CN105761209A - Nuclear safety shell surface image fusion method and system - Google Patents
Nuclear safety shell surface image fusion method and system Download PDFInfo
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Abstract
The invention provides a nuclear safety shell surface image fusion method and system. The method comprises: image collection: a collection platform provided with two cameras successively performing image collection on air strips along the outer wall of a nuclear safety shell, wherein each row of an air strip is provided with two images; image matching and scaling: matching images with overlapping degree areas, and after matching of images of each air strip, performing length and width scaling on matched images according to proportions; and image cutting and fusion: cutting air strips one by one, and fusing images into a panoramic expanded view of a safety shell cylinder wall according to cutting results. The technical scheme is suitable for poor texture image fusion with larger quantity of images, low degree of overlapping and low precision requirement; the fusion method is simple and rapid, and is especially suitable for nuclear safety shell surface image fusion.
Description
Technical field
The invention belongs to digital image processing field, the Nuclear containment surface image particularly relating to position-based constraint quickly splices and system.
Background technology
Nuclear power plant reactor containment is last one safety curtain that the radioactive substance preventing nuclear fission from producing is excessive.Nuclear power plant reactor containment, building completion, first comercial operation and will carry out overall bulge test every 10 years later, to check the security performance of containment wall, ensures production safety.It is build scaffold or hanging basket carries out manual measurement and labelling to the conventional method of Nuclear containment visual examination, but this mode work difficulty is big, poor stability, wastes time and energy.Along with the development of digital close range photogrammetry technology, the detection mode based on digital audio-effect processing instead of traditional manual measurement gradually, namely containment wall is carried out filming image, then detection defect in the image of shooting.Therefore, it is the important prerequisite utilizing close-shot photography measure technique detection Nuclear containment open defect that Nuclear containment surface carries out image collection.
Containment is made up of parts such as armored concrete raft foundation, prestressed reinforced concrete stack shell (being generally cylinder), dome, gate and Leak-tight liner.Height is standard stack shell from-0.17 meter to+45.51 meters, and the external diameter of stack shell is 38.8 meters, and internal diameter is 37 meters, and excircle is vertically uniform-distribution with four buttresses, is distributed in the both sides of four buttresses for the bearing plate of the horizontal steel bundle of anchoring prestress.Being up dome from stack shell+45.51 meters, dome peak absolute altitude is+57.20 meters, and its prestressed reinforced concrete thickness of shell is 0.8 meter.The containment stack shell overwhelming majority is cylindrical, (such as Daya Gulf, ridge Australia, the Taishan, Yangjiang Nuclear Power Station etc.) but also to have only a few be other shapes (such as Chongqing nuclear power stations).For the actually used specification of typical Guang He group, containment is that a diameter is about 35m, the highly about concrete cylindrical structure of 50m, is erected at the mobile platform on dome guide rail and drives acquisition platform at nucleocapsid apparent motion, as shown in Figure 1.Want captured image and cover whole nucleocapsid surface, then need to shoot line by line according to certain intervals, and ensure to have between adjacent image certain degree of overlapping.But superimposed image visual effect when the later stage, panorama browsed is bad, so the needs according to engineering project, the image of shooting need to be carried out overall splicing, show the full detail of nucleocapsid wall, in order to therefrom display and location defect information.Compared with tradition splicing, the difficult point of nuclear safety surface image splicing essentially consists in:
(1) for the splicing of lean texture image, characteristic point is few, it is more difficult to coupling.Containment surface is xoncrete structure, and except few places has the comparatively significant feature such as painting pen labelling, cement block, expansion joint, most areas textural characteristics is inconspicuous, and this brings difficulty to the coupling of image.
(2) for the splicing of low degree of overlapping image.Tradition aerophotogrammetry endlap is minimum is 60%, sidelapping 30%, and along with the development of digital camera and flivver, the course and the sidelapping that in fact obtain run far deeper than these, and the overlap of some image is even up to course 90%, other to 60%.The adopted image overlap degree of the present invention is so not big, and course and side are to more than 20%.
(3) image quantity is many, and size is big, it is desirable to splicing speed is fast.Containment surface area has square meter more than 9000, removes the barrier zone such as steel ladder, pipeline, and the region having 55% being exposed can carry out image collection.Gathering whole barrel surface and need 4000 multiple images, every image 36,000,000 pixel, the quantity of image to be spliced is many, and resolution is high, and splicing speed can be subject to bigger restriction.
