersection point is the second intersection point mated with described first intersection point; Described second distance threshold value is less than described first distance threshold.

Alternatively, described according to described first intersection point and the second intersection point of mating with described first intersection point, determine coordinate conversion parameter, comprising:

Transformation matrix of coordinates H is determined, using described transformation matrix of coordinates H as coordinate conversion parameter according to following formula (1);

$\left[\begin{array}{c}{x}^{\′}\\ y^{\′}\\ 1\end{array}\right]=\left[\begin{array}{ccc}{a}_{11}& a_{12}& a_{13}\\ a_{21}& a_{22}& a_{23}\\ 0& 0& 1\end{array}\right]\×\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]---\left(1\right)$

Wherein, $\left[\begin{array}{c}{x}^{\′}\\ y^{\′}\\ 1\end{array}\right]$ For the coordinate of described second intersection point; $\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]$ For the coordinate of described first intersection point; Transformation matrix of coordinates $H=\left[\begin{array}{ccc}{a}_{11}& a_{12}& a_{13}\\ a_{21}& a_{22}& a_{23}\\ 0& 0& 1\end{array}\right].$

Alternatively, described according to described coordinate conversion parameter to described multispectral image subject to registration with describedly carry out registration with reference to multispectral image, comprising:

The coordinate of the pixel in described multispectral image subject to registration is multiplied with described transformation matrix of coordinates, described multispectral image subject to registration is transformed to under the described coordinate system identical with reference to multispectral image.

Second aspect, the embodiment of the present invention provides a kind of device of the multi-spectral image registration based on line match, comprising:

Acquisition module, for obtaining in multispectral image subject to registration to organize the first right intersection point of crossing line segment, and obtains to organize the second right intersection point of crossing line segment with reference in multispectral image more more;

Determination module, for determining multiple second intersection points with described first intersection point pre-matching on described reference multispectral image;

Described determination module, also for carrying out Feature Points Matching to described second intersection point and described first intersection point, determines described the second intersection point with reference to multispectral image mates with described first intersection point; The line segment at described second intersection point place is consistent with the line segment direction at described first intersection point place;

Described determination module, also for according to described first intersection point and the second intersection point of mating with described first intersection point, determines coordinate conversion parameter;

Processing module, for carrying out registration according to described coordinate conversion parameter to described multispectral image subject to registration and described reference multispectral image.

The method of the multi-spectral image registration based on line match provided by the invention and device, by obtaining multispectral image subject to registration and organizing crossing line segment right intersection point with reference in multispectral image more, the intersection point of line segment is carried out pre-matching as unique point, and the second intersection point pre-matching gone out and the first intersection point mate further, finally determine the intersection point pair mated, and according to the intersection point of the coupling determined to determining coordinate conversion parameter, finally according to described coordinate conversion parameter, registration is carried out to described multispectral image subject to registration and described reference multispectral image, compared with prior art, because line segment feature has better stability in multispectral image, therefore the intersection point of line segment is selected to carry out as unique point mating the accuracy that improve multi-spectral image registration.

Accompanying drawing explanation

In order to be illustrated more clearly in the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.

Fig. 1 is the process flow diagram of method one embodiment of the multi-spectral image registration that the present invention is based on line match;

Fig. 2 is the structural representation of device one embodiment of the multi-spectral image registration that the present invention is based on line match.

Embodiment

For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with the accompanying drawing in the present invention, the technical scheme in the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, 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, belong to the scope of protection of the invention.

Fig. 1 is the process flow diagram of method one embodiment of the multi-spectral image registration that the present invention is based on line match, and as shown in Figure 1, the method for the present embodiment can comprise:

Step 101, to obtain in multispectral image subject to registration the first right intersection point of line segment that many groups intersect, and obtain the second right intersection point of the line segment that intersects with reference to groups many in multispectral image;

Step 102, determine described with reference on multispectral image with multiple second intersection points of described first intersection point pre-matching;

Step 103, Feature Points Matching is carried out to described second intersection point and described first intersection point, determine described the second intersection point with reference to multispectral image mates with described first intersection point;

Step 104, according to described first intersection point and the second intersection point of mating with described first intersection point, determine coordinate conversion parameter;

Step 105, according to described coordinate conversion parameter to described multispectral image subject to registration with describedly carry out registration with reference to multispectral image.

