CN105091905A - Hybrid camera hyper-spectral acquisition system calibration method and system - Google Patents
Hybrid camera hyper-spectral acquisition system calibration method and system Download PDFInfo
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Abstract
The invention provides a hybrid camera hyper-spectral acquisition system calibration method including the following steps: acquiring an RGB image and a grayscale image of a predetermined target; adding a predetermined-form mask, and shooting a whiteboard spectral information image under preset fluorescence irradiation by utilizing the grayscale image; according to the preset fluorescence spectrogram and the whiteboard spectral information image, obtaining position coordinates of multiple sampling points in the whiteboard spectral information image; according to the position coordinates of the multiple sampling points, carrying out position calibration on the grayscale image; and according to the calibrated position in the grayscale image, calibrating the RGB image. According to the hybrid camera hyper-spectral acquisition system calibration method, the image can be quickly and accurately calibrated. The invention also provides a hybrid camera hyper-spectral acquisition system calibration system.
Description
Technical field
The present invention designs attitude sensor technical field, particularly a kind of scaling method of Hybrid camera hyper-spectral data gathering system.
Background technology
Calculate shooting learn in a very important direction be on spectral domain, traditional imaging technique is expanded, i.e. hyperspectral technique.Current most of imaging camera technology all records for scene image based on red, green, blue three look information, although three look sensing imaging techniques meet the imaging demand of human visual system, but from the angle of physical principle, reality scene not only has three look information so simple.Send from light source or light through reflections off objects has abundant wavelength, wherein visible ray covers from 390nm until the extensive region of 780nm, contains a large amount of information.Scene light line spectrum is just referring to the distribution of light light intensity in this section of wavelength coverage, and this spectral information can reflect the natural quality of light source, object and scene, and therefore spectra collection technology has become the effective tool carrying out scientific research and engineer applied.
According to the difference of technical requirement and acquisition condition, existing multispectral acquisition system can be divided into two classes: scan-type optical spectrum imagers and instantaneous shooting type shooting optical spectrum imagers.Various technical solution is all that the mode by sacrificing space or temporal resolution compensates for spectral resolution, to gather multispectral information.But how quickly and accurately the demarcation of completion system, play an important role to the accuracy of collection result.
Summary of the invention
The present invention is intended at least one of solve the problems of the technologies described above.
For this reason, the object of the invention is to the scaling method proposing a kind of Hybrid camera hyper-spectral data gathering system.The method has that scale efficiency is high, advantage accurately.
Another object of the present invention is to the calibration system proposing a kind of Hybrid camera hyper-spectral data gathering system.
To achieve these goals, the embodiment of first aspect present invention provides a kind of scaling method of Hybrid camera hyper-spectral data gathering system, described Hybrid camera comprises RGB camera and gray scale camera, said method comprising the steps of: the RGB image and the gray level image that are obtained intended target by described Hybrid camera; Add the mask of predetermined form, the blank spectral information figure under utilizing described gray scale camera to take default fluorescence irradiation; The position coordinates of multiple sampled point in described blank spectral information figure is obtained according to the spectrogram of described default fluorescence and described blank spectral information figure; Position coordinates according to described multiple sampled point carries out location position to described gray level image; According to the position demarcated in described gray level image, described RGB image is demarcated.
According to the scaling method of the Hybrid camera hyper-spectral data gathering system of the embodiment of the present invention, can demarcate RGB image and gray level image rapidly.There is demarcation efficiency high, advantage accurately.
In addition, the scaling method of Hybrid camera hyper-spectral data gathering system according to the above embodiment of the present invention can also have following additional technical characteristic:
In some instances, the described spectrogram according to described default fluorescence and described blank spectral information figure obtain the position coordinates of multiple sampled point in described blank spectral information figure, comprise further: the position coordinates obtaining the spike in described blank spectral information figure according to the peak response in the spectrogram of described default fluorescence; According to the side-play amount between the wavelength that other wavelength in the position coordinates of the spike in described blank spectral information figure and the spectrogram of described default fluorescence is corresponding with described peak response, calculate the position coordinates of other sampled point in described blank spectral information figure.
In some instances, the described position according to demarcating in described gray level image is demarcated described RGB image, comprises further: divided into groups by multiple sampled point; The position coordinates of summit on described RGB image in the region that each group sampled point described surrounds is obtained according to each group sampled point; The position coordinates of other position in the region that described in calculating according to the position coordinates of described summit on described RGB image, each group sampled point surrounds.