Summary of the invention
The present invention is on the basis of Nuclear containment high score rate image acquisition system, for the image with certain degree of overlapping gathered, according to camera attitude fixing when gathering, photo distance, air strips spacing etc., the containment surface image express delivery joining method of a kind of position-based constraint is proposed, generate the panoramic expansion figure of containment barrel, and be applied to the browsing of image, inquire about and defect location.
Technical scheme provides a kind of Nuclear containment surface image joining method, comprises the following steps,
Step 1, image collection, undertaken by air strips along Nuclear containment outer wall including by the acquisition platform equipped with two cameras, an air strips each row has two images；
Step 2, Image Matching and convergent-divergent, mate including to the image in air strips with degree of overlapping region, do not mate between air strips, direct cutting, and the image after coupling, after coupling, is proportionally carried out the convergent-divergent in length and width by the image of each air strips；
Being scaled left and right image-zooming in length, scaling determines that mode is, after the left and right image of the first row mates in air strips, calculates two, the left and right image center point after couplingA 1、B 1Between pixel distancel 1, it is determined that this pixel distancel 1Represent fixed range between camera；After two images in the second row of air strips are mated, calculate the distance between central pointl 2If,l 2It is not equal tol 1, scaling is defined asl 2 :l 1 ；
Being scaled upper and lower image-zooming on width, scaling determines that mode is, after the left photo coupling of the first row in air strips and the second row, calculates two the image center points up and down after couplingA 1、A 2Between pixel distancew 1, it is determined that this pixel distancew 1Represent fixing adjacent lines from；After the left photo of air strips the third line and the second row is mated, and calculate the distance between central pointw 2If,w 2It is not equal tow 1 , scaling is defined asw 2 :w 1 ；
Step 3, image cutting is also spliced, cutting is carried out including by air strips, in the vertical, if Article 1 cutting wires is positioned at the middle of the first row left and right, air strips image overlap area, the middle that Article 2 cutting wires is positioned between air strips adjacent image overlap area, determines the length of image cutting according to side to spacingL, other each adjacent cutting wires intervalL, longitudinal cutting wires of every air strips first trip is longitudinal cutting wires of all the other each row of these air strips；In the horizontal, it is stipulated that Article 1 cutting wires is positioned at air strips the first row and the middle of the upper and lower image overlap area of the second row, Article 2 cutting wires is positioned at the second row and the middle of the upper and lower image overlap area of the third line, determines the width of image cutting according to course spacingW, other each adjacent cutting wires intervalW, the horizontal cutting wires of maiden voyage band is the horizontal cutting wires of all the other each air strips；All images are cut intoL×WSize, splicing generates the panoramic expansion figure of containment barrel.
And, the implementation of step 2 is, in each air strips, left and right image L1 and the R1 of the first row is mated, it is determined that proportionate relationshipl 2 :l 1 ；Left L2 of the second row and left L1 of the first row is mated, it is determined that proportionate relationshipw 2 :w 1 , then left L2 proportionally relation of right R2 of the second row and the second rowl 2 :l 1 Coupling；The left L2 proportionally relation to the left L3 of the third line and the second roww 2 :w 1 Coupling, the then left L3 proportionally relation to the right R3 of the third line and the third linel 2 :l 1 Coupling, the like.
A kind of Nuclear containment surface image splicing system, including with lower module,
Image collecting module, for being undertaken by air strips along Nuclear containment outer wall by the acquisition platform equipped with two cameras, an air strips each row has two images；
Image Matching Zoom module, mates including to the image in air strips with degree of overlapping region, does not mate between air strips, direct cutting, and the image after coupling, after coupling, is proportionally carried out the convergent-divergent in length and width by the image of each air strips；
Being scaled left and right image-zooming in length, scaling determines that mode is, after the left and right image of the first row mates in air strips, calculates two, the left and right image center point after couplingA 1、B 1Between pixel distancel 1, it is determined that this pixel distancel 1Represent fixed range between camera；After two images in the second row of air strips are mated, calculate the distance between central pointl 2If,l 2It is not equal tol 1, scaling is defined asl 2 :l 1 ；
Being scaled upper and lower image-zooming on width, scaling determines that mode is, after the left photo coupling of the first row in air strips and the second row, calculates two the image center points up and down after couplingA 1、A 2Between pixel distancew 1, it is determined that this pixel distancew 1Represent fixing adjacent lines from；After the left photo of air strips the third line and the second row is mated, and calculate the distance between central pointw 2If,w 2It is not equal tow 1 , scaling is defined asw 2 :w 1 ；
Image cutting concatenation module, for including carrying out cutting by air strips, in the vertical, if Article 1 cutting wires is positioned at the middle of the first row left and right, air strips image overlap area, the middle that Article 2 cutting wires is positioned between air strips adjacent image overlap area, determines the length of image cutting according to side to spacingL, other each adjacent cutting wires intervalL, longitudinal cutting wires of every air strips first trip is longitudinal cutting wires of all the other each row of these air strips；In the horizontal, it is stipulated that Article 1 cutting wires is positioned at air strips the first row and the middle of the upper and lower image overlap area of the second row, Article 2 cutting wires is positioned at the second row and the middle of the upper and lower image overlap area of the third line, determines the width of image cutting according to course spacingW, other each adjacent cutting wires intervalW, the horizontal cutting wires of maiden voyage band is the horizontal cutting wires of all the other each air strips；All images are cut intoL×WSize, splicing generates the panoramic expansion figure of containment barrel.
