CN105761209B - Nuclear containment surface image joining method and system - Google Patents
Nuclear containment surface image joining method and system Download PDFInfo
- Publication number
- CN105761209B CN105761209B CN201610148905.2A CN201610148905A CN105761209B CN 105761209 B CN105761209 B CN 105761209B CN 201610148905 A CN201610148905 A CN 201610148905A CN 105761209 B CN105761209 B CN 105761209B
- Authority
- CN
- China
- Prior art keywords
- image
- row
- air strips
- matching
- scaling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000005304 joining Methods 0.000 title claims abstract description 12
- 238000005520 cutting process Methods 0.000 claims abstract description 84
- 230000001419 dependent effect Effects 0.000 claims 1
- 230000007547 defect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 239000004567 concrete Substances 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000011150 reinforced concrete Substances 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000004873 anchoring Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000004992 fission Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 239000000941 radioactive substance Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000009827 uniform distribution Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Image Processing (AREA)
Abstract
A kind of Nuclear containment surface image joining method of present invention proposition and system, including image collection are carried out along Nuclear containment outer wall by air strips by the acquisition platform equipped with two cameras, and often row has two images for an air strips；Image Matching and scaling match the image with degree of overlapping region, and the image of each air strips proportionally carries out the scaling in length and width after matching, to the image after matching；Image cuts and is spliced, including is cut by air strips, according to cutting as a result, splicing generates the panoramic expansion figure of containment barrel.Technical solution of the present invention be suitable for image quantity is more, degree of overlapping is relatively low, the poor texture image not high to required precision splicing, joining method is simple and quick, especially suitable for Nuclear containment surface image splice realize.
Description
Technical field
The invention belongs to digital image processing fields, more particularly to the Nuclear containment surface image based on position constraint is quick
Splicing and system.
Background technology
Nuclear power plant reactor containment is last one of the safety curtain for preventing the radioactive substance of nuclear fission generation excessive.
Nuclear power plant reactor containment is building completion, for the first time comercial operation and will carry out every 10 years whole suppressing examination later
It tests, to check the security performance of containment wall, ensures production safety.Conventional method to Nuclear containment visual examination is to build foot
Hand cradle or hanging basket carry out manual measurement and label, however this mode work difficulty is big, and safety is poor, time-consuming and laborious.With
The development of digital close range photogrammetry technology, the detection mode based on digital audio-effect processing is gradually instead of traditional artificial survey
Amount carries out filming image to containment wall, then detects defect in the image of shooting.Therefore, to Nuclear containment surface into
Row image collection is the important prerequisite using close-shot photography measure technique detection Nuclear containment open defect.
Containment is by armored concrete raft foundation, prestressed reinforced concrete stack shell（Generally cylinder）, dome, gate with
And the part such as Leak-tight liner forms.Height is standard stack shell from -0.17 meter to+45.51 meter, and the outer diameter of stack shell is 38.8 meters, internal diameter
It is 37 meters, four buttress is vertically uniform-distribution on excircle, the bearing plate for the horizontal steel beam of anchoring prestress is distributed in
The both sides of four buttress.From stack shell ,+45.51 meters are up dome, and dome peak absolute altitude is+57.20 meters, prestress steel
Reinforced concrete thickness of shell is 0.8 meter.Containment stack shell is most cylindrical,（Such as Daya Gulf, ridge Australia, the Taishan, Yangjiang Nuclear Power
It stands）But it is other shapes also to have only a few（Such as Chongqing nuclear power station）.By taking typical Guang He groups actually use specification as an example, peace
Full shell is a diameter about 35m, the concrete cylindrical structure of height about 50m, the mobile platform band being erected on dome guide rail
Dynamic acquisition platform is in nucleocapsid apparent motion, as shown in Figure 1.Cover entire nucleocapsid surface to captured image, then need by
It is shot line by line according to certain intervals, and ensures that there is certain degree of overlapping between adjacent image.However superimposed image exists
Visual effect is bad when later stage panorama browses, so according to the needs of engineering project, whole splicing need to be carried out to the image of shooting,
The all information for showing nucleocapsid wall, therefrom to show and position defect information.Compared with traditional splicing, nuclear safety surface
The difficult point of image joint essentially consists in：
（1）For the splicing of poor texture image, characteristic point is few, it is more difficult to match.Containment surface is concrete structure, except few
There is a more significant feature such as painting pen label, cement block, expansion joint in number places, most areas textural characteristics unobvious,
This brings difficulty to the matching of image.
（2）For the splicing of low degree of overlapping image.Traditional aerophotogrammetry endlap is at least 60%, sidelapping
30%, with the development of digital camera and flivver, the course and sidelapping that in fact obtain run far deeper than these, some
The overlapping of image has been even up to course 90%, other to 60%.Use the image overlap degree of the present invention without so greatly, course and
Side is to more than 20%.