In some instances, four sampled points be divided into one group and, described four sampled points surround rectangular area.
In some instances, the summit in the region that sampled point surrounds is organized on four summits of described rectangular area as each.
The embodiment of second aspect present invention provides a kind of calibration system of Hybrid camera hyper-spectral data gathering system, comprise: acquisition module, for obtaining RGB image and the gray level image of being taken the intended target obtained by Hybrid camera, and obtain by the blank spectral information figure under the default fluorescence irradiation utilizing described gray level image take after the mask adding predetermined form; Position coordinates computing module, for obtaining the position coordinates of multiple sampled point in described blank spectral information figure according to the spectrogram of described default fluorescence and described blank spectral information figure; Demarcating module, for carrying out location position according to the position coordinates of described multiple sampled point to described gray level image, and demarcates described RGB image according to the position demarcated in described gray level image.
According to the calibration system of the Hybrid camera hyper-spectral data gathering system of the embodiment of the present invention, can demarcate RGB image and gray level image rapidly.There is demarcation efficiency high, advantage accurately.In addition, this system architecture is simple, is easy to realize.
In addition, the calibration system of Hybrid camera hyper-spectral data gathering system according to the above embodiment of the present invention can also have following additional technical characteristic:
In some instances, described position coordinates computing module is used for: the position coordinates obtaining the spike in described blank spectral information figure according to the peak response in the spectrogram of described default fluorescence, and according to the side-play amount between the wavelength corresponding with described peak response of other wavelength in the position coordinates of the spike in described blank spectral information figure and the spectrogram of described default fluorescence, calculate the position coordinates of other sampled point in described blank spectral information figure.
In some instances, described demarcating module is used for: divided into groups by multiple sampled point, and obtain the position coordinates of summit on described RGB image in the region that each group sampled point described surrounds according to each group sampled point, and calculate the position coordinates of other position in the region that each group sampled point described surrounds according to the position coordinates of described summit on described RGB image.
In some instances, four sampled points be divided into one group and, described four sampled points surround rectangular area.
In some instances, the summit in the region that sampled point surrounds is organized on four summits of described rectangular area as each.
Additional aspect of the present invention and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present invention and advantage will become obvious and easy understand from accompanying drawing below combining to the description of embodiment, wherein:
Fig. 1 is the process flow diagram of the scaling method of Hybrid camera hyper-spectral data gathering system according to an embodiment of the invention.
Fig. 2 a and 2b uses Hybrid camera system to carry out multispectral a pair image collected in the scaling method of Hybrid camera hyper-spectral data gathering system according to an embodiment of the invention;
Fig. 3 a and Fig. 3 b is mask example and the whiteboard images under irradiating with the fluorescence that gray scale camera is taken in the scaling method of Hybrid camera hyper-spectral data gathering system according to an embodiment of the invention;
Fig. 4 is fluorescence spectrum figure in the scaling method of Hybrid camera hyper-spectral data gathering system according to an embodiment of the invention;
Fig. 5 is spectrum correction result in the scaling method of Hybrid camera hyper-spectral data gathering system according to an embodiment of the invention;
Fig. 6 is the gray level image marked in the scaling method of Hybrid camera hyper-spectral data gathering system according to an embodiment of the invention;
Fig. 7 is the RGB image marked in the scaling method of Hybrid camera hyper-spectral data gathering system according to an embodiment of the invention;
Fig. 8 is Hybrid camera schematic diagram used in the scaling method of Hybrid camera hyper-spectral data gathering system according to an embodiment of the invention; And
Fig. 9 is the structured flowchart of the calibration system of Hybrid camera hyper-spectral data gathering system according to an embodiment of the invention.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance.
In describing the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, concrete condition above-mentioned term concrete meaning in the present invention can be understood.
With reference to description below and accompanying drawing, these and other aspects of embodiments of the invention will be known.Describe at these and in accompanying drawing, specifically disclose some particular implementation in embodiments of the invention, representing some modes of the principle implementing embodiments of the invention, but should be appreciated that the scope of embodiments of the invention is not limited.On the contrary, embodiments of the invention comprise fall into attached claims spirit and intension within the scope of all changes, amendment and equivalent.
Below in conjunction with accompanying drawing description according to the scaling method of the Hybrid camera hyper-spectral data gathering system of the embodiment of the present invention and system.