And, the working method of Image Matching Zoom module is, in each air strips, left and right image L1 and the R1 of the first row is mated, it is determined that proportionate relationshipl 2 :l 1 ；Left L2 of the second row and left L1 of the first row is mated, it is determined that proportionate relationshipw 2 :w 1 , then left L2 proportionally relation of right R2 of the second row and the second rowl 2 :l 1 Coupling；The left L2 proportionally relation to the left L3 of the third line and the second roww 2 :w 1 Coupling, the then left L3 proportionally relation to the right R3 of the third line and the third linel 2 :l 1 Coupling, the like.
The present invention is suitable in image quantity is more, degree of overlapping is relatively low, the lean texture image splicing that required precision is not high, and joining method is simple and quick.Present invention have the advantage that (1) proposes the image splicing method of a kind of position-based constraint, the method has only to left and right in air strips and mates between image up and down, image between air strips is made without coupling, direct cutting, compared with general image joint, simpler fast；(2) owing to image collection process all strictly being fixed from, adjacent lines spacing between distance between the camera of left and right, air strips, therefore this joining method is absent from bigger cumulative errors, in air strips, between left and right image joint and cutting, air strips, the direct cutting of image just can reach ideal splicing effect, for a fairly large number of large area region splicing of image, it is remarkably improved splicing efficiency；(3) the method is applicable to the unconspicuous lean texture image of feature, and requires relatively low to the degree of overlapping between image, ship's control relative to herein 35% and the sidelapping degree of 55%, if distance restraint is better, moreover it is possible to suitable in the less image of degree of overlapping.
Accompanying drawing explanation
Fig. 1 is Nuclear containment outward appearance and the collection schematic diagram of the embodiment of the present invention.
Fig. 2 is the Nuclear containment surface image acquisition mode schematic diagram of the embodiment of the present invention.
Fig. 3 is the image overlap degree top view of the embodiment of the present invention.
Fig. 4 is the image overlap degree side view of the embodiment of the present invention.
Fig. 5 is left and right sheet coupling and the scale of length schematic diagram of the embodiment of the present invention.
Fig. 6 is fluctuating plate coupling and the width ratio chi schematic diagram of the embodiment of the present invention.
Fig. 7 is longitudinal cutting schematic diagram of the embodiment of the present invention.
Fig. 8 is the horizontal cutting schematic diagram of the embodiment of the present invention.
Detailed description of the invention
With embodiment, in conjunction with accompanying drawing, the invention will be further described below.
The present invention, it is considered that the splicing of nuclear safety surface image is compared with the splicing of traditional aerial images, has the following characteristics that (1) image quantity is many, it is desirable to splicing speed is fast, but required precision is not high；(2) camera attitude is fixed, and is only parallel to the translational motion on containment surface, it does not have the motions such as rotation, convergent-divergent and sweeping；(3) filming image distance, left and right camera spacing, the distance that walks up and down in air strips, air strips spacing are fixed.Further, owing to containment radius is bigger, it is possible to replace approximate for curved surface by plane, the present invention studies according to above feature and the approximate joining method to Nuclear containment surface image.The present invention is directed to the image with certain degree of overlapping gathered, according to camera attitude fixing when gathering, photo distance, air strips spacing etc., the containment surface image express delivery joining method of a kind of position-based constraint is proposed, generate the panoramic expansion figure of containment barrel, and be applied to the browsing of image, inquire about and defect location.Joining method step includes: image collection, Image Matching and the step such as convergent-divergent, image cutting.
