CN105488852B - A kind of 3-D image joining method based on geocoding and multidimensional calibrating - Google Patents

A kind of 3-D image joining method based on geocoding and multidimensional calibrating Download PDF

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CN105488852B
CN105488852B CN201510980826.3A CN201510980826A CN105488852B CN 105488852 B CN105488852 B CN 105488852B CN 201510980826 A CN201510980826 A CN 201510980826A CN 105488852 B CN105488852 B CN 105488852B
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geocoding
towed body
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sonar
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CN105488852A (en
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朱必波
芦俊
薛欢欢
丛卫华
蒋富勤
汲夏
傅翔毅
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715th Research Institute of CSIC
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/32—Indexing scheme for image data processing or generation, in general involving image mosaicing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20212—Image combination
    • G06T2207/20221—Image fusion; Image merging

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  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
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  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The present invention relates to a kind of 3-D image joining method based on geocoding and multidimensional calibrating, the three-dimensional space position geocoding of sonar image volume data is carried out by towed body dead reckoning, sonar parameter amendment first, then it chooses boat-depth dimension to more survey line overlapping regions image to be sliced, by Image Feature Matching, the translational movement of depth dimension is obtained；It chooses boat-azimuth dimension slice, the 3-D image splicing of multidimensional calibrating is realized finally by the multidimensional calibrating of three-dimensional space position geocoding by target long axial images feature calculation translational movement and angle rotation amount.The invention has the benefit that 3-D image volume data splicing that the present invention is generated for sonar platforms, containing four-dimensional information (walking position of navigating, position of orientation, depth location, reflection intensity values), novelty propose a kind of 3-D image joining method based on geocoding and multidimensional calibrating.

Description

A kind of 3-D image joining method based on geocoding and multidimensional calibrating
Technical field
The invention belongs to the scopes of sonar image Data Post technology, mainly a kind of to be based on geocoding and multidimensional school Quasi- 3-D image joining method.
Background technique
Image mosaic technology refers to the seamless high-definition picture that the image that several have lap is combined into width large size Technology has been widely present in the field of image processings such as remote sensing, radar, medicine, optics, digital video.The technology mainly includes figure As registration and image co-registration two parts, wherein image registration is the core of image mosaic, is refered in particular to using certain matching plan Slightly, template in image to be spliced or characteristic point corresponding position in a reference image are found out, so determine two images it Between transformation relation.Registration Algorithm be broadly divided into the method based on model, the method based on transform domain, based on gray scale it is relevant Method and method based on feature.Since image mosaic technology does not have the test image of standard, also ununified evaluation criterion, Measure algorithm superiority and inferiority relies primarily on the subjective vision perception of people.
With the fast development of signal processing technology and image processing techniques, the image data that image sonar generates is advised Mould develops to three-dimensional by two dimension: one kind is multibeam echosounding equipment, is dedicated as that sea-floor relief is imaged, and generates pseudo- three dimensions According to (the position X that walks to navigate, position of orientation Y, height value H) type, conventional two-dimensional connecting method still can be used, after being superimposed elevation information Form dimensional topography splicing effect；In addition a kind of is multi-beam synthetic aperture three-dimensional imaging sonar, it with it is advanced imitate it is medical The acoustic method of CT technology realizes water body, seabed, stratum three-dimensional imaging, produces that (walk to navigate position X, orientation containing four-dimensional information Position Y, depth location Z, reflection intensity values P) three-dimensional image volume data type.Handling such three-dimensional figure containing four-dimensional information When as volume data, following two classes problem is faced:
(1) there is the splicing side of more mature pseudo-three-dimensional image data (i.e. two 2-D datas) both at home and abroad at present Method, Successful utilization is in the processing of multibeam echosounder image mosaic, but rarely has the 3-D image volume data containing four-dimensional information The technique study of splicing.In view of acoustic picture with optics, electromagnetism image compared with, since formation mechenism and use environment constrain The features such as limitation, it is weak that there is contrasts, and reverberation noise is more, image detail is deficient, and resolving power is lower, introduces traditional optical, electricity The stitching algorithm of magnetics field of image processing be directly applied to acoustic picture splicing in the effect is unsatisfactory.