Specifically, when carrying out multi-spectral image registration, select at least two width multispectral images, a width is as reference multispectral image, and at least one width is in addition as multispectral image subject to registration; Obtain the line segment at least two width multispectral images, then obtain the crossing line segment pair of many groups according to the equation of line segment, and intersection point; The right intersection point of line segment intersected in multispectral image subject to registration as the first intersection point, with reference to the right intersection point of the line segment intersected in multispectral image as the second intersection point.

Determine the second intersection point with described first intersection point pre-matching on described reference multispectral image, such as, can be realized by the Euclidean distance between the EOH descriptor of calculating first intersection point and the EOH descriptor of the second intersection point in the embodiment of the present invention, above-mentioned the second intersection point determining to mate with the first intersection point, need travel through with reference to all second intersection points on multispectral image, the second intersection point of pre-matching can have multiple.

Feature Points Matching is carried out to described second intersection point and described first intersection point, can to be the line segment at the second intersection point place a little mate with the line segment at described first intersection point place is got respectively Feature Points Matching mentioned here further, the line segment at described second intersection point place is consistent with the line segment direction at described first intersection point place, and the direction said here unanimously refers to line segment to be all a line segment or to be all No. two line segments; Wherein, a line segment and No. two line segments to arrange rule as follows: if overlapped with another line segment after a line segment is rotated counterclockwise a sharp angle, so this line segment is just denoted as a line segment, and another line segment is exactly No. two line segments; Carrying out line match can be on line segment, get multiple point, is mated respectively by multiple point, finally determines described the second intersection point with reference to multispectral image mates with described first intersection point.

According to described first intersection point and the second intersection point of mating with described first intersection point, namely determine that many group intersection point couplings are right, according to this many groups intersection point coupling between coordinate relation determine the coordinate conversion parameter of multispectral image subject to registration; According to described coordinate conversion parameter, registration is carried out to described multispectral image subject to registration and described reference multispectral image, namely according to described coordinate conversion parameter, described multispectral image subject to registration is carried out coordinate transform, realize described multispectral image subject to registration and described reference multi-spectral image registration.

The method for registering images based on line match that the present embodiment provides, by obtaining multispectral image subject to registration and organizing crossing line segment right intersection point with reference in multispectral image more, the intersection point of line segment is carried out pre-matching as unique point, and the second intersection point pre-matching gone out and the first intersection point mate further, finally determine the intersection point pair mated, and according to the intersection point of the coupling determined to determining coordinate conversion parameter, finally according to described coordinate conversion parameter, registration is carried out to described multispectral image subject to registration and described reference multispectral image, compared with prior art, because line segment feature has better stability in multispectral image, therefore the intersection point of line segment is selected to carry out as unique point mating the accuracy that improve multi-spectral image registration.

Adopt several specific embodiment below, the technical scheme of embodiment of the method shown in Fig. 1 is described in detail.

On the basis of the embodiment shown in Fig. 1, further, obtain in multispectral image subject to registration before organizing the second right intersection point of crossing line segment more, first need to get crossing line segment, and in actual applications, the mode obtaining the line segment intersected can have multiple, optionally, as the enforceable mode of one, before the first intersection point that the line segment that in described acquisition multispectral image subject to registration, many groups intersect is right, comprising:

Determine the marginal point of described multispectral image subject to registration;

The described marginal point of interval predeterminable range is connected to form line segment;

Calculate the angle of adjacent segments, if described angle is less than default angle threshold, then retain described adjacent segments; If be more than or equal to described default angle threshold, then delete the intersection point of described adjacent segments, another end points connecting described adjacent segments forms new line segment;

The crossing line segment pair of described many groups is obtained according to described line segment.