Step 1, image collection: undertaken by air strips along Nuclear containment outer wall by the acquisition platform equipped with two CMOS cameras, as shown in Figure 1.
Embodiment passes through the acquisition platform being erected with two NikonD800 cameras from containment top to bottom by the equally spaced collection image in air strips, and between adjacent image, there is certain degree of overlapping, as shown in Figure 2, after having gathered air strips, moved along Nuclear containment outer wall by the mobile platform in safe roof, gather next air strips, until gathering a complete barrel.In Fig. 2, it is that after approximate for curved surface plane being replaced, along Nuclear containment outer wall by the equally spaced collection result in air strips, the direction of arrow shows that image collection carries out from top to bottom；Because what adopt is double camera collection (being pinpointed collection by left and right camera in air strips), so an air strips each row has two images simultaneously；What dotted line represented is that a lot of air strips in intermediate acquisition process are omitted.Image size is 7360 × 4912, and for detecting the nucleocapsid face width crack more than 0.2mm, the actual thing side calculating every image according to pixel resolution is sized to 1.4m × 0.93m；That camera lens adopts is Nikon AF Nikkor 28mmF/1.8G, and the angle of visual field is 75 °, and calculating photo distance according to the angle of view and film size length (1.4m) is 0.91m；For ease of splicing, ensure the requirement of course and sidelapping degree at least 20%, according to many experiments result, set spacing between the camera of left and right as spacing between adjacent exposure point on 0.87m, course as 0.6m, track spacing as 1.5m, thus calculate in air strips between left and right, neighbouring image and sidelapping degree respectively 38%, 35% and 55%, meeting degree of overlapping requirement, be also beneficial to the collection of image, photo distance, air strips spacing and image overlap degree are as shown in Figure 3 and Figure 4.Wherein, air strips spacing 1.5m correspondence mobile platform is angular unit along the every 5Gon(Gon of nucleocapsid edge guide) advance air strips, gather 80 air strips altogether.In image collection process, utilize multi-sensor technology and automatic control technology that position and the attitude of camera are strictly controlled, and think that the motion of camera only has Pan and Zoom, it does not have rotation, sweeping etc. are moved, fixing to ensure above-mentioned each position and distance.Owing to containment surface area is relatively big, except barriers such as some steel ladders, water pipe, platforms, the image of collection substantially can cover containment surface and expose the 80% of region, close to 4000 images.
Step 2, Image Matching and convergent-divergent.The image with degree of overlapping region mates by extracting SURF feature, and the image after coupling, after coupling, is proportionally carried out the convergent-divergent in length and width by the image of each air strips.
The coupling of image is extraction and coupling that the image having degree of overlapping carries out feature.The image having degree of overlapping includes left in same air strips and two row adjacent between right, two adjacent row and air strips with air strips, utilizes SURF method that its overlapping region is carried out feature extraction, and then optional a pair feature carries out the coupling of image.Image-zooming be using the first row left and right image between actual range and actual range between theoretical, the first row and the upper and lower image of the second row and theoretical as scale, other image in air strips is carried out the convergent-divergent in length and width, make it have identical proportionate relationship, be placed in a unified coordinate system.
In described step 2, concrete operation method is, carries out mating and convergent-divergent according to below scheme respectively by each pending air strips, and the operation between air strips and air strips is separate.
Left and right Image Matching and convergent-divergent: SURF feature is extracted in the overlapping region of the left and right image of the first row in air strips, and selects any pair same place to carry out characteristic matching；Owing to image surface texture feature is inconspicuous, error hiding often occurs, if error hiding cannot be got rid of all the time, then carry out forcing coupling according to left and right degree of overlapping 38%.Calculate two, the left and right image center point after couplingA 1、B 1Between pixel distancel 1, fixed range 0.87m between this distance with camera is compared, it is determined that this air strips image proportionate relationship in length isl 1Individual pixel represents 0.87m, as shown in Figure 5；Two images in the second row of air strips are mated, and calculates the distance between central pointl 2If,l 2It is not equal tol 1, then by two images according tol 2 :l 1 Proportionate relationship zoom in and out in length simultaneously.Each row left and right image in same air strips, all will be according tol 2 :l 1 Proportionate relationship zoom in and out in length.