（3）Image quantity is more, and size is big, it is desirable that splicing speed is fast.Containment surface area has square meter more than 9000, removes steel
The barrier zones such as ladder, pipeline, the region for having 55% being exposed can carry out image collection.Acquiring entire barrel surface needs 4000
Multiple images, every 36,000,000 pixel of image, the quantity of image to be spliced is more, high resolution, and splicing speed can be by larger
It restricts.
Invention content
The present invention has certain degree of overlapping on the basis of Nuclear containment high score rate image acquisition system, for what is acquired
Image a kind of peace based on position constraint is proposed according to fixed camera posture, photo distance, air strips spacing when acquisition etc.
Full shell surface image express delivery joining method, generates the panoramic expansion figure of containment barrel, and applied to the browsing of image, inquiry and
Defect location.
Technical scheme of the present invention provides a kind of Nuclear containment surface image joining method, includes the following steps,
Step 1, image collection, include by the acquisition platform equipped with two cameras along Nuclear containment outer wall by air strips into
Row, often row has two images for an air strips；
Step 2, Image Matching and scaling include being matched to the image with degree of overlapping region in air strips, between air strips
Without matching, directly cut, the image of each air strips proportionally carried out after matching, to the image after matching length with
Scaling on width；
It is scaled left and right image-zooming in length, scaling method of determination is, to the left and right shadow of the first row in air strips
Image center point is opened as after being matched, calculating the left and right two after matchingA 1、B 1Between pixel distancel 1, determine the pixel away from
Froml 1Represent fixed range between camera；After being matched to two images in the second row of air strips, the distance between central point is calculatedl 2Ifl 2It is not equal tol 1, scaling is determined asl 2 ：l 1 ；
It is scaled image-zooming up and down on width, scaling method of determination is, to the first row in air strips and the second row
After left photo matching, two image center points up and down after matching are calculatedA 1、A 2Between pixel distancew 1, determine the pixel away from
Fromw 1Represent fixed adjacent rows away from；After being matched to the left photo of air strips the third line and the second row, and calculate between central point
Distancew 2Ifw 2It is not equal tow 1 , scaling is determined asw 2 ：w 1 ；
Step 3, image cuts and is spliced, including is cut by air strips, in the longitudinal direction, if first cutting wires position
In the middle of air strips the first row or so image overlap area, Article 2 cutting wires adjacent image overlap area between air strips
Middle determines the length of image cutting according to side to spacingL, other each adjacent cutting wires intervalsL, longitudinal sanction per air strips first trip
Trimming is longitudinal cutting wires of remaining each row of the air strips；In the horizontal, it is specified that first article of cutting wires is located at air strips the first row and
The middle of image overlap area above and below two rows, Article 2 cutting wires are located at the second row and the third line or more image overlap area
Middle determines the width that image is cut according to course spacingW, other each adjacent cutting wires intervalsW, the lateral cutting wires of maiden voyage band
For the lateral cutting wires of remaining each air strips；All images are cut intoL×WSize, splicing generate the panorama exhibition of containment barrel
Open figure.
Moreover, the realization method of step 2 is, in each air strips, left and right the image L1 and R1 of the first row are matched,
Determine proportionate relationshipl 2 ：l 1 ；The left L1 of left L2 and the first row to the second row are matched, and determine proportionate relationshipw 2 ：w 1 , then
Right R2 of the second row and left L2 of the second row proportionally relationshipsl 2 ：l 1 Matching；Left L3's and the second row to the third line
Left L2 proportionally relationshipsw 2 ：w 1 Matching, then to the left L3 of the right R3 of the third line and the third line proportionally relationshipl 2 ：l 1 Matching, and so on.