Specifically, the marginal point of described multispectral image subject to registration can be determined according to canny operator; The described marginal point of interval predeterminable range d1 is connected to form line segment; Calculate the angle of adjacent segments, if described angle is less than default angle threshold, then retain described adjacent segments; If be more than or equal to described default angle threshold, then delete the intersection point of described adjacent segments, another end points connecting described adjacent segments respectively forms new line segment; Can also further screen these line segments, namely on the every bar line segment formed, fitting a straight line is carried out, if error is less than set threshold value and the line segment length of this matching is greater than a certain value, as 10 pixels, then using the line segment that this matching line segment obtains as needs, if do not meet, abandon this line segment; Further can also screen these line segments, the line segment of all acquisitions is gathered between two, if on same straight line, merge these two line segments as a line segment, until merged, namely finally get required line segment; The crossing line segment pair of many groups can be got according to the equation of described line segment.

On the basis of the embodiment shown in Fig. 1, further, obtain with reference to before the second intersection point that the line segment that groups many in multispectral image are crossing is right, first need to get line segment, and in actual applications, the mode obtaining line segment can have multiple, optionally, as the enforceable mode of one, described acquisition, with reference to before the second intersection point that the line segment that groups many in multispectral image are crossing is right, comprising:

Determine the described marginal point with reference to multispectral image;

The described marginal point of interval predeterminable range is connected to form line segment;

Calculate the angle of adjacent segments, if described angle is less than default angle threshold, then retain described adjacent segments; If be more than or equal to described default angle threshold, then delete the intersection point of described adjacent segments, another end points connecting described adjacent segments forms new line segment;

The crossing line segment pair of described many groups is obtained according to described line segment.

Specifically, obtain and organize crossing line segment to can adopt above-mentioned identical method with reference in multispectral image more, repeat no more herein.

On the basis of above-described embodiment, further, in actual applications, determine that the mode of the intersection point of pre-matching can have multiple, optionally, as the enforceable mode of one, described multiple second intersection points determined with described first intersection point pre-matching on described reference multispectral image, comprising:

Respectively to described first intersection point and described second intersection point calculation edge orientation histogram EOH descriptor;

Calculate the Euclidean distance between the EOH descriptor of described first intersection point and the EOH descriptor of described second intersection point;

If described Euclidean distance is less than the first default distance threshold, then determine that described second intersection point is the second intersection point with described first intersection point pre-matching.

Specifically, owing to needing to determine the second intersection point with described first intersection point pre-matching on described reference multispectral image, the first intersection point and second intersection point of pre-matching can be determined in the embodiment of the present invention according to the Euclidean distance between the EOH descriptor of intersection point, therefore need calculate the EOH descriptor of the first intersection point and the second intersection point before pre-matching.

Calculate EOH descriptor can realize as follows:

Below adopt the first intersection point to illustrate, first the pixel region of the N*N neighborhood of the first intersection point is divided into 16 pieces, calculates the edge orientation histogram of each block.Each edge orientation histogram records corresponding blocks inside gradient directional spreding information.Each edge orientation histogram is divided into 5 sub regions (bins), wherein have four bins to represent different direction (number of the point that the Grad of this four direction is maximum is greater than the number of the maximum point of the Grad in all the other directions) separately, a remaining bin representative does not have direction.The numerical value of each bin is exactly the number of the point that in corresponding blocks, the Grad in this direction is maximum, does not have the numerical value of that bin directive to be exactly the number (namely except the point in above-mentioned remaining direction of four direction) of the unconspicuous point in corresponding blocks inside gradient direction.Like this, the vector description of each first intersection point just available one 80 dimension, this vector is exactly the EOH descriptor of the first intersection point, wherein N be greater than 0 integer, as 80 or 100 etc.

After calculating EOH descriptor, calculate the Euclidean distance between the EOH descriptor of the first intersection point and the EOH descriptor of the second intersection point; If judge, described Euclidean distance is less than the first default distance threshold, then determine that described second intersection point is the second intersection point with described first intersection point pre-matching, if the second intersection point being less than the first distance threshold has multiple, then can select any one, or the second intersection point selecting Euclidean distance minimum.