Upper and lower Image Matching and convergent-divergent: SURF feature is extracted in the upper and lower overlapping region of the first row in air strips and the left photo of the second row, and selects any pair same place to carry out characteristic matching；If error hiding all the time, then carry out forcing coupling according to upper and lower degree of overlapping 35%.Calculate two the image center points up and down after couplingA 1、A 2Between pixel distancew 1, this distance is compared from 0.6m with fixing adjacent lines, it is determined that this air strips image proportionate relationship on width isw 1Individual pixel represents 0.6m, as shown in Figure 6；The left photo of air strips the third line and the second row is mated, and calculates the distance between central pointw 2If,w 2It is not equal tow 1 , then by two images according tow 2 :w 1 Proportionate relationship zoom in and out on width simultaneously.Neighbouring image in same air strips, all will be according tow 2 :w 1 Proportionate relationship zoom in and out on width；Until this air strips last column.
That is:
1, left and right image L1 and the R1 of the first row mates, it is determined that proportionate relationshipl 2 :l 1 ；
2, left L2 of the second row and left L1 of the first row mates, it is determined that proportionate relationshipw 2 :w 1 , then right R2 of the second row and left L2 of the second row mates (proportionally relationl 2 :l 1 )；
3, the left L3 of the third line and left L2 of the second row mates (proportionally relationw 2 :w 1 ), then the right R3 of the third line and the left L3 of the third line mates (proportionally relationl 2 :l 1 )；
4, the like, each provisional capital below is first left of lastrow and one's own profession to be mated, and then one's own profession left and right sheet is mated.
Step 3, image cutting.The image of position-based constraint, after convergent-divergent, need not mate between air strips with air strips again, be made directly cutting.After cutting image size can difference can also be identical, in Practical Project, the image after splicing cutting needs to carry out the work such as next step defects detection, identification and measurement, thus equidimension cutting for subsequent operation advantageously.Therefore, if can determine that the position of cutting size and a wherein cutting wires, then according to distance restraint, just may determine that other all of cutting wires.If the image after cutting at thing Fang Shangchang isL, wide it isW。
Described image cutting is based on the quick splicing of position constraint, only left and right and upper and lower image in air strips is mated, and the image between air strips is made without coupling, direct cutting.Special instruction, the image between air strips be have 55% degree of overlapping, but the method for the present invention require it is not mated, be made directly cutting.The cutting of image is undertaken by air strips, in the vertical, regulation Article 1 cutting wires is positioned at the middle of the first row left and right, air strips image overlap area, the middle that Article 2 cutting wires is positioned between air strips adjacent image overlap area, goes out the length of image cutting to distance computation according to sideL=1.5/2=0.75m, all the other cutting wires are apart from adjacent cutting wires 0.75m；In the horizontal, it is stipulated that Article 1 cutting wires is positioned at air strips the first row and the middle of the upper and lower image overlap area of the second row, Article 2 cutting wires is positioned at the second row and the middle of the upper and lower image overlap area of the third line, goes out the width of image cutting according to course distance computationW=0.6m, all the other cutting wires are apart from adjacent cutting wires 0.6m.According to above rule, image is all cut into 0.75m × 0.6m size, then according to order arranges display, then completes the splicing of image.
In above-mentioned step 3, concrete operation method is as follows:
Step 3.1, it is determined that longitudinal cutting size.Regulation Article 1 cutting wires is positioned at the central authorities of the first row left and right, air strips image overlap degree, Article 2 cutting wires is positioned at the central authorities of right of these air strips and Zuo Pian overlapping region, next air strips, calculating the distance between two cutting wires according to the fixed range 0.87m between the camera of left and right and the constant spacing 1.5m between air strips is 0.75m, as shown in Figure 7, dotted line represents cutting wires, A1、B1、C1The respectively central point of three images (in air strips the left image of left and right image and adjacent air strips),LFor the thing side's length after image cutting.
Step 3.2, it is determined that horizontal cutting size.Regulation Article 1 cutting wires is positioned at air strips the first row and the central authorities of the upper and lower image overlap area of the second row, Article 2 cutting wires is positioned at the second row and the central authorities of the upper and lower image overlap area of the third line, calculating the distance between two cutting wires according to upper-lower position fixed range 0.6m in air strips is 0.6m, as shown in Figure 8, dotted line represents cutting wires, A1、A2、A3The respectively central point of adjacent three images on course,WFor the thing side's width after image cutting.