(2) sonar platforms are walked non-homogeneous inclined in boat under practical different course lines by wave, ocean current, tide and towboat The influence for the factors such as moving, exist up and down, trim, roll attitude freely change.By motion compensation signal processing and multi-parameter Most attitude error can be compensated after amendment, but the factors such as the offset in course line and the influence of platform kinematic error will lead to difference There is relatively large deviation in the picture position of same target under survey line.It directlys adopt spatial position and inlays superposition, it may appear that multidimensional image is empty Between dislocation, lead to splicing result mistake, visual effect is inferior.
Summary of the invention
The object of the invention is in order to overcome above-mentioned problems of the prior art, and provides and a kind of compiled based on geographical The 3-D image joining method of code and multidimensional calibrating.
The object of the present invention is achieved by the following technical solutions.This three based on geocoding and multidimensional calibrating Image split-joint method is tieed up, carries out the three-dimensional space of sonar image volume data by towed body dead reckoning, sonar parameter amendment first Then location geographic coding is chosen boat-depth dimension to more survey line overlapping regions image and is sliced, by Image Feature Matching, obtains Take the translational movement of depth dimension；It chooses boat-azimuth dimension slice, is rotated by target long axial images feature calculation translational movement and angle Amount realizes the 3-D image splicing of multidimensional calibrating finally by the multidimensional calibrating of three-dimensional space position geocoding.
The content of present invention is divided into three-dimensional space position geocoding, multidimensional matching and geocoding calibration, 3-D image and spells Three parts are connect, each section is described as follows:
(1) three-dimensional space position geocoding
It calculates sonar towed body position, corrects track course angle, the fixed roll angle, sound velocity error of towed body, adjust sonar Two-dimensional image scale obtains geocoding of the 3-D image volume data under cartesian space rectangular coordinate system under different surveys line.
1. calculating sonar towed body position: configuring GPS navigation equipment on lash ship, according to positional relationship between lash ship, towed body, push away Sonar towed body longitude and latitude position data are calculated, then towed body position data is filtered, are reduced because only a few sonar drags The spatial position position error that body position distortion introduces.
2. calculating towed body track course angle: with reference under the earth plane coordinate system, selecting towed body in different space track points Latitude and longitude value at position seeks the arc tangent triangular transformation value of warp, difference of latitude in time span, obtains towed body track course angle Degree weakens because of the towed body spatial position position error that bow is introduced to disturbance in the process of moving.
3. the fixed roll angle of compensation towed body: the sensor roll output valve of synchronous recording is obtained, after carrying out statistical average Fixed roll angle angle value is obtained, the spatial position position error introduced by the fixed roll angle of towed body is compensated.
4. correcting sound velocity error: obtaining the sonic velocity change value in operation sea area after measuring using sound velocimeter, amendment is corresponding The acoustic velocity value of depth eliminates the spatial position position error introduced because sound field sound velocity error is larger.
5. scaling two-dimentional scale: walking boat and the two-dimentional scaling processing of azimuth dimension progress in 3-D image volume data, make It must walk that boat is consistent with azimuth dimension graphical rule value, dispel the spatial position position error because of the inconsistent introducing of two-dimentional scale.
6. seabed plane latitude and longitude value: according to sonar towed body position, towed body track course angle, the fixed roll angle of towed body, Sound velocity error, towed body height, beam angle, seabed involuting wave oblique distance geometrical model, it is flat to obtain in 3-D image volume data seabed The latitude and longitude value in face.
7. cartesian space right angle geocoding: establishing rectangular coordinate system in space, the seabed of 3-D image volume data is put down The latitude and longitude value in face is configured to corresponding flat reference axis, and depth information is configured in vertical coordinate axle, so that 3-D image Volume data has cartesian space right angle geocoding.