On the basis of above-described embodiment, further, before Feature Points Matching is carried out to described second intersection point and described first intersection point, comprising:

On the line segment at described second intersection point place, choose fisrt feature point in the both sides of described second intersection point successively interval predeterminable range;

On the line segment at described first intersection point place, choose second feature point in the both sides of described first intersection point successively predeterminable range described in interval; The line segment at described second intersection point place is consistent with the line segment direction at described first intersection point place.

Specifically, on the line segment at described second intersection point place, and choose fisrt feature point in the both sides of described second intersection point successively interval predeterminable range, and carry out same operation on the line segment at described first intersection point place.

On the basis of above-described embodiment, further, in actual applications, determine that the mode of the intersection point of pre-matching can have multiple, optionally, as the enforceable mode of one, fisrt feature point is chosen in the described both sides at described second intersection point successively interval predeterminable range, specifically comprises:

The intersection point chosen on line segment in the both sides of described second intersection point is described fisrt feature point;

Second feature point is chosen in the described both sides at described first intersection point successively predeterminable range described in interval, specifically comprises:

The intersection point chosen on line segment in the both sides of described first intersection point is described second feature point.

Specifically, the above-mentioned point got on the line segment at intersection point place is also the intersection point of described line segment and other line segments.

On the basis of above-described embodiment, further, in actual applications, determine that the mode of the intersection point of pre-matching can have multiple, optionally, as the enforceable mode of one, Feature Points Matching is carried out to described second intersection point and described first intersection point, determine described the second intersection point with reference to multispectral image mates with described first intersection point, comprising:

Respectively EOH descriptor is calculated to described fisrt feature point and described second feature point;

Calculate the Euclidean distance between the EOH descriptor of described fisrt feature point and the EOH descriptor of described second feature point; Described fisrt feature point is corresponding with the position of described second feature point;

The described Euclidean distance exceeding predetermined number threshold value if having is less than default second distance threshold value, then determine that described second intersection point is the second intersection point mated with described first intersection point; Described second distance threshold value is less than described first distance threshold.

Specifically, for the fisrt feature point of the line segment at each the second intersection point place, the Euclidean distance between the EOH descriptor calculating the second feature point of fisrt feature point and correspondence position all respectively;

If for the line segment at a certain second intersection point place, there is the described Euclidean distance exceeding default amount threshold to be less than default second distance threshold value, then determine that described second intersection point on this line segment is the second intersection point mated with described first intersection point.If there is the line segment at multiple second intersection point place, the described Euclidean distance exceeding default amount threshold is had to be less than default second distance threshold value, Euclidean distance then can be selected to be less than the maximum line segment of the quantity of default second distance threshold value, and the second corresponding intersection point is as the second intersection point of coupling.

In above-mentioned embodiment, owing to being mate with the line segment at described first intersection point place according to the line segment at multiple second intersection point place, make use of the descriptor compared with multiple spot during calculating, the matching result obtained when mating is more accurate.

On the basis of above-described embodiment, further, in actual applications, determine that the mode of coordinate conversion parameter can have multiple, optionally, as the enforceable mode of one, according to described first intersection point and the second intersection point of mating with described first intersection point, determine coordinate conversion parameter, specifically can in the following way:

Transformation matrix of coordinates H is determined, using transformation matrix of coordinates H as coordinate conversion parameter according to following formula (1);

$\left[\begin{array}{c}{x}^{\′}\\ y^{\′}\\ 1\end{array}\right]=\left[\begin{array}{ccc}{a}_{11}& a_{12}& a_{13}\\ a_{21}& a_{22}& a_{23}\\ 0& 0& 1\end{array}\right]\×\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]---\left(1\right)$

Wherein, $\left[\begin{array}{c}{x}^{\′}\\ y^{\′}\\ 1\end{array}\right]$ For the coordinate of described second intersection point; $\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]$ For the coordinate of described first intersection point; Transformation matrix of coordinates $H=\left[\begin{array}{ccc}{a}_{11}& a_{12}& a_{13}\\ a_{21}& a_{22}& a_{23}\\ 0& 0& 1\end{array}\right].$

Specifically, finally at least can determine three groups of first intersection points and the second intersection point mated, coordinate be substituted into the parameter calculating transformation matrix of coordinates H in above-mentioned formula (1), determine this transformation matrix of coordinates.