Step 3.3, size cutting pressed by image.Image cutting is undertaken by air strips, and owing to the image of each air strips has all carried out convergent-divergent according to the length ratio relation of this air strips the first row, so in the vertical, the position at the first row image cutting wires place, each air strips is longitudinal cutting wires of these air strips.With the two of air strips the first row images for benchmark, Article 1 cutting wires is positioned at the central authorities of left and right image overlap area, and all the other cutting wires distance Article 1 cutting wires 0.75m, as it is shown in fig. 7, each air strips all carry out longitudinal cutting according to above method.Horizontal cutting is with maiden voyage band the first row and left of the second row for benchmark, Article 1, cutting wires is positioned at the central authorities of upper and lower image overlap area, all the other cutting wires distance Article 1 cutting wires 0.6m, as shown in Figure 8, until these air strips are terminated, the horizontal cutting wires of maiden voyage band is the horizontal cutting wires of all the other air strips.
After cutting, namely the splicing of image completes, and is arranged in order by the image with same size of these cuttings and shows the panoramic expansion figure that can generate containment surface image.
When being embodied as, method provided by the present invention can realize automatic operational process based on software engineering, it is possible to adopts modular mode to realize corresponding system.
The present invention provides a kind of Nuclear containment surface image splicing system, including with lower module,
Image collecting module, for being undertaken by air strips along Nuclear containment outer wall by the acquisition platform equipped with two cameras, an air strips each row has two images；
Image Matching Zoom module, mates including to the image in air strips with degree of overlapping region, does not mate between air strips, direct cutting, and the image after coupling, after coupling, is proportionally carried out the convergent-divergent in length and width by the image of each air strips；
Being scaled left and right image-zooming in length, scaling determines that mode is, after the left and right image of the first row mates in air strips, calculates two, the left and right image center point after couplingA 1、B 1Between pixel distancel 1, it is determined that this pixel distancel 1Represent fixed range between camera；After two images in the second row of air strips are mated, calculate the distance between central pointl 2If,l 2It is not equal tol 1, scaling is defined asl 2 :l 1 ；
Being scaled upper and lower image-zooming on width, scaling determines that mode is, after the left photo coupling of the first row in air strips and the second row, calculates two the image center points up and down after couplingA 1、A 2Between pixel distancew 1, it is determined that this pixel distancew 1Represent fixing adjacent lines from；After the left photo of air strips the third line and the second row is mated, and calculate the distance between central pointw 2If,w 2It is not equal tow 1 , scaling is defined asw 2 :w 1 ；
Image cutting concatenation module, for including carrying out cutting by air strips, in the vertical, if Article 1 cutting wires is positioned at the middle of the first row left and right, air strips image overlap area, the middle that Article 2 cutting wires is positioned between air strips adjacent image overlap area, determines the length of image cutting according to side to spacingL, other each adjacent cutting wires intervalL, longitudinal cutting wires of every air strips first trip is longitudinal cutting wires of all the other each row of these air strips；In the horizontal, it is stipulated that Article 1 cutting wires is positioned at air strips the first row and the middle of the upper and lower image overlap area of the second row, Article 2 cutting wires is positioned at the second row and the middle of the upper and lower image overlap area of the third line, determines the width of image cutting according to course spacingW, other each adjacent cutting wires intervalW, the horizontal cutting wires of maiden voyage band is the horizontal cutting wires of all the other each air strips；All images are cut intoL×WSize, splicing generates the panoramic expansion figure of containment barrel.
Each module implements can referring to corresponding steps, and it will not go into details for the present invention.
Should be understood that; above the description in detailed description of the invention is comparatively detailed; therefore the restriction to scope of patent protection of the present invention can not be thought; under the ambit without departing from the protection of the claims in the present invention; make corresponding replacement or deformation; belonging within protection scope of the present invention, the scope of the protection of the claims in the present invention should be as the criterion with claims.