Fig. 1 is the process flow diagram of the scaling method of Hybrid camera hyper-spectral data gathering system according to an embodiment of the invention.Wherein, Hybrid camera comprises RGB camera and gray scale camera.As shown in Figure 1, the scaling method of Hybrid camera hyper-spectral data gathering system, comprises the steps: according to an embodiment of the invention
Step S101: the RGB image and the gray level image that are obtained intended target by Hybrid camera.That is: do not add mask, utilize Hybrid camera to take a pair respectively from the image of RGB camera and gray scale camera.
Step S102: the mask adding predetermined form, the blank spectral information figure under utilizing gray scale camera to take default fluorescence irradiation.Namely mask is added, with the whiteboard information (i.e. blank spectral information figure) of (as fluorescence) under the irradiation of gray scale camera shooting special light sources.
Step S103: the position coordinates obtaining multiple sampled point in blank spectral information figure according to the spectrogram of default fluorescence and blank spectral information figure.Particularly, this step comprises further:
1, the position coordinates of the spike in blank spectral information figure is obtained according to the peak response preset in the spectrogram of fluorescence.
2, according to the side-play amount between the wavelength corresponding with peak response of other wavelength in the position coordinates of the spike in blank spectral information figure and the spectrogram of default fluorescence, the position coordinates of other sampled point in blank spectral information figure is calculated.
That is, can according to special light sources (as the fluorescence) peak response on a certain specific wavelength, record the initial value of peak response coordinate as spectrum correction of some sampled points, according to the systematicness of mask structure, on gray level image, automatic mark goes out the spike coordinate of all sampled points, thus realizes spectrum correction.
Step S104: the position coordinates according to multiple sampled point carries out location position to gray level image.Be marked on above-mentioned gray level image by spike coordinate position etc.As shown in Figure 6, the gray level image that a kind of mark completes is shown.
Step S105: RGB image is demarcated according to the position demarcated in gray level image.Show the RGB image that a kind of mark completes as shown in Figure 7.Particularly, comprise the following steps:
1, multiple sampled point is divided into groups.
2, the position coordinates of summit on RGB image in the region that each group sampled point surrounds is obtained according to each group sampled point.
3, the position coordinates of other position in each region of surrounding of group sampled point is calculated according to the position coordinates of summit on RGB image.
Such as: four sampled points be divided into one group and, four sampled points surround rectangular area.Further, the summit in the region that sampled point surrounds is organized on four summits of rectangular area as each.
That is, according to the regular texture characteristic of mask, every for sampled point several rows are divided into one group, often organize sampled point and form a rectangle, record three respective coordinates of angle on RGB often organizing sampled point rectangle, as the initial value of automatic mark, then automatic mark goes out out the corresponding coordinate on RGB image of all sampled points that this rectangle frame comprises.
[embodiment]
First respectively the image (namely above-mentioned RGB image and gray level image) of two width for calibrating is taken with RGB camera and gray scale camera, for the ease of finding some initial points of mark, RGB image and the gray level image of shooting can have obvious feature, as shown in figures 2 a and 2b, the paper of word is made, as long as initial samples point can be identified more accurately, wherein with one, Fig. 2 a shows RGB image, and Fig. 2 b shows gray level image.
The mask example used as shown in Figure 3 a, can find out that the sampled point of mask is regularly arranged.In order to carry out spectrum correction and determine the coordinate of sampled point on gray level image, after adding mask, a glimmering light-struck whiteboard information is taken with gray scale camera, the image obtained as shown in Figure 3 b, because the spectrum launched on sensitized lithography is not along with wavelength carries out linear distribution, so coordinate figure corresponding to each wavelength directly can not be obtained, the spectrum to obtaining is needed to carry out spectrum correction.
The spectrogram of fluorescence as shown in Figure 4, can find out that fluorescent light has two peak responses at 546.6nm and 611.6nm, two obvious spikes can be seen in the blank spectral information enlarged drawing (lower right corner part as Fig. 3 b) of Fig. 3 b, so can by finding the position of these two specific wavelengths, and according to the relative displacement between other wavelength and this two known wavelength, calculate the coordinate position obtaining other wavelength, realize spectrum correction.In concrete operations, record the coordinate of 7 points as shown in Figure 3 b as initial value, regularly arranged according to mask, calculate two spike coordinates of all sampled points in zoning, calculate the coordinate of all wavelengths according to the relative displacement proportionate relationship of other wavelength and two known wavelength, thus realize spectrum correction.