On the basis of above-described embodiment, further, in actual applications, as the enforceable mode of one, according to described coordinate conversion parameter to described multispectral image subject to registration with describedly carry out registration with reference to multispectral image, specifically can in the following way:

The coordinate of the pixel in described multispectral image subject to registration is multiplied with described transformation matrix of coordinates, described multispectral image subject to registration is transformed to under the described coordinate system identical with reference to multispectral image.

Specifically, be multiplied by the coordinate of the pixel in described multispectral image subject to registration with described transformation matrix of coordinates, obtain the multispectral image subject to registration after converting, the multispectral image subject to registration after conversion and reference multispectral image are under identical coordinate system.

In above-mentioned embodiment, according to described first intersection point and the second intersection point of mating with described first intersection point, determine transformation matrix of coordinates, finally achieve described multispectral image subject to registration and describedly carry out registration with reference to multispectral image.

Fig. 2 is the structural representation of device one embodiment of the multi-spectral image registration that the present invention is based on line match, and as shown in Figure 2, the device of the present embodiment can comprise: acquisition module 201, determination module 202 and processing module 203;

Wherein, acquisition module 201, for obtaining in multispectral image subject to registration to organize the first right intersection point of crossing line segment, and obtains to organize the second right intersection point of crossing line segment with reference in multispectral image more more;

Determination module 202, for determining multiple second intersection points with described first intersection point pre-matching on described reference multispectral image;

Described determination module 202, also for carrying out Feature Points Matching to described second intersection point and described first intersection point, determines described the second intersection point with reference to multispectral image mates with described first intersection point;

Described determination module 202, also for according to described first intersection point and the second intersection point of mating with described first intersection point, determines coordinate conversion parameter;

Processing module 203, for carrying out registration according to described coordinate conversion parameter to described multispectral image subject to registration and described reference multispectral image.

Alternatively, acquisition module 201, specifically for:

Determine the marginal point of described multispectral image subject to registration;

The described marginal point of interval predeterminable range is connected to form line segment;

Calculate the angle of adjacent segments, if described angle is less than default angle threshold, then retain described adjacent segments; If be more than or equal to described default angle threshold, then delete the intersection point of described adjacent segments, another end points connecting described adjacent segments forms new line segment;

The crossing line segment pair of described many groups is obtained according to described line segment.

Alternatively, acquisition module 201, specifically for:

Determine the described marginal point with reference to multispectral image;

The described marginal point of interval predeterminable range is connected to form line segment;

Calculate the angle of adjacent segments, if described angle is less than default angle threshold, then retain described adjacent segments; If be more than or equal to described default angle threshold, then delete the intersection point of described adjacent segments, another end points connecting described adjacent segments forms new line segment;

The crossing line segment pair of described many groups is obtained according to described line segment.

Alternatively, described determination module 202, specifically for:

Respectively to described first intersection point and described second intersection point calculation edge orientation histogram EOH descriptor;

Calculate the Euclidean distance between the EOH descriptor of described first intersection point and the EOH descriptor of described second intersection point;

If described Euclidean distance is less than the first default distance threshold, then determine that described second intersection point is the second intersection point with described first intersection point pre-matching.

Alternatively, described processing module 203, also for:

On the line segment at described second intersection point place, choose fisrt feature point in the both sides of described second intersection point successively interval predeterminable range;

On the line segment at described first intersection point place, choose second feature point in the both sides of described first intersection point successively predeterminable range described in interval; The line segment at described second intersection point place is consistent with the line segment direction at described first intersection point place.

Alternatively, described processing module 203, also specifically for:

The intersection point chosen on line segment in the both sides of described second intersection point is described fisrt feature point;

Second feature point is chosen in the described both sides at described first intersection point successively predeterminable range described in interval, specifically comprises:

The intersection point chosen on line segment in the both sides of described first intersection point is described second feature point.