Claims (4)
1. a Nuclear containment surface image joining method, it is characterised in that: comprise the following steps,
Step 1, image collection, undertaken by air strips along Nuclear containment outer wall including by the acquisition platform equipped with two cameras, an air strips each row has two images；
Step 2, Image Matching and convergent-divergent, mate including to the image with degree of overlapping region, and the image after coupling, after coupling, is proportionally carried out the convergent-divergent in length and width by the image of each air strips；
Being scaled left and right image-zooming in length, scaling determines that mode is, after the left and right image of the first row mates in air strips, calculates two, the left and right image center point A after coupling1、B1Between pixel distance l1, it is determined that this pixel distance l1Represent fixed range between camera；After two images in the second row of air strips are mated, calculate the distance l between central point2If, l2It is not equal to l1, scaling is defined as l2: l1；
Being scaled upper and lower image-zooming on width, scaling determines that mode is, after the left photo coupling of the first row in air strips and the second row, calculates two the image center point A up and down after coupling1、A2Between pixel distance w1, it is determined that this pixel distance w1Represent fixing adjacent lines from；After the left photo of air strips the third line and the second row is mated, and calculate the distance w between central point2If, w2It is not equal to w1, scaling is defined as w2: w1；
Step 3, image cutting is also spliced, cutting is carried out including by air strips, in the vertical, if Article 1 cutting wires is positioned at the middle of the first row left and right, air strips image overlap area, the middle that Article 2 cutting wires is positioned between air strips adjacent image overlap area, determines the long L of image cutting according to side to spacing；In the horizontal, it is stipulated that Article 1 cutting wires is positioned at air strips the first row and the middle of the upper and lower image overlap area of the second row, Article 2 cutting wires is positioned at the second row and the middle of the upper and lower image overlap area of the third line, determines the wide W of image cutting according to course spacing；According to cutting result, splicing generates the panoramic expansion figure of containment barrel.
2. Nuclear containment surface image joining method according to claim 1, it is characterised in that: the implementation of step 2 is, in each air strips, left and right image L1 and the R1 of the first row is mated, it is determined that proportionate relationship l2: l1；Left L2 of the second row and left L1 of the first row is mated, it is determined that proportionate relationship w2: w1, then left L2 proportionally relation l of right R2 of the second row and the second row2: l1Coupling；The left L2 proportionally relation w to the left L3 of the third line and the second row2: w1Coupling, the then left L3 proportionally relation l to the right R3 of the third line and the third line2: l1Coupling, the like.
3. a Nuclear containment surface image splicing system, it is characterised in that: include with lower module,
Image collecting module, for being undertaken by air strips along Nuclear containment outer wall by the acquisition platform equipped with two cameras, an air strips each row has two images；
Image Matching Zoom module, for the image with degree of overlapping region is mated, the image after coupling, after coupling, is proportionally carried out the convergent-divergent in length and width by the image of each air strips；
Being scaled left and right image-zooming in length, scaling determines that mode is, after the left and right image of the first row mates in air strips, calculates two, the left and right image center point A after coupling1、B1Between pixel distance l1, it is determined that this pixel distance l1Represent fixed range between camera；After two images in the second row of air strips are mated, calculate the distance l between central point2If, l2It is not equal to l1, scaling is defined as l2: l1；
Being scaled upper and lower image-zooming on width, scaling determines that mode is, after the left photo coupling of the first row in air strips and the second row, calculates two the image center point A up and down after coupling1、A2Between pixel distance w1, it is determined that this pixel distance w1Represent fixing adjacent lines from；After the left photo of air strips the third line and the second row is mated, and calculate the distance w between central point2If, w2It is not equal to w1, scaling is defined as w2: w1；
Image cutting concatenation module, for carrying out cutting by air strips, in the vertical, if Article 1 cutting wires is positioned at the middle of the first row left and right, air strips image overlap area, the middle that Article 2 cutting wires is positioned between air strips adjacent image overlap area, determines the long L of image cutting according to side to spacing；In the horizontal, it is stipulated that Article 1 cutting wires is positioned at air strips the first row and the middle of the upper and lower image overlap area of the second row, Article 2 cutting wires is positioned at the second row and the middle of the upper and lower image overlap area of the third line, determines the wide W of image cutting according to course spacing；According to cutting result, splicing generates the panoramic expansion figure of containment barrel.
4. Nuclear containment surface image splicing system according to claim 3, it is characterised in that: the working method of Image Matching Zoom module is, in each air strips, left and right image L1 and the R1 of the first row is mated, it is determined that proportionate relationship l2: l1；Left L2 of the second row and left L1 of the first row is mated, it is determined that proportionate relationship w2: w1, then left L2 proportionally relation l of right R2 of the second row and the second row2: l1Coupling；The left L2 proportionally relation w to the left L3 of the third line and the second row2: w1Coupling, the then left L3 proportionally relation l to the right R3 of the third line and the third line2: l1Coupling, the like.
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