A kind of Nuclear containment surface image splicing system, comprises the following modules,
Image collecting module, for being carried out by air strips along Nuclear containment outer wall by the acquisition platform equipped with two cameras,
Often row has two images for one air strips；
Image Matching Zoom module, include to being matched with the image in degree of overlapping region in air strips, between air strips not into
Row matching, directly cuts, and the image of each air strips proportionally carries out length and width after matching, to the image after matching
On scaling；
It is scaled left and right image-zooming in length, scaling method of determination is, to the left and right shadow of the first row in air strips
Image center point is opened as after being matched, calculating the left and right two after matchingA 1、B 1Between pixel distancel 1, determine the pixel away from
Froml 1Represent fixed range between camera；After being matched to two images in the second row of air strips, the distance between central point is calculatedl 2Ifl 2It is not equal tol 1, scaling is determined asl 2 ：l 1 ；
It is scaled image-zooming up and down on width, scaling method of determination is, to the first row in air strips and the second row
After left photo matching, two image center points up and down after matching are calculatedA 1、A 2Between pixel distancew 1, determine the pixel away from
Fromw 1Represent fixed adjacent rows away from；After being matched to the left photo of air strips the third line and the second row, and calculate between central point
Distancew 2Ifw 2It is not equal tow 1 , scaling is determined asw 2 ：w 1 ；
Image cuts concatenation module, for including being cut by air strips, in the longitudinal direction, if first cutting wires is located at boat
Middle with the first row or so image overlap area, the center of Article 2 cutting wires adjacent image overlap area between air strips
Between, the length of image cutting is determined to spacing according to sideL, other each adjacent cutting wires intervalsL, longitudinal cutting wires per air strips first trip
For longitudinal cutting wires of remaining each row of the air strips；In the horizontal, it is specified that first cutting wires is located at air strips the first row and the second row
The middle of upper and lower image overlap area, Article 2 cutting wires are located at the center of the second row and the third line or more image overlap area
Between, the width that image is cut is determined according to course spacingW, other each adjacent cutting wires intervalsW, the lateral cutting wires of maiden voyage band are it
The lateral cutting wires of remaining each air strips；All images are cut intoL×WSize, splicing generate the panoramic expansion figure of containment barrel.
Moreover, the working method of Image Matching Zoom module is, in each air strips, left and right image L1 to the first row and
R1 is matched, and determines proportionate relationshipl 2 ：l 1 ；The left L1 of left L2 and the first row to the second row are matched, and determine proportionate relationshipw 2 ：w 1 , then left L2 of right R2 of the second row and the second row proportionally relationshipsl 2 ：l 1 Matching；To the left L3 of the third line
With left L2 of the second row proportionally relationshipw 2 ：w 1 Matching, then to the left L3 of the right R3 of the third line and the third line according to
Proportionate relationshipl 2 ：l 1 Matching, and so on.
The present invention is suitable for image quantity is more, degree of overlapping is relatively low, the poor texture image not high to required precision splices, spelling
It is simple and quick to connect method.The invention has the advantages that：（1）A kind of image splicing method based on position constraint is proposed, it should
Method only needs to match to left and right in air strips and up and down between image, and the image between air strips need not be matched, and directly be cut out
It cuts, it is simpler quick compared with general image joint；（2）Due between left and right camera during image collection away from
It is all strictly fixed from, adjacent line space between, air strips, therefore larger cumulative errors are not present in the joining method, by air strips
The direct cutting of image can reach ideal splicing effect between interior left and right image joint and cutting, air strips, for image
A fairly large number of large area region splicing, is remarkably improved splicing efficiency；（3）This method is suitable for the unconspicuous poor texture of feature
Image, and the degree of overlapping requirement between image is relatively low, relative to 35% ship's control and 55% sidelapping degree herein, if
Distance restraint is preferable, moreover it is possible to be suitable for the lower image of degree of overlapping.
Description of the drawings
Fig. 1 is the Nuclear containment appearance and acquisition 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 vertical 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 piece matching and the scale of length schematic diagram of the embodiment of the present invention.
Fig. 6 is fluctuating plate matching and the width ratio ruler 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 lateral cutting schematic diagram of the embodiment of the present invention.
Specific implementation mode
With embodiment combination attached drawing, the invention will be further described below.
The present invention is it is considered that the splicing of nuclear safety surface image has the characteristics that compared with traditional aerial images splicing：
（1）Image quantity is more, it is desirable that splicing speed is fast, but required precision is not high；（2）Camera posture is fixed, and containment is only parallel to
The translational motion on surface such as does not rotate, scales and sweeps at the movements；（3）Filming image distance, left and right camera spacing, in air strips
Distance, the air strips spacing of walking up and down are fixed.Also, since containment radius is larger, curved surface approximation can be replaced with plane, this
Invention studies the joining method of Nuclear containment surface image according to the above feature and approximation.The present invention is directed to and is acquired
Image with certain degree of overlapping, fixed camera posture, photo distance, air strips spacing etc., propose a kind of base when according to acquisition
In the containment surface image express delivery joining method of position constraint, the panoramic expansion figure of containment barrel is generated, and be applied to shadow
Browsing, inquiry and the defect location of picture.Joining method step includes：The steps such as image collection, Image Matching and scaling, image cutting
Suddenly.
Step 1, image collection：By the acquisition platform equipped with two CMOS cameras along Nuclear containment outer wall by air strips into
Row, as shown in Figure 1.
