CN105719239A - Image splicing method and image splicing device - Google Patents
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Abstract
The invention provides an image splicing method and an image splicing device, and belongs to the image processing technology field. Two groups of images shot under a condition of two focal length values can be respectively acquired, and the image splicing of the two groups of images can be carried out respectively to acquire two spliced images. The image splicing processing of the two groups of images can be respectively carried out, and the content of the spliced images can be more abundant, and the two images acquired after the image splicing can be integrated to acquire the integrated target image. By adopting the technical scheme provided by the invention, the image characteristics of the target image are clear, and the content accommodated in the image is more abundant, and the technical scheme is simple, and is convenient to implement.
Description
Technical field
The invention belongs to technical field of image processing, particularly to a kind of method for image mosaic and device.
Background technology
Along with the progress of science and technology and developing rapidly of digital imaging technology, digital imaging apparatus is also widely used.But, digital imaging apparatus is due to the physical restriction of self, in the application scenarios that some are special, it can not meet the demand of people, for instance, when needing the image getting big visual field, because the visual field width of imaging device self is narrower, it is impossible to get panoramic picture.The inventors discovered that, when obtaining big view field image, usually rely on image mosaic technology to process, when only obtaining big view field image by image mosaic technology, the picture material got is unintelligible, some characteristic points are easily left in the basket, thus causing that spliced imaging accuracy is low, it is impossible to the feature in reaction visual field exactly.
Summary of the invention
In order to solve the technological deficiency that prior art exists, the present invention provides a kind of method for image mosaic and device, wherein: a kind of method for image mosaic, and including:
Obtain the image in a focal length value shooting, respectively the first image and the second image；
Described first image and described second image are carried out image mosaic, obtains the first stitching image；
Obtain the image shot at another focal length value, respectively the 3rd image and the 4th image；
Described 3rd image and described 4th image are carried out image mosaic, obtains the second stitching image；
Described first stitching image and described second stitching image are carried out image co-registration, the target image after being merged.
Described described first image and described second image are carried out image mosaic, specifically include:
Determine the image characteristic point in the first image and described second image and position corresponding relation thereof, the described position corresponding relation according to described image characteristic point, splices described first image and described second image；
Described described 3rd image and described 4th image are carried out image mosaic, specifically include:
Determine the image characteristic point in the 3rd image and described 4th image and position corresponding relation thereof, the described position corresponding relation according to described image characteristic point, splices described 3rd image and described 4th image.
Described determine in the first image and described second image image characteristic point time and described determine in the 3rd image and described 4th image image characteristic point time, also include:
Adopt the iterations preset that described image characteristic point is filtered, filter out the characteristic point of error hiding, retain effective image characteristic point.
Described method also includes:
Obtain the pixel property value of the image before splicing, according to described pixel property value, each pixel of the actual overlapping region of spliced image is adjusted so that each pixel property value of the stitching image after process mates with described pixel property value.
A kind of device for image mosaic, also includes:
First acquisition module, for obtaining the image in a focal length value shooting, respectively the first image and the second image；
First concatenation module, for described first image and described second image are carried out image mosaic, obtains the first stitching image；
Second acquisition module, for obtaining the image shot at another focal length value, respectively the 3rd image and the 4th image；
Second concatenation module, for described 3rd image and described 4th image are carried out image mosaic, obtains the second stitching image；
Image co-registration module, for described first stitching image and described second stitching image are carried out image co-registration, the target image after being merged.
Described first concatenation module, specifically for determining the image characteristic point in described first image and described second image respectively, and position corresponding relation, described position corresponding relation according to described image characteristic point, described first image and described second image are spliced, obtains the first stitching image；
Described second concatenation module, specifically for determining the image characteristic point in described 3rd image and described 4th image, and position corresponding relation, the described position corresponding relation according to described image characteristic point, described 3rd image and described 4th image are spliced, obtains the second stitching image.
Described determine in the first image and described second image image characteristic point time and described determine in the 3rd image and described 4th image image characteristic point time, also include:
Adopt the iterations preset that described image characteristic point is filtered, filter out the characteristic point of error hiding, retain effective image characteristic point.