Then, by the position mark at each sampled point 546.6nm wavelength place on gray level image, as the coordinate of sampled point on gray level image, as shown in Figure 5.
The demarcation of two-way image (RGB image) is then accurately correspond on RGB image by the position of sampled point, according to the sampling point position on the gray level image demarcated, consider the impact of geometric distortion on image, every four lines is demarcated as one group, namely the black surround of Fig. 5 is first group that chooses, manually demarcate the sampled point at three angles in every group, being chosen in the enlarged drawing of Fig. 5 of three angles can be found out.Define the coordinate definition of the 1st for (x00, y00), the coordinate definition of 2 is (x01, y01), and 3 point coordinate are defined as (x10, y10).
According to prophet's information of mask, namely mask is regularly arranged, suppose an often total N number of sampled point in row, the difference of the x coordinate then often between row neighbouring sample point is dx=(x01-x00)/(N-1), and the difference of y coordinate is dy=(y01-y00)/(N-1); In every row, the difference of the x coordinate between neighbouring sample point is the difference of dx2=x10-x00, y coordinate is dy2=y10-y00.
Because every tetrad, so be defined as follows several variable:
nROWperSection＝4
deltaX1＝dx1/nROWperSection；
deltaY1＝dy1/nROWperSection；
deltaX2＝dx2/nROWperSection；
deltaY2＝dy2/nROWperSection。
Then in this group, the Y-coordinate of the capable jth row of r can be expressed as:
y00+(nROWperSection-r)％nROWperSection*deltaY1+j*dy1+r*deltaY2。
X-coordinate can be expressed as: x00+ (nROWperSection-r) %nROWperSection*deltaX1+j*dx1+r*deltaX2.
In like manner, for second group, also can use aforesaid way, three points according to mark carry out automatic Calibration.
If nROWperSection=1, be then all carry out initialization to the first and last of often going, so nROWperSection is less, the accuracy of demarcation is larger, but the staking-out work amount brought is larger.According to the difference of mask, formula can be different, but core idea is all the architectural characteristic according to initial value and mask, automatically demarcates all sampled points.
As shown in Figure 8, adopt two-way camera, a road RGB camera gathers the low spectral resolution image of high spatial resolution, and another road gray scale collected by camera is by mask down-sampled images.
According to the scaling method of the Hybrid camera hyper-spectral data gathering system of the embodiment of the present invention, can demarcate RGB image and gray level image rapidly.There is demarcation efficiency high, advantage accurately.
Further embodiment of the present invention provides a kind of calibration system of Hybrid camera hyper-spectral data gathering system.As shown in Figure 9, the calibration system 900 of Hybrid camera hyper-spectral data gathering system according to an embodiment of the invention, comprising: acquisition module 910, position coordinates computing module 920 and demarcating module 930.
Wherein, acquisition module 910 is taken RGB image and the gray level image of the intended target obtained by Hybrid camera for obtaining, and obtains by the blank spectral information figure under the default fluorescence irradiation utilizing gray level image take after the mask adding predetermined form.Position coordinates computing module 920 is for obtaining the position coordinates of multiple sampled point in blank spectral information figure according to the spectrogram and blank spectral information figure of presetting fluorescence.Demarcating module 930 carries out location position for the position coordinates according to multiple sampled point to gray level image, and demarcates RGB image according to the position demarcated in gray level image.
As a concrete example, position coordinates computing module 920 is for the position coordinates that obtains the spike in blank spectral information figure according to the peak response in the spectrogram of default fluorescence, and according to the side-play amount between the wavelength corresponding with peak response of other wavelength in the position coordinates of the spike in blank spectral information figure and the spectrogram of default fluorescence, calculate the position coordinates of other sampled point in blank spectral information figure.
In one embodiment of the invention, demarcating module 930 for: multiple sampled point is divided into groups, and obtain the position coordinates of summit on described RGB image in the region that each group sampled point described surrounds according to each group sampled point, and calculate the position coordinates of other position in the region that each group sampled point described surrounds according to the position coordinates of described summit on described RGB image.
Wherein, four sampled points be divided into one group and, described four sampled points surround rectangular area.Further, the summit in the region that sampled point surrounds is organized on four summits of rectangular area as each.
Be understandable that, the specific implementation process of the system of the embodiment of the present invention refers to the method part of the embodiment of the present invention.In order to reduce redundancy, do not repeat.