Embodiment is by being erected with the acquisition platforms of two Nikon D800 cameras from containment top to bottom end by air strips
Equally spaced acquisition image, and between adjacent image there is certain degree of overlapping to pass through peace as shown in Fig. 2, after having acquired an air strips
Mobile platform on full shell top is moved along Nuclear containment outer wall, acquires next air strips, until acquiring complete barrel.In Fig. 2, it is
After curved surface approximation is replaced with plane, along Nuclear containment outer wall by the equally spaced collection result in air strips, arrow direction shows image
Acquisition carries out from top to bottom；Because being acquired using double camera（It is pinpointed and is adopted simultaneously by left and right camera in one air strips
Collection）, so often row has two images for an air strips；What dotted line indicated is that many a air strips during intermediate acquisition are omitted
?.Image size is 7360 × 4912, to detect that nucleocapsid face width is more than the crack of 0.2mm, according to pixel resolution meter
The practical object space size for calculating every image is 1.4m × 0.93m；Camera lens are using Nikon AF Nikkor 28mm F/
1.8G, field angle is 75 °, according to the angle of view and film size length（1.4m）It is 0.91m to calculate photo distance；For ease of spelling
It connects, ensures the requirement in course and sidelapping degree at least 20%, according to many experiments as a result, setting the spacing between the camera of left and right
Spacing between adjacent exposure point on 0.87m, course is 0.6m, course line spacing is 1.5m, thus calculate in air strips left and right,
Between neighbouring image and sidelapping degree is respectively 38%, 35% and 55%, can meet degree of overlapping requirement, be also beneficial to image
Acquisition, photo distance, air strips spacing and image overlap degree are as shown in Figure 3 and Figure 4.Wherein, spacing 1.5m in air strips corresponds to movement
Platform is along nucleocapsid edge guide per 5Gon（Gon is angular unit）An air strips are promoted, acquire 80 air strips altogether.Image collection mistake
Cheng Zhong strictly controls the position of camera and posture using multi-sensor technology and automatic control technology, and thinks camera
Movement there was only Pan and Zoom, the movements such as do not rotate, sweep, to ensure above-mentioned each position and apart from fixation.Due to safety
Shell surface area is larger, and except barriers such as some steel ladders, water pipe, platforms, the image of acquisition can cover containment surface dew substantially
Out the 80% of region, close to 4000 images.
Step 2, Image Matching and scaling.Image with degree of overlapping region is matched by extracting SURF features, often
The image of one air strips proportionally carries out the scaling in length and width after matching, to the image after matching.
The matching of image is the extraction and matching to there is the image of degree of overlapping to carry out feature.It includes same to have the image of degree of overlapping
Two adjacent row, heavy to its using SURF methods between left and right in one air strips, two adjacent rows and air strips and air strips
Folded region carries out feature extraction, and then optionally a pair of of feature carries out the matching of image.Image-zooming is by the first row or so image
Between actual range and theoretical distance, the first row and the second row up and down the actual range between image and theoretical distance as ratio
Other images in air strips are carried out the scaling in length and width, so that it is possessed identical proportionate relationship, be placed in one by ruler
In unified coordinate system.
Concrete operation method is in the step 2, each pending air strips are carried out according to following scheme respectively
Matching and scaling, the operation between air strips and air strips are mutual indepedent.
Left and right Image Matching and scaling：SURF features are extracted to the overlapping region of the left and right image of the first row in air strips, and
Any pair of same place is selected to carry out characteristic matching；Due to image surface texture feature unobvious, often there is error hiding, if always
Error hiding is cannot exclude, then carries out pressure matching according to left and right degree of overlapping 38%.It calculates the left and right two after matching and opens image center pointA 1、B 1Between pixel distancel 1, by the distance compared with fixed range 0.87m between camera, determine the air strips image in length
Proportionate relationship bel 1A pixel represents 0.87m, as shown in Figure 5；Two images in the second row of air strips are matched, and are counted
Calculate the distance between central pointl 2Ifl 2It is not equal tol 1, then by two images according tol 2 ：l 1 Proportionate relationship be carried out at the same time in length
Scaling.Often row left and right image in same air strips, all will be according tol 2 ：l 1 Proportionate relationship zoomed in and out in length.
Upper and lower Image Matching and scaling：It is special to overlapping region extraction SURF above and below the first row in air strips and the left photo of the second row
Sign, and any pair of same place is selected to carry out characteristic matching；If error hiding always, forced according to upper and lower degree of overlapping 35%
Matching.Calculate two image center points up and down after matchingA 1、A 2Between pixel distancew 1, by the distance with it is fixed adjacent
Line-spacing 0.6m compares, and determines that the proportionate relationship of air strips image on the width isw 1A pixel represents 0.6m, as shown in Figure 6；It will
The left photo of air strips the third line and the second row is matched, and calculates the distance between central pointw 2Ifw 2It is not equal tow 1 , then by two
Image according tow 2 ：w 1 Proportionate relationship be carried out at the same time scaling on the width.Neighbouring image in same air strips, all will be by
According tow 2 ：w 1 Proportionate relationship zoom in and out on the width；Until this air strips last column.