Alternatively, described determination module 202, specifically for:

Respectively EOH descriptor is calculated to described fisrt feature point and described second feature point;

Calculate the Euclidean distance between the EOH descriptor of described fisrt feature point and the EOH descriptor of described second feature point; Described fisrt feature point is corresponding with the position of described second feature point;

The described Euclidean distance exceeding predetermined number threshold value if having is less than default second distance threshold value, then determine that described second intersection point is the second intersection point mated with described first intersection point; Described second distance threshold value is less than described first distance threshold.

Alternatively, described determination module 202, specifically for:

Transformation matrix of coordinates H is determined, using described transformation matrix of coordinates H as coordinate conversion parameter according to following formula (1);

$\left[\begin{array}{c}{x}^{\′}\\ y^{\′}\\ 1\end{array}\right]=\left[\begin{array}{ccc}{a}_{11}& a_{12}& a_{13}\\ a_{21}& a_{22}& a_{23}\\ 0& 0& 1\end{array}\right]\×\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]---\left(1\right)$

Wherein, $\left[\begin{array}{c}{x}^{\′}\\ y^{\′}\\ 1\end{array}\right]$ For the coordinate of described second intersection point; $\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]$ For the coordinate of described first intersection point; Transformation matrix of coordinates $H=\left[\begin{array}{ccc}{a}_{11}& a_{12}& a_{13}\\ a_{21}& a_{22}& a_{23}\\ 0& 0& 1\end{array}\right].$

Alternatively, described processing module 203, specifically for:

The coordinate of the pixel in described multispectral image subject to registration is multiplied with described transformation matrix of coordinates, described multispectral image subject to registration is transformed to under the described coordinate system identical with reference to multispectral image.

The device of the present embodiment, may be used for the technical scheme performing embodiment of the method shown in Fig. 1, it is similar that it realizes principle, repeats no more herein.

One of ordinary skill in the art will appreciate that: all or part of step realizing above-mentioned each embodiment of the method can have been come by the hardware that programmed instruction is relevant.Aforesaid program can be stored in a computer read/write memory medium.This program, when performing, performs the step comprising above-mentioned each embodiment of the method; And aforesaid storage medium comprises: ROM, RAM, magnetic disc or CD etc. various can be program code stored medium.

Last it is noted that above each embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.

Claims (10)

1. based on a method for the multi-spectral image registration of line match, it is characterized in that, comprising:

Obtain in multispectral image subject to registration and organize the first right intersection point of crossing line segment more, and obtain to organize the second right intersection point of crossing line segment with reference in multispectral image more;

Determine multiple second intersection points with described first intersection point pre-matching on described reference multispectral image;

Feature Points Matching is carried out to described second intersection point and described first intersection point, determines described the second intersection point with reference to multispectral image mates with described first intersection point; According to described first intersection point and the second intersection point of mating with described first intersection point, determine coordinate conversion parameter;

According to described coordinate conversion parameter, registration is carried out to described multispectral image subject to registration and described reference multispectral image.

2. method according to claim 1, is characterized in that, before the first intersection point that the line segment that in described acquisition multispectral image subject to registration, many groups intersect is right, comprising:

Determine the marginal point of described multispectral image subject to registration;

The described marginal point of interval predeterminable range is connected to form line segment;

Calculate the angle of adjacent segments, if described angle is less than default angle threshold, then retain described adjacent segments; If be more than or equal to described default angle threshold, then delete the intersection point of described adjacent segments, another end points connecting described adjacent segments forms new line segment;

The crossing line segment pair of described many groups is obtained according to described line segment.

3. method according to claim 1, is characterized in that, described acquisition, with reference to before the second intersection point that the line segment that groups many in multispectral image are crossing is right, comprising:

Determine the described marginal point with reference to multispectral image;

The described marginal point of interval predeterminable range is connected to form line segment;

Calculate the angle of adjacent segments, if described angle is less than default angle threshold, then retain described adjacent segments; If be more than or equal to described default angle threshold, then delete the intersection point of described adjacent segments, another end points connecting described adjacent segments forms new line segment;

The crossing line segment pair of described many groups is obtained according to described line segment.