According to the calibration system of the Hybrid camera hyper-spectral data gathering system of the embodiment of the present invention, can demarcate RGB image and gray level image rapidly.There is demarcation efficiency high, advantage accurately.
In the description of this instructions, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Although illustrate and describe embodiments of the invention, those having ordinary skill in the art will appreciate that: can carry out multiple change, amendment, replacement and modification to these embodiments when not departing from principle of the present invention and aim, scope of the present invention is by claim and equivalency thereof.
Claims (10)
1. a scaling method for Hybrid camera hyper-spectral data gathering system, is characterized in that, described Hybrid camera comprises RGB camera and gray scale camera, said method comprising the steps of:
RGB image and the gray level image of intended target is obtained by described Hybrid camera;
Add the mask of predetermined form, the blank spectral information figure under utilizing described gray scale camera to take default fluorescence irradiation;
The position coordinates of multiple sampled point in described blank spectral information figure is obtained according to the spectrogram of described default fluorescence and described blank spectral information figure;
Position coordinates according to described multiple sampled point carries out location position to described gray level image;
According to the position demarcated in described gray level image, described RGB image is demarcated.
2. the scaling method of Hybrid camera hyper-spectral data gathering system according to claim 1, it is characterized in that, the described spectrogram according to described default fluorescence and described blank spectral information figure obtain the position coordinates of multiple sampled point in described blank spectral information figure, comprise further:
The position coordinates of the spike in described blank spectral information figure is obtained according to the peak response in the spectrogram of described default fluorescence;
According to the side-play amount between the wavelength that other wavelength in the position coordinates of the spike in described blank spectral information figure and the spectrogram of described default fluorescence is corresponding with described peak response, calculate the position coordinates of other sampled point in described blank spectral information figure.
3. the scaling method of Hybrid camera hyper-spectral data gathering system according to claim 1, is characterized in that, the described position according to demarcating in described gray level image is demarcated described RGB image, comprises further:
Multiple sampled point is divided into groups;
The position coordinates of summit on described RGB image in the region that each group sampled point described surrounds is obtained according to each group sampled point;
The position coordinates of other position in the region that described in calculating according to the position coordinates of described summit on described RGB image, each group sampled point surrounds.
4. the scaling method of Hybrid camera hyper-spectral data gathering system according to claim 3, is characterized in that, four sampled points be divided into one group and, described four sampled points surround rectangular area.
5. the scaling method of Hybrid camera hyper-spectral data gathering system according to claim 4, is characterized in that, the summit in the region that sampled point surrounds is organized on four summits of described rectangular area as each.
6. a calibration system for Hybrid camera hyper-spectral data gathering system, is characterized in that, comprising:
Acquisition module, for obtaining RGB image and the gray level image of being taken the intended target obtained by Hybrid camera, and obtains by the blank spectral information figure under the default fluorescence irradiation utilizing described gray level image take after the mask adding predetermined form;
Position coordinates computing module, for obtaining the position coordinates of multiple sampled point in described blank spectral information figure according to the spectrogram of described default fluorescence and described blank spectral information figure;
Demarcating module, for carrying out location position according to the position coordinates of described multiple sampled point to described gray level image, and demarcates described RGB image according to the position demarcated in described gray level image.
7. the calibration system of Hybrid camera hyper-spectral data gathering system according to claim 6, it is characterized in that, described position coordinates computing module is used for: the position coordinates obtaining the spike in described blank spectral information figure according to the peak response in the spectrogram of described default fluorescence, and according to the side-play amount between the wavelength corresponding with described peak response of other wavelength in the position coordinates of the spike in described blank spectral information figure and the spectrogram of described default fluorescence, calculate the position coordinates of other sampled point in described blank spectral information figure.
8. the calibration system of Hybrid camera hyper-spectral data gathering system according to claim 6, it is characterized in that, described demarcating module is used for: divided into groups by multiple sampled point, and obtain the position coordinates of summit on described RGB image in the region that each group sampled point described surrounds according to each group sampled point, and calculate the position coordinates of other position in the region that each group sampled point described surrounds according to the position coordinates of described summit on described RGB image.
9. the calibration system of Hybrid camera hyper-spectral data gathering system according to claim 8, is characterized in that, four sampled points be divided into one group and, described four sampled points surround rectangular area.
10. the calibration system of Hybrid camera hyper-spectral data gathering system according to claim 9, is characterized in that, the summit in the region that sampled point surrounds is organized on four summits of described rectangular area as each.
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