I.e.：
1, left and right the image L1 and R1 of the first row are matched, and determine proportionate relationshipl 2 ：l 1 ；
2, left L2 of the second row and left L1 of the first row matchings, determine proportionate relationshipw 2 ：w 1 , the then right side of the second row
Left L2 of piece R2 and the second row is matched（Proportionally relationshipl 2 ：l 1 ）；
3, left L2 of the left L3 of the third line and the second row is matched（Proportionally relationshipw 2 ：w 1 ）, the then right side of the third line
The left L3 of piece R3 and the third line is matched（Proportionally relationshipl 2 ：l 1 ）；
4, it is subsequent per a line be all first to lastrow and one's own profession left match, then to an one's own profession left side
Right is matched.
Step 3, image is cut.Based on the image of position constraint after scaling, do not needed between air strips and air strips
It is matched, is directly cut again.After cutting image size can difference can also be identical, in Practical Project, splicing cut out
Image after cutting needs to carry out the work such as next step defects detection, identification and measurement, so equidimension is cut for subsequent operation
For advantageously.Therefore, if can determine that the position of cut size and wherein one cutting wires, according to distance restraint,
To determine other all cutting wires.If the image after cutting is a length of in object spaceL, width isW。
The image cutting is the quick splicing based on position constraint, only to left and right in air strips and the progress of upper and lower image
Match, the image between air strips need not be matched, and directly be cut.It illustrates, the image between air strips is that have 55%
Degree of overlapping, but the present invention method require it is not matched, directly cut.The cutting of image be by air strips into
Capable, in the longitudinal direction, it is specified that first cutting wires is located at the middle of air strips the first row or so image overlap area, Article 2 is cut out
The middle of trimming adjacent image overlap area between air strips goes out the length that image is cut according to side to distance computationL=1.5/2=
0.75m, remaining cutting wires is apart from adjacent cutting wires 0.75m；In the horizontal, it is specified that first cutting wires is located at air strips first
The middle of image overlap area above and below row and the second row, Article 2 cutting wires are located at the second row and the third line image overlap up and down
The middle in region goes out the width of image cutting according to course distance computationW=0.6m, remaining cutting wires is apart from adjacent cutting wires
0.6m.According to above rule, image is all cut into 0.75m × 0.6m sizes, then arrangement display in sequence,
Then complete the splicing of image.
In above-mentioned step 3, concrete operation method is as follows：
Step 3.1, longitudinal cut size is determined.First cutting wires of regulation are located at air strips the first row or so image overlap degree
Center, Article 2 cutting wires are located at center of right of the air strips with the overlapping regions next air strips Zuo Pian, according between the camera of left and right
Fixed range 0.87m and air strips between constant spacing 1.5m calculate the distance between two cutting wires be 0.75m, such as Fig. 7 institutes
Show, dotted line indicates cutting wires, A1、B1、C1Respectively three images（The left image of left and right image and adjacent air strips in air strips）Center
Point,LObject space length after being cut for image.
Step 3.2, lateral cut size is determined.First cutting wires of regulation are located at air strips the first row and the second row shadow up and down
As the center of overlapping region, Article 2 cutting wires are located at the center of the second row and the third line or more image overlap area, according to boat
It is 0.6m to calculate the distance between two cutting wires with interior upper and lower position fixed range 0.6m, as shown in figure 8, dotted line indicates to cut
Line, A1、A2、A3The central point of adjacent three images respectively on course,WObject space width after being cut for image.
Step 3.3, image is cut by size.Image is cut to carry out by air strips, since the image of each air strips is all according to this boat
Length ratio relationship with the first row is scaled, so in the longitudinal direction, the position where each air strips the first row image cutting wires
Set longitudinal cutting wires as this air strips.On the basis of two images of air strips the first row, first cutting wires is located at left and right shadow
As the center of overlapping region, first cutting wires 0.75m of remaining cutting wires distance, as shown in fig. 7, each air strips are all in accordance with above
Method carries out longitudinal cutting.On the basis of maiden voyage band the first row and left of the second row, first cutting wires is located at for lateral cutting
The center of upper and lower image overlap area, first cutting wires 0.6m of remaining cutting wires distance, as shown in figure 8, until the air strips are tied
The lateral cutting wires of beam, maiden voyage band are the lateral cutting wires of remaining air strips.
After cutting, the splicing of image is completed, and the image with identical size that these were cut is in sequence
Arrangement and display produce the panoramic expansion figure of containment surface image.