Described device also includes:
Image adjustment module, for obtaining the pixel property value of the image before splicing, according to described pixel property value, each pixel of the actual overlapping region of spliced image is adjusted so that each pixel property value of the stitching image after process mates with described pixel property value.
Compared with the prior art the present invention has following distinguishing feature and good effect: the present invention is by obtaining two groups of images of shooting when two focal length values respectively, respectively these two groups of images are carried out image mosaic, finally give two spliced images, processed by image mosaic so that the content in image is more rich.The image obtained after splicing is carried out image co-registration, the target image after being merged with this, adopt technical scheme provided by the invention, the target image obtained, the content that characteristics of image is clear, image holds is more rich, and scheme is simple, it is simple to implement.
Accompanying drawing explanation
Fig. 1 is a kind of method flow diagram for image mosaic of the present invention；
The first image that Fig. 2 provides for the embodiment of the present invention；
The second image that Fig. 3 provides for the embodiment of the present invention；
The first stitching image that Fig. 4 provides for the embodiment of the present invention；
The 3rd image that Fig. 5 provides for the embodiment of the present invention；
The 4th image that Fig. 6 provides for the embodiment of the present invention；
The second stitching image that Fig. 7 provides for the embodiment of the present invention；
Target image after the fusion that Fig. 8 provides for the embodiment of the present invention；
Fig. 9 is the block diagram of a kind of device for image mosaic of the present invention.
Detailed description of the invention
A kind of method for image mosaic, as it is shown in figure 1, include:
Step 101: obtain the image in a focal length value shooting, respectively the first image and the second image；
In technical solution of the present invention, one or more camera lens photographic subjects when same focal length value can be used, when adopting a lens shooting target image, it is possible to mobile or rotating lens, from different shooting angle photographic subjects, obtain the first image and the second image.When adopting multiple lens shooting target image, it is possible to obtain the first image and the second image respectively from the image of different lens shootings.Herein it should be noted that during for there are several target images, it is also possible to obtain multiple target images, the target image got is carried out image co-registration, obtain the first image and the second image.In the present embodiment, the target image processed through image co-registration is apparent, and target image characteristics is more prominent.
Step 102: the first image and the second image are carried out image mosaic, obtains the first stitching image；
In embodiments of the present invention, as image to be spliced, there is common image characteristic point in the first image and the second image, can be determined by image characteristic point in first image and second image and position corresponding relation thereof based on this between the two.Then according to the position corresponding relation of image characteristic point, the first image and the second image can be spliced, obtain the first stitching image.In the present embodiment, image mosaic is carried out according to image characteristic point position corresponding relation, it is possible to after making splicing, image is more complete.
In order to carry out image mosaic quickly and efficiently, can also when the image characteristic point in determining above-mentioned image to be spliced, adopt the iterations preset that image characteristic point is filtered, filter out the characteristic point of error hiding, retain effective image characteristic point in image to be spliced, carry out image mosaic further according to effective image characteristic point and position corresponding relation thereof.Avoid the characteristic point according to error hiding to carry out image mosaic, cause splicing unsuccessfully or length consuming time.
Wherein, adopt the iterations preset that image characteristic point is filtered, filter out the characteristic point of error hiding, retain effective image characteristic point in image to be spliced, including:
From all of image characteristic point, randomly select a pair characteristic point, homography matrix is calculated according to feature point pairs, the characteristic point of image to be spliced map point location under this homography matrix is calculated according to homography matrix, calculate the mapping point coordinate of former characteristic point, the distance between mapping point and match point is calculated according to mapping point coordinate, judge whether current characteristic point belongs to interior point according to distance and the size of threshold value, above-mentioned one take turns calculating terminate afterwards statistics in put quantity, effective image characteristic point pair is determined with this, each take turns calculating and be considered as an iteration process, repeat above-mentioned calculating process, until when iterations is equal to iterations threshold value set in advance, iteration terminates, now obtain optimum homography matrix and be final optimum homography matrix.