(2) multidimensional matching and geocoding calibration
It chooses boat-depth dimension slice for more survey line overlapping regions image and depth dimension is obtained by Image Feature Matching Translational movement；It chooses boat-azimuth dimension slice, by target long axial images feature calculation translational movement and angle rotation amount, obtains Boat-orientation-depth dimension calibration value is walked, the more of three-dimensional space position geocoding (cartesian space right angle geocoding) are completed Dimension calibration.
(3) 3-D image splices
According to three-dimensional space position geocoding, complete to the 3-D image splicing under different surveys line.
The invention has the benefit that it is that the present invention is generated for sonar platforms, (walk position of navigating, orientation containing four-dimensional information Position, depth location, reflection intensity values) 3-D image volume data splicing, novelty proposes a kind of to be compiled based on geographical The 3-D image joining method of code and multidimensional calibrating.
Detailed description of the invention
Fig. 1 is the 3-D image joining method flow diagram based on geocoding and multidimensional calibrating.
Fig. 2 is towed body position data filtering principle schematic diagram.
The vertical view result (in water, water-bed target) of the 3 d image data of same area under Fig. 3 difference survey line.
Bead target depth dimension matching figure in water under the bis- surveys line of Fig. 4.
The bis- survey line 3-D image splicing results of Fig. 5 (in water and water-bed target).
The 3-D image splicing result (stratum burial target) that Fig. 6 is calibrated without multidimensional matching.
Based on the result after walking the two dimension matching calibration of boat/orientation for burying target under the bis- surveys line of Fig. 7.
3 d image data splicing result (stratum burial target) of the Fig. 8 by geocoding and multidimensional matching calibration.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and examples:
This 3-D image joining method based on geocoding and multidimensional calibrating of the present invention, specific steps are such as Under:
101) three-dimensional space position geocoding
It is compiled by the three-dimensional space position geography that towed body dead reckoning, sonar parameter amendment carry out sonar image volume data Code.
1 calculates sonar towed body position
The filtering of towed body position data: successively choosing adjacent three track points i, i+1, i+2 and constitute triangle, with i, i+2 company Line is bottom edge, calculated the vertical line equation that i+1 point intersects with bottom edge, coordinate and the tax of cut-point P are acquired with the ration of division of 1:2 Give track points i+1, can smooth track coordinate it is preferable simultaneously keep between track points apart from ratio, filtering signal such as attached drawing Shown in 2.By longitude and latitude (WD, JD) coordinate transformation plane rectangular coordinates value of track points i, i+1, i+2, conversion formula are as follows:
Y=WD1852, X=JDcos (WD/60/180 π) 1852
The rectangular co-ordinate value of known i, i+2 point can obtain straight line L1 slope-intercept form y=kx+b and general expression A1x+ The expression formula of B1y+C1=0, slope areDue to crossing i+1, P point straight line L2 and straight line L1 phase Mutually vertical, slope isStraight line L2 expression formula A2x+B2y+C2=0 can be equally obtained, calculates L1's and L2 Intersection point Q coordinate valueAnd then according to the coordinate of point i+1 and point Q, adopt The coordinate value of point P is obtained than formula with segmented is fixedHere λ=0.5 is selected, The P point coordinate value of acquisition is assigned to track points i+1, becomes new coordinate value.
2 reckoning towed body track course angles: latitude/longitude that (WD, JD) is expressed as towed body track points is defined, by certain time The difference (dy, dx) of track points longitude and latitude makees contact transformation anyway in span, obtains track course heading θ, the derivation of equation is as follows:
Dy=Δ WD1852=(WDnew-WDold)·1852
Dx=Δ JD1852cos (WDold/ 60/180* π)=(JDnew-JDold)·cos(WDold/60/180*π)· 1852
Track course angle: θ=arctan2 (abs (dx/dy))
The 3 fixed roll angles of compensation towed body: the sensor output value of synchronous recording is obtained, is fixed after carrying out statistical average Roll angle angle value γ.