When it is implemented, method provided by the present invention, which can be based on software technology, realizes automatic running flow, mould can also be used
Block mode realizes corresponding system.
The present invention provides a kind of Nuclear containment surface image splicing system, comprises the following modules,
Image collecting module, for being carried out by air strips along Nuclear containment outer wall by the acquisition platform equipped with two cameras,
Often row has two images for one air strips；
Image Matching Zoom module, include to being matched with the image in degree of overlapping region in air strips, between air strips not into
Row matching, directly cuts, and the image of each air strips proportionally carries out length and width after matching, to the image after matching
On scaling；
It is scaled left and right image-zooming in length, scaling method of determination is, to the left and right shadow of the first row in air strips
Image center point is opened as after being matched, calculating the left and right two after matchingA 1、B 1Between pixel distancel 1, determine the pixel away from
Froml 1Represent fixed range between camera；After being matched to two images in the second row of air strips, the distance between central point is calculatedl 2Ifl 2It is not equal tol 1, scaling is determined asl 2 ：l 1 ；
It is scaled image-zooming up and down on width, scaling method of determination is, to the first row in air strips and the second row
After left photo matching, two image center points up and down after matching are calculatedA 1、A 2Between pixel distancew 1, determine the pixel away from
Fromw 1Represent fixed adjacent rows away from；After being matched to the left photo of air strips the third line and the second row, and calculate between central point
Distancew 2Ifw 2It is not equal tow 1 , scaling is determined asw 2 ：w 1 ；
Image cuts concatenation module, for including being cut by air strips, in the longitudinal direction, if first cutting wires is located at boat
Middle with the first row or so image overlap area, the center of Article 2 cutting wires adjacent image overlap area between air strips
Between, the length of image cutting is determined to spacing according to sideL, other each adjacent cutting wires intervalsL, longitudinal cutting wires per air strips first trip
For longitudinal cutting wires of remaining each row of the air strips；In the horizontal, it is specified that first cutting wires is located at air strips the first row and the second row
The middle of upper and lower image overlap area, Article 2 cutting wires are located at the center of the second row and the third line or more image overlap area
Between, the width that image is cut is determined according to course spacingW, other each adjacent cutting wires intervalsW, the lateral cutting wires of maiden voyage band are it
The lateral cutting wires of remaining each air strips；All images are cut intoL×WSize, splicing generate the panoramic expansion figure of containment barrel.
Each module specific implementation can be found in corresponding steps, and it will not go into details by the present invention.
It should be understood that the description above in specific implementation mode is more detailed, can not therefore be considered pair
The limitation of scope of patent protection of the present invention is made corresponding under the ambit for the protection for not departing from the claims in the present invention
Replace or deformation, all belong to the scope of protection of the present invention within, the range of the protection of the claims in the present invention should be with appended right
Subject to it is required that.
Claims (4)
1. a kind of Nuclear containment surface image joining method, it is characterised in that：Include the following steps,
Step 1, image collection includes being carried out by air strips along Nuclear containment outer wall by the acquisition platform equipped with two cameras, and one
Often row has two images for air strips；
Step 2, Image Matching and scaling include being matched to the image with degree of overlapping region, the image of each air strips
After matching, the scaling in length and width is proportionally carried out to the image after matching；
Be scaled left and right image-zooming in length, scaling method of determination is, to the left and right image of the first row in air strips into
After row matching, calculates the left and right two after matching and open image center point A1、B1Between pixel distance l1, determine pixel distance l1
Represent fixed range between camera；After being matched to two images in the second row of air strips, the distance l between central point is calculated2If
l2Not equal to l1, scaling is determined as l2：l1；
It is scaled image-zooming up and down on width, scaling method of determination is, to the first row in air strips and the left picture of the second row
After piece matching, two image center point A up and down after matching are calculated1、A2Between pixel distance w1, determine pixel distance w1
Represent fixed adjacent rows away from；After being matched to the left photo of air strips the third line and the second row, and calculate between central point away from
From w2If w2Not equal to w1, scaling is determined as w2：w1；
Step 3, image cuts and is spliced, including is cut by air strips, in the longitudinal direction, if first cutting wires is located at boat
Middle with the first row or so image overlap area, the center of Article 2 cutting wires adjacent image overlap area between air strips
Between, the long L of image cutting is determined to spacing according to side；In the horizontal, it is specified that first article of cutting wires is located at air strips the first row and
The middle of image overlap area above and below two rows, Article 2 cutting wires are located at the second row and the third line or more image overlap area
Middle determines the wide W that image is cut according to course spacing；According to cutting as a result, splicing generates the panorama exhibition of containment barrel
Open figure.