Step 103: obtain the image shot at another focal length value, respectively the 3rd image and the 4th image；
Can adopting the camera lens used in step 101, under the focus condition different from step 101, photographic subjects obtains the 3rd image and the 4th image.Other camera lenses can certainly be used, under the focus condition different from step 101, shoot this target, obtain the 3rd image and the 4th image.
In the present invention, when same target being carried out image taking based on different focal length values, the imaging of the target obtained also differs.Focal length value is more big, and the imaging of target is more big, and image characteristic point is more prominent, it is easy to be extracted.Corresponding focal length value is more little, and the imaging of target is more little, and image definition is more low, causes that image characteristic point is relatively fuzzyyer and is not easy to be extracted.In the technical program, adopt different focal value that target is shot, then carry out image mosaic and fusion, clear, complete image can be obtained with this.
Step 104: the 3rd image and the 4th image are carried out image mosaic, obtains the second stitching image；
In this step, the method carrying out image mosaic is identical with step 102, repeats no more herein.For the first stitching image and the second stitching image, the original image focal length used before a splice due to both is different, so also differing for spliced image focal length, the imaging of both images also differs, Radix Rumicis is different, also just directly results in image the quantity comprising target characteristic different.Therefore in subsequent step, focal length image and short burnt image are blended, it is possible to become apparent from, complete show target characteristic.
Step 105: the first stitching image and the second stitching image are carried out image co-registration, the target image after being merged.
In technical scheme provided by the invention, the three-dimensional space position that can adjust the projection relation of the first stitching image and the second stitching image relevant is poor, convert this three-dimensional space position difference to relative displacement under plane coordinate system, obtain second stitching image side-play amount relative to the first stitching image；
According to final the display level of image, vertical pixel value, image is divided into picture element matrix vertical for horizontal *；
Carry out image procossing according to the second stitching image relative to the side-play amount of the first stitching image and obtain pixel value to be filled, image procossing includes but not limited to that overlap-add procedure, embedding process, four divisional processing and grid process, concrete processing mode is not main points of the present invention, repeats no more herein.One by one each pixel in final display image array being filled with pixel value to be filled, the image after being merged, wherein, each pixel value range is the closed interval of [0,255].
In the technical program, the second stitching image obtained in the first stitching image obtained in step 102 and step 104 is carried out image co-registration, the focal length value of the original image of focal length value and the second stitching image use of the original image used due to the first stitching image is different, both process through image co-registration, make merge after image in characteristic point clearly, completely, closer to practical situation, thus improve precision and the accuracy of image.
Optionally, the technical program also includes:
Obtain the pixel property value of image to be spliced, according to the pixel property value of image to be spliced, each pixel of the actual overlapping region of spliced image is adjusted so that each pixel property value of the stitching image after process mates with pixel property value.
For technique scheme, it is illustrated in conjunction with accompanying drawing:
The first image as shown in Figure 2 with the second image that acquisition shoots under 12.3mm focus condition is as shown in Figure 3, wherein the pixel value of the first image and the second image is 720*576, above-mentioned two image is spliced, obtaining the first stitching image as shown in Figure 4, now the pixel value of the first stitching image is 1440*576.Under acquisition 25mm focus condition, the 3rd image of shooting is as shown in Figure 5 with the 4th image as shown in Figure 6, wherein the pixel value of the 3rd image and the 4th image is 720*576,3rd image and the 4th image are spliced, obtain the second stitching image as it is shown in fig. 7, now the pixel value of the second stitching image is 1440*576.Being fused in the second stitching image by the second stitching image, the target image after being merged is as shown in Figure 8.With reference to Fig. 2 to Fig. 8 it is apparent that after image mosaic, image co-registration process the image that obtains, apparent, characteristic point is more rich, image is more complete, and the image after process is more accurate.