4 sound velocity errors: the sonic velocity change value for obtaining operation sea area is measured using sound velocimeter, is modified.
5 zoomed image two dimension scales: walking boat and the two-dimentional scaling processing of azimuth dimension progress in 3-D image volume data, Select linear interpolation processing, 3-D image volume data that treated is to walk boat consistent with azimuth dimension graphical rule value.
6 seabed plane longitudes and latitudes: 3-D image volume data is divided into the two-dimensional image data under several beam angles Combination.Using sonar towed body position, different beams angle [alpha], fixed roll angle γ, towed body track course angle θ and seabed interface Echo oblique distance srα(after amendment sound velocity error), the reference for obtaining the wave cover sea-bed area by beam amplitude projection is flat away from R (α)=srαCos (α-γ) obtains horizontal scanning line angle by the horizontal scanning line relationship vertical with track course
Define towed body latitude and longitude coordinates value at discrete space track pointsThen under different beams angle Latitude and longitude value (the WD of seabed interface positioni α,JDi α), wherein sign represents the left side or the right side that seabed interface is located at towed body Side.
7 cartesian space rectangular coordinate systems coding: 3-D image volume data is transformed into cartesian space rectangular coordinate system In, coordinate origin be unified for away boat starting section and left side beam positional angle intersection location, along walk to navigate direction for x-axis just To the right beam positional angular direction is that y-axis is positive, and depth direction is that z-axis is positive.By seabed calculated in step 6 plane Latitude and longitude value corresponds in XOY plane coordinate value, and establishes image data in the Z axis coordinate value of XOZ plane, and final all three Dimension image volumetric data point is provided with three dimensional space coordinate position and gray value information, i.e. M (x, y, z)=ff.
102) multidimensional matching and geocoding calibration
Overlapping region image under more surveys line is chosen, obtains image notable feature, mainly include two classes: one kind is wrapped in image Cable, gully, pipeline containing in water or seabed etc. have continuously distributed type target.It is another kind of be include in water, seabed, Strong reflection target or long strip type regular targets in layer；
It obtains image notable feature and walks boat-depth two dimension slicing figure in different images volume data, according to characteristics of image, Depth matching position z1, z2 of the target in different slice maps are obtained, and calculates depth dimension calibration value Δ z=z1-z2.
It obtains image notable feature and walks boat-orientation two dimension slicing figure in different images volume data, complete target and walk boat-side Position dimension location matches, image volumetric data are projected along Z-direction, obtain flat square XOY coordinate system, obtain target long axis flat The coordinate value of face rectangular coordinate system establishes straight line model y=kx+b, calculates separately out straight line expression formula y=k1·x+b1And y =k2·x+b2, it is converted into angle rotation amount Δ θ=tan-1·k2-tan-1·k1.And choose target long axis in different slice maps Intermediate position points coordinate (x1, y1), (x2, y2) calculate distance between two points:
The angle of line and X-axis:Obtain translational movement Projection components value g=Δ dcos σ, h=Δ dsin σ on X/Y axis is obtained according to angle rotation amount and translational component Walk boat-azimuth dimension calibration value:
Δ x=g+Xcos (Δ θ)-Ysin (Δ θ)
Δ y=h+Xsin (Δ θ)+Ycos (Δ θ)
3-D image volume data geocoding in cartesian space rectangular coordinate system under corresponding survey line is completed to calibrate:
M (x+ Δ x, y+ Δ y, z+ Δ z)=ff
103) image volumetric data splicing fusion
3 d image data under different surveys line is spliced according to geocoding, and the image data of overlapping region uses Gray value takes big method to merge.
Choose the 3 d image data of two surveys line, there are bead target in water, the bottom has heavy piece, 3 d image data Vertical view result it is as shown in Figure 3.
Every survey line data choose mesh of the bead as matching alignment in water after three-dimensional space position geocoding Mark is analyzed by boat-depth dimension image slice of walking to the bead under different surveys line, depth calibration is carried out, as a result such as Fig. 4 institute Show.