2. Nuclear containment surface image joining method according to claim 1, it is characterised in that：The realization method of step 2 is,
In each air strips, the left L1 and right R1 of the first row are matched, determine proportionate relationship l2：l1, scaling determination side
Formula is, after being matched to the left and right image of the first row in air strips, calculates the left and right two after matching and opens image center point A1、B1It
Between pixel distance l1, determine pixel distance l1Represent fixed range between camera；Two images in the second row of air strips are carried out
After matching, the distance l between central point is calculated2If l2Not equal to l1, scaling is determined as l2：l1；To left L2 of the second row and
Left L1 of the first row is matched, and determines proportionate relationship w2：w1, scaling method of determination is, to the first row in air strips and the second row
After left photo matching, two image center point A up and down after matching are calculated1、A2Between pixel distance w1, determine the pixel away from
From w1Represent fixed adjacent rows away from；After being matched to the left photo of air strips the third line and the second row, and calculate between central point
Distance w2If w2Not equal to w1, scaling is determined as w2：w1；Then right R2 of the second row and left L2 of the second row are pressed
According to proportionate relationship l2：l1Matching；The left L2 of left L3 and the second row to the third line proportionally relationship w2：w1Matching, then
The left L3 of right R3 and the third line to the third line proportionally relationship l2：l1Matching, and so on.
3. a kind of Nuclear containment surface image splicing system, it is characterised in that：It comprises the following modules,
Image collecting module, for being carried out by air strips along Nuclear containment outer wall by the acquisition platform equipped with two cameras, one
Often row has two images for air strips；
Image Matching Zoom module, for being matched to the image with degree of overlapping region, the image of each air strips
After matching, the scaling in length and width is proportionally carried out to the image after matching；
Be scaled left and right image-zooming in length, scaling method of determination is, to the left and right image of the first row in air strips into
After row matching, calculates the left and right two after matching and open image center point A1、B1Between pixel distance l1, determine pixel distance l1
Represent fixed range between camera；After being matched to two images in the second row of air strips, the distance l between central point is calculated2If
l2Not equal to l1, scaling is determined as l2：l1；
It is scaled image-zooming up and down on width, scaling method of determination is, to the first row in air strips and the left picture of the second row
After piece matching, two image center point A up and down after matching are calculated1、A2Between pixel distance w1, determine pixel distance w1
Represent fixed adjacent rows away from；After being matched to the left photo of air strips the third line and the second row, and calculate between central point away from
From w2If w2Not equal to w1, scaling is determined as w2：w1；
Image cuts concatenation module, for being cut by air strips, in the longitudinal direction, if first cutting wires is located at air strips the first row
The middle of left and right image overlap area, the middle of Article 2 cutting wires adjacent image overlap area between air strips, according to
Side determines the long L that image is cut to spacing；In the horizontal, it is specified that first cutting wires is located at air strips the first row and the second row or more
The middle of image overlap area, Article 2 cutting wires are located at the middle of the second row and the third line or more image overlap area,
The wide W that image is cut is determined according to course spacing；According to cutting as a 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：Image Matching Zoom module
Working method is, in each air strips, is matched to the left L1 and right R1 of the first row, determines proportionate relationship l2：l1, contracting
Putting ratio-dependent mode is, after being matched to the left and right image of the first row in air strips, calculates the left and right two after matching and opens image
Central point A1、B1Between pixel distance l1, determine pixel distance l1Represent fixed range between camera；To in the second row of air strips
Two images matched after, calculate central point between distance l2If l2Not equal to l1, scaling is determined as l2：l1；To
Left L2 of two rows and the left L1 matchings of the first row, determine proportionate relationship w2：w1, scaling method of determination is, in air strips
After the first row and the left photo matching of the second row, two image center point A up and down after matching are calculated1、A2Between pixel distance
w1, determine pixel distance w1Represent fixed adjacent rows away from；After being matched to the left photo of air strips the third line and the second row,
And calculate the distance w between central point2If w2Not equal to w1, scaling is determined as w2：w1；Then right R2 of the second row and
Left L2 of two rows proportionally relationship l2：l1Matching；The left L2 of left L3 and the second row to the third line proportionally relationships