On the other hand, the present invention provides a kind of device for image mosaic, as it is shown in figure 9, include:
First acquisition module 201, for obtaining the image in a focal length value shooting, respectively the first image and the second image；
In technical scheme provided by the invention, first acquisition module 201 can directly obtain two images, respectively as the first image and the second image, can also is that two groups of images of acquisition, carry out image co-registration process to often organizing image respectively, in order to obtain target image is clear, feature is prominent the first image and the second image.
First concatenation module 202, for the first image and the second image are carried out image mosaic, obtains the first stitching image；
In technical scheme provided by the invention, first concatenation module 202, specifically for determining image characteristic point in the first image and the second image and position corresponding relation, the position corresponding relation according to image characteristic point, first image and the second image are spliced, obtains the first stitching image.First concatenation module 202 also includes: filter element, for when determining image characteristic point, adopting the iterations preset that image characteristic point is filtered, filter out the characteristic point of error hiding, retain effective image characteristic point in image to be spliced.Specifically can from all of image characteristic point, randomly select a pair characteristic point, homography matrix is calculated according to feature point pairs, the characteristic point of image to be spliced map point location under this homography matrix is calculated according to homography matrix, calculate the mapping point coordinate of former characteristic point, the distance between mapping point and match point is calculated according to mapping point coordinate, judge whether current characteristic point belongs to interior point according to distance and the size of threshold value, above-mentioned one take turns calculating terminate afterwards statistics in put quantity, effective image characteristic point pair is determined with this, each take turns calculating and be considered as an iteration process, repeat above-mentioned calculating process, until when iterations is equal to iterations threshold value set in advance, iteration terminates, now obtain optimum homography matrix and be final optimum homography matrix.
Second acquisition module 203, for obtaining the image shot at another focal length value, respectively the 3rd image and the 4th image；
In the present invention, when same target being carried out image taking based on different focal length values, the imaging of the target obtained also differs.Focal length value is more big, and the imaging of target is more big, and image characteristic point is more prominent, it is easy to be extracted.Corresponding focal length value is more little, and the imaging of target is more little, and image definition is more low, causes that image characteristic point is relatively fuzzyyer and is not easy to be extracted.In the technical program, adopt different focal value that target is shot, then carry out image mosaic and fusion, clear, complete image can be obtained with this.
Second concatenation module 204, for the 3rd image and the 4th image are carried out image mosaic, obtains the second stitching image；
Second concatenation module 204, specifically for determining the image characteristic point in the 3rd image and the 4th image respectively, and position corresponding relation, the position corresponding relation according to image characteristic point, the 3rd image and the 4th image are spliced, obtains the second stitching image.
Wherein it is possible to when determining image characteristic point, adopt the iterations preset that image characteristic point is filtered, filter out the characteristic point of error hiding, retain effective image characteristic point in image to be spliced.
Image co-registration module 205, for the first stitching image and the second stitching image are carried out image co-registration, the target image after being merged.
Optionally, this device also includes:
Image adjustment module, for obtaining the pixel property value of image to be spliced, each pixel of the actual overlapping region of spliced image is adjusted by the pixel property value according to image to be spliced so that each pixel property value of the stitching image after process mates with pixel property value.
In the present invention, owing to same target is carried out image taking by focal length value difference, the imaging of the target obtained is also just different.Focal length value is more big, and the imaging of target is more big, and image characteristic point is more prominent, and when viewing area does not change, the characteristic point in image is easier to be identified.Corresponding focal length value is more little, the imaging of target is more little, image definition is more low, although causes that image characteristic point is relatively fuzzyyer and is not easy to be identified, but image aspects is more big, it is more conducive to understand target local environment, based on above-mentioned thought, two groups of images of long and short focal length are spliced by the present inventor respectively, then more spliced image are carried out image co-registration, making image apparent, content is more rich.Traditional means is generally for when obtaining panoramic picture, image mosaic technology is adopted to carry out image mosaic to obtain panoramic picture, but, in the actual process carrying out image mosaic, image when for different focal, need first image to be carried out pretreatment, image to be spliced is made to be mutually matched, can splice, now can change the definition of original image, some characteristic points in original image are made to thicken unclear, not easy to identify, compared with traditional scheme, image under same focal length is spliced by the present invention, then spliced image is merged, the image under different focal is enable to be fused into an image, picture material is reached clear with this, image characteristic point enriches, image is more accurate, closer to practical field of view content.Technical solution of the present invention is equally applicable in each shooting angle, target be shot, and then carries out image mosaic, fusion treatment, will appreciate that, with this, the ambient conditions that target image is residing in space.