Middle bead target depth dimension matching is lauched to different surveys line, is spliced after carrying out the calibration of three-dimensional space position geocoding As shown in figure 5, blue portion is seawater, yellow target is bead in water, and seabed yellow target is counterweight stone, and bead is put in water Without diplopia in big figure, bottom target geometry is regular, and target is essentially coincided walking boat, orientation and depth dimension position.
It at sea lays and buries chlorine cylinder target, 0.5 meter of aimed dia, 2.0 meters of length, about 1.0 meters of burying depth, choose Two surveys line pass through burial target area with different courses, and the 3 d image data of generation is straight after three-dimensional space position geocoding Splicing result is connect as shown in fig. 6, target can not be overlapped in depth, orientation, objective contour feature Fuzzy is unfavorable for target and sentences It reads.
Boat-depth the slice map of walking for choosing the burial target of different surveys line carries out depth matching, chooses boat-orientation slice Figure carries out away boat-azimuth dimension registration as shown in fig. 7, corresponding angle, θ1=-37.65 ° and θ2=-67.55 °, angle rotation amount Δ θ=θ1-θ2=30.1 °.
The splicing result of 3 d image data after geocoding and multidimensional matching calibration is as shown in figure 8, target exists It is essentially coincided in depth and azimuth dimension, effectively interpretation can go out the dimensional profile features of target.
In addition to the implementation, the present invention can also have other embodiments, all to use equivalent substitution or equivalent transformation shape At technical solution, fall within the scope of protection required by the present invention.

Claims (1)

1. a kind of 3-D image joining method based on geocoding and multidimensional calibrating, it is characterised in that:
(1), the three-dimensional space position of sonar 3-D image volume data is carried out by towed body dead reckoning, sonar parameter amendment first Geocoding, the specific steps are as follows:
1. calculating sonar towed body position: configuring GPS navigation equipment on lash ship, according to positional relationship between lash ship, towed body, extrapolate Sonar towed body longitude and latitude position data, are then filtered towed body position data；
2. calculating towed body track course angle: with reference under the earth plane coordinate system, selecting towed body in different space track points positions The latitude and longitude value at place seeks the arc tangent triangular transformation value of warp, difference of latitude in time span, obtains towed body track course heading；
3. the fixed roll angle of compensation towed body: obtaining the sensor roll output valve of synchronous recording, obtained after carrying out statistical average Fixed roll angle angle value；
4. correcting sound velocity error: obtaining the sonic velocity change value in operation sea area after measuring using sound velocimeter, correct respective depth Acoustic velocity value；
5. scaling two-dimentional scale: boat and the two-dimentional scaling processing of azimuth dimension progress are walked in 3-D image volume data, so that walking It navigates consistent with azimuth dimension graphical rule value；
6. seabed plane latitude and longitude value: according to sonar towed body position, towed body track course angle, towed body fixed roll angle, the velocity of sound Error, towed body height, beam angle, seabed involuting wave oblique distance geometrical model, obtain seabed plane in 3-D image volume data Latitude and longitude value；
7. three-dimensional space position geocoding, i.e. cartesian space right angle geocoding: rectangular coordinate system in space is established, it will be three-dimensional The latitude and longitude value of the seabed plane of image volumetric data is configured to corresponding flat reference axis, and depth information is configured to vertical coordinate In axis, so that 3-D image volume data has cartesian space right angle geocoding；
(2), boat-depth dimension is walked to more survey line overlapping region three-dimensional image volume data decimations to be sliced, by Image Feature Matching, obtain Take the translational movement of depth dimension；
(3), it chooses boat-azimuth dimension slice, by target long axial images feature calculation translational movement and angle rotation amount, is walked Boat-orientation-depth dimension calibration value completes the multidimensional calibrating of three-dimensional space position geocoding；According to three-dimensional space position Reason coding, is completed to the 3-D image splicing under different surveys line.
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