4. the method according to any one of claim 1-3, is characterized in that, described multiple second intersection points determined with described first intersection point pre-matching on described reference multispectral image, comprising:

Respectively to described first intersection point and described second intersection point calculation edge orientation histogram EOH descriptor;

Calculate the Euclidean distance between the EOH descriptor of described first intersection point and the EOH descriptor of described second intersection point;

If described Euclidean distance is less than the first default distance threshold, then determine that described second intersection point is the second intersection point with described first intersection point pre-matching.

5. method according to claim 4, is characterized in that, described Feature Points Matching is carried out to described second intersection point and described first intersection point before, comprising:

On the line segment at described second intersection point place, choose fisrt feature point in the both sides of described second intersection point successively interval predeterminable range;

On the line segment at described first intersection point place, choose second feature point in the both sides of described first intersection point successively predeterminable range described in interval; The line segment at described second intersection point place is consistent with the line segment direction at described first intersection point place.

6. method according to claim 5, is characterized in that, fisrt feature point is chosen in the described both sides at described second intersection point successively interval predeterminable range, specifically comprises:

The intersection point chosen on line segment in the both sides of described second intersection point is described fisrt feature point;

Second feature point is chosen in the described both sides at described first intersection point successively predeterminable range described in interval, specifically comprises:

The intersection point chosen on line segment in the both sides of described first intersection point is described second feature point.

7. the method according to claim 5 or 6, is characterized in that, carries out Feature Points Matching to described second intersection point and described first intersection point, determines described the second intersection point with reference to multispectral image mates with described first intersection point, comprising:

Respectively EOH descriptor is calculated to described fisrt feature point and described second feature point;

Calculate the Euclidean distance between the EOH descriptor of described fisrt feature point and the EOH descriptor of described second feature point; Described fisrt feature point is corresponding with the position of described second feature point;

The described Euclidean distance exceeding predetermined number threshold value if having is less than default second distance threshold value, then determine that described second intersection point is the second intersection point mated with described first intersection point; Described second distance threshold value is less than described first distance threshold.

8. the method according to any one of claim 1-3, is characterized in that, described according to described first intersection point and the second intersection point of mating with described first intersection point, determines coordinate conversion parameter, comprising:

Transformation matrix of coordinates H is determined, using described transformation matrix of coordinates H as coordinate conversion parameter according to following formula (1);

$\left[\begin{array}{c}{x}^{\′}\\ y^{\′}\\ 1\end{array}\right]=\left[\begin{array}{ccc}{a}_{11}& a_{12}& a_{13}\\ a_{21}& a_{22}& a_{23}\\ 0& 0& 1\end{array}\right]\×\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]---\left(1\right)$

Wherein, $\left[\begin{array}{c}{x}^{\′}\\ y^{\′}\\ 1\end{array}\right]$ For the coordinate of described second intersection point; $\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]$ For the coordinate of described first intersection point; Transformation matrix of coordinates $H=\left[\begin{array}{ccc}{a}_{11}& a_{12}& a_{13}\\ a_{21}& a_{22}& a_{23}\\ 0& 0& 1\end{array}\right].$

9. method according to claim 8, is characterized in that, described according to described coordinate conversion parameter to described multispectral image subject to registration with describedly carry out registration with reference to multispectral image, comprising:

The coordinate of the pixel in described multispectral image subject to registration is multiplied with described transformation matrix of coordinates, described multispectral image subject to registration is transformed to under the described coordinate system identical with reference to multispectral image.

10. based on a device for the multi-spectral image registration of line match, it is characterized in that, comprising:

Acquisition module, for obtaining in multispectral image subject to registration to organize the first right intersection point of crossing line segment, and obtains to organize the second right intersection point of crossing line segment with reference in multispectral image more more;

Determination module, for determining multiple second intersection points with described first intersection point pre-matching on described reference multispectral image;

Described determination module, also for carrying out Feature Points Matching to described second intersection point and described first intersection point, determines described the second intersection point with reference to multispectral image mates with described first intersection point;

Described determination module, also for according to described first intersection point and the second intersection point of mating with described first intersection point, determines coordinate conversion parameter;

Processing module, for carrying out registration according to described coordinate conversion parameter to described multispectral image subject to registration and described reference multispectral image.