Presently disclosed embodiment, is used for making those skilled in the art realize or using the present invention.Multiple amendment or modification to these embodiments will be apparent from for a person skilled in the art.General Principle described herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention is not intended to be limited to embodiment described herein, and is to fit to the widest scope consistent with principles disclosed herein and novel features.
Claims (8)
1. the method for image mosaic, it is characterised in that including:
Obtain the image in a focal length value shooting, respectively the first image and the second image；
Described first image and described second image are carried out image mosaic, obtains the first stitching image；
Obtain the image shot at another focal length value, respectively the 3rd image and the 4th image；
Described 3rd image and described 4th image are carried out image mosaic, obtains the second stitching image；
Described first stitching image and described second stitching image are carried out image co-registration, the target image after being merged.
2. a kind of method for image mosaic as claimed in claim 1, it is characterised in that described described first image and described second image are carried out image mosaic, specifically includes:
Determine the image characteristic point in the first image and described second image and position corresponding relation thereof, the described position corresponding relation according to described image characteristic point, splices described first image and described second image；
Described described 3rd image and described 4th image are carried out image mosaic, specifically include:
Determine the image characteristic point in the 3rd image and described 4th image and position corresponding relation thereof, the described position corresponding relation according to described image characteristic point, splices described 3rd image and described 4th image.
3. a kind of method for image mosaic as claimed in claim 2, it is characterised in that described determine in the first image and described second image image characteristic point time and described determine in the 3rd image and described 4th image image characteristic point time, also include:
Adopt the iterations preset that described image characteristic point is filtered, filter out the characteristic point of error hiding, retain effective image characteristic point.
4. a kind of method for image mosaic as described in claim 1 or 3, it is characterised in that described method also includes:
Obtain the pixel property value of the image before splicing, according to described pixel property value, each pixel of the actual overlapping region of spliced image is adjusted so that each pixel property value of the stitching image after process mates with described pixel property value.
5. the device for image mosaic, it is characterised in that including:
First acquisition module, for obtaining the image in a focal length value shooting, respectively the first image and the second image；
First concatenation module, for described first image and described second image are carried out image mosaic, obtains the first stitching image；
Second acquisition module, for obtaining the image shot at another focal length value, respectively the 3rd image and the 4th image；
Second concatenation module, for described 3rd image and described 4th image are carried out image mosaic, obtains the second stitching image；
Image co-registration module, for described first stitching image and described second stitching image are carried out image co-registration, the target image after being merged.
6. a kind of device for image mosaic as claimed in claim 5, it is characterized in that, described first concatenation module, specifically for determining the image characteristic point in described first image and described second image respectively, and position corresponding relation, described position corresponding relation according to described image characteristic point, splices described first image and described second image, obtains the first stitching image；
Described second concatenation module, specifically for determining the image characteristic point in described 3rd image and described 4th image, and position corresponding relation, the described position corresponding relation according to described image characteristic point, described 3rd image and described 4th image are spliced, obtains the second stitching image.
7. a kind of device for image mosaic as claimed in claim 6, it is characterised in that described first concatenation module also includes:
Filter element, during for image characteristic point in determining the first image and described second image and described determine in the 3rd image and described 4th image image characteristic point time adopt the iterations preset that described image characteristic point is filtered, filter out the characteristic point of error hiding, retain effective image characteristic point.
8. a kind of device for image mosaic as described in claim 5 or 7, it is characterised in that described device also includes:
Image adjustment module, for obtaining the pixel property value of the image before splicing, according to described pixel property value, each pixel of the actual overlapping region of spliced image is adjusted so that each pixel property value of the stitching image after process mates with described pixel property value.
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