w2：w1Matching, then to the left L3 of the right R3 of the third line and the third line proportionally relationship l2：l1Matching, and so on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610148905.2A CN105761209B (en) | 2016-03-16 | 2016-03-16 | Nuclear containment surface image joining method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610148905.2A CN105761209B (en) | 2016-03-16 | 2016-03-16 | Nuclear containment surface image joining method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105761209A CN105761209A (en) | 2016-07-13 |
| CN105761209B true CN105761209B (en) | 2018-11-13 |
Family
ID=56333291
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610148905.2A Expired - Fee Related CN105761209B (en) | 2016-03-16 | 2016-03-16 | Nuclear containment surface image joining method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105761209B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110220918A (en) * | 2019-06-17 | 2019-09-10 | 中广核核电运营有限公司 | A kind of nuclear power plant containment shell appearance images acquisition methods and system based on unmanned plane |
| CN110807773B (en) * | 2019-11-12 | 2023-04-11 | 中广核检测技术有限公司 | Panoramic image detection method for surface defects of nuclear power station |
| CN111355928A (en) * | 2020-02-28 | 2020-06-30 | 济南浪潮高新科技投资发展有限公司 | Video stitching method and system based on multi-camera content analysis |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102735219A (en) * | 2012-06-19 | 2012-10-17 | 武汉华宇世纪科技发展有限公司 | Photogrametry method for digital cave |
| CN104822026A (en) * | 2015-04-30 | 2015-08-05 | 武汉大学 | Camera attitude control method used for nuclear power station containment vessel defect detection and device thereof |
| CN105258628A (en) * | 2015-09-18 | 2016-01-20 | 武汉大学 | Nuclear power station containment vessel dome crack wireless automatic monitoring method and device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5120880B2 (en) * | 2007-10-15 | 2013-01-16 | アルパイン株式会社 | Image processing apparatus and image processing method |
| JP5182042B2 (en) * | 2008-11-28 | 2013-04-10 | 富士通株式会社 | Image processing apparatus, image processing method, and computer program |
-
2016
- 2016-03-16 CN CN201610148905.2A patent/CN105761209B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102735219A (en) * | 2012-06-19 | 2012-10-17 | 武汉华宇世纪科技发展有限公司 | Photogrametry method for digital cave |
| CN104822026A (en) * | 2015-04-30 | 2015-08-05 | 武汉大学 | Camera attitude control method used for nuclear power station containment vessel defect detection and device thereof |
| CN105258628A (en) * | 2015-09-18 | 2016-01-20 | 武汉大学 | Nuclear power station containment vessel dome crack wireless automatic monitoring method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105761209A (en) | 2016-07-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103322911B (en) | A kind of purpose-built elevation drawing mapping method based on image | |
| CN105761209B (en) | Nuclear containment surface image joining method and system | |
| CN101709964B (en) | Large-scale grotto instrument-measuring imaging visual geological recording method | |
| EP3718083B1 (en) | Slope stability visualisation | |
| CN107917695A (en) | House inclination monitoring method based on image recognition technology | |
| CN104776833B (en) | Landslide surface image capturing method and device | |
| CN105806245B (en) | The 3-D photography monitoring method of building deformation | |
| CN106979803B (en) | Method for measuring river flow based on aerial photography unmanned aerial vehicle | |
| Hallermann et al. | Vision-based monitoring of heritage monuments: Unmanned Aerial Systems (UAS) for detailed inspection and high-accuracy survey of structures | |
| Arias et al. | Low-cost documentation of traditional agro-industrial buildings by close-range photogrammetry | |
| CN112415010B (en) | Imaging detection method and system | |
| Perfetti et al. | Fisheye Photogrammetry to Survey Narrow Spaces in Architecture and a Hypogea Environment | |
| CN105606627B (en) | The long-range visual examination measurement method of nuclear power plant containment shell and system | |
| US20220157051A1 (en) | Solar photovoltaic measurement, and related methods and computer-readable media | |
| CN109540094B (en) | Building non-contact settlement monitoring method based on photographic total station | |
| CN116824079A (en) | Three-dimensional entity model construction method and device based on full-information photogrammetry | |
| Mezzino et al. | Technical assistance for the conservation of built heritage at bagan, Myanmar | |
| Predari et al. | Expeditious methods of urban survey for seismic vulnerability assessments | |
| Cleveland et al. | Principles and applications of digital photogrammetry for geotechnical engineering | |
| Nannei et al. | Photogrammetry for quick survey in emergency conditions: the case of Villa Galvagnina | |
| Golparvar-Fard et al. | Image-based 3D mapping of rebar location for automated assessment of safe drilling areas prior to placing embedments in concrete bridge decks | |
| CN117994648A (en) | Method for detecting building outer facade by combining RTK unmanned aerial vehicle with infrared thermal imaging | |
| Jones et al. | A Photogrammetric Workflow for Rapid Site Documentation at Stobi, Republic of North Macedonia | |
| Crabtree Gärdin et al. | Optical methods for 3D-reconstruction of railway bridges: Infrared scanning, Close range photogrammetry and Terrestrial laser scanning | |
| Chang et al. | Remote Crack Measurement Using Android Camera with Laser-Positioning Technique |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181113 Termination date: 20200316 |