CN106296580A - A kind of method and device of image mosaic - Google Patents
A kind of method and device of image mosaic Download PDFInfo
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- CN106296580A CN106296580A CN201510299110.7A CN201510299110A CN106296580A CN 106296580 A CN106296580 A CN 106296580A CN 201510299110 A CN201510299110 A CN 201510299110A CN 106296580 A CN106296580 A CN 106296580A
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- 238000000034 method Methods 0.000 title claims abstract description 37
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- 238000005070 sampling Methods 0.000 claims description 3
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- 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
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Abstract
The invention discloses the method and device of a kind of image mosaic.Described method includes: two pictures are extracted characteristic point therein respectively；The characteristic point of two pictures is carried out characteristic matching, and determine two pictures is effectively matched region, using the described region that is effectively matched as overlapping region；According to described intersection coordinate in two pictures, two pictures are spliced.The present invention utilizes the region that is effectively matched of two pictures to mate, it is possible to the quality of picture after being effectively improved the efficiency splicing photo and synthesizing.
Description
Technical field
The present invention relates to Internet technical field, particularly to the method and device of a kind of image mosaic.
Background technology
Eye normal viewing angle is about horizontal 90-degree, 70 degree, vertical angle of view.The standard lens of camera only has 46
Degree visual angle, people design wide-angle lens even fish eye lens, so that scene is clapped wider.
Traditional pan-shot, commonly uses a kind of special rotary camera during such as shooting group picture, can be by 90 °
To the scenery of 360 °, two dimension glue plane shows, although this camera once can directly be taken
One Zhang Quanjing image, but expensive and common shooting can not be done.
The digital image later stage splices function easily makes 5,000,000 pixel camera, the distant view photograph made, total picture
Element easily reaches more than 20,000,000, and this is the attracting main cause of panorama mode.
Utilize digital camera to be divided into by one width distant view photograph to shoot several times, recycling computer synthesis, equally may be used
To reach perfect effect, it is most important that greatly reduce expense.
How to improve photo synthesis distant view photograph efficiency and synthesis after picture quality, become industry to pay close attention to
Problem.
Summary of the invention
In view of the above problems, it is proposed that the present invention is to provide one to overcome the problems referred to above or at least in part
Solve the method and device of a kind of image mosaic of the problems referred to above.
The method of a kind of picture splicing that the embodiment of the present invention provides, including:
Two pictures are extracted characteristic point therein respectively；
The characteristic point of two pictures is carried out characteristic matching, and determine two pictures is effectively matched region, by institute
State and be effectively matched region as overlapping region；
According to described intersection coordinate in two pictures, two pictures are spliced.
Further, the method for the picture splicing that the embodiment of the present invention provides, also include:
Use RANSAC that the feature point pairs extracted is purified；
Correspondingly, the described characteristic point to two pictures carries out characteristic matching, including:
Characteristic point after purifying two pictures RANSAC carries out characteristic matching.
Further, it is determined that the effective matching area of two pictures, using the described region that is effectively matched as weight
Close region, specifically include:
Determine and whether two pictures exist effective matching area, if existing and the ratio of shared whole picture
More than the ratio set, it is determined that described matching area is to determine the intersection in two pictures respectively.
Further, it is determined that whether two pictures exist effective matching area, including:
Respectively the setting regions in two two field pictures is carried out piecemeal, and according to the closeness of each piece, determines described
Close quarters in setting regions；
It is respectively compared each characteristic point in the close quarters of described two frame pictures, determines in described two frame pictures
Effectively close quarters；The matching degree of characteristic point in area intensive degree in described effective close quarters and region
It is satisfied by imposing a condition.
Further, according to described intersection coordinate in two pictures, two pictures are spliced,
Including:
According to intersection coordinate in two pictures, the pixel of intersection is carried out by two pictures
Weighted average is spliced.
The device of a kind of picture splicing that the embodiment of the present invention provides, including:
Feature point extraction module, for extracting characteristic point therein respectively to two pictures；
Overlapping region determines module, for the characteristic point of two pictures is carried out characteristic matching, determines two figures
Sheet be effectively matched region, using the described region that is effectively matched as overlapping region；
Concatenation module, for according to described intersection coordinate in two pictures, carrying out two pictures
Splicing.
Further, the device of the above-mentioned picture splicing that the embodiment of the present invention provides, also include:
RANSAC purifies module, for using RANSAC to purify the feature point pairs extracted；
Described overlapping region determines module, and the characteristic point after RANSAC purifies carries out characteristic matching.
Further, described overlapping region determines module, is used for determining in two pictures whether exist effectively
Matching area, if the ratio of existence and shared whole picture is more than the ratio set, it is determined that described Matching band
Territory is to determine the intersection in two pictures respectively.
Further, described overlapping region determines module, is used for respectively to carrying out piecemeal in two two field pictures, and
According to the closeness of each piece, determine the close quarters in described setting regions；It is respectively compared described two frame pictures
Close quarters in each characteristic point, determine the effective close quarters in described two frame pictures；Described the closeest
In area intensive degree in collection region and region, the matching degree of characteristic point is satisfied by imposing a condition.
Further, concatenation module, specifically for according to intersection coordinate in two pictures, by two
The pixel of intersection is weighted averagely splicing by pictures.
The beneficial effect of the embodiment of the present invention includes:
Two pictures are being extracted wherein by the method and device of the image mosaic that the embodiment of the present invention provides respectively
Characteristic point after, the characteristic point of two pictures is carried out characteristic matching, determines being effectively matched of two pictures
Region, using the described region that is effectively matched as overlapping region；According to described intersection in two pictures
Two pictures are spliced by coordinate.The region that is effectively matched utilizing two pictures is mated, it is possible to have
The quality of picture after the efficiency of effect raising splicing photo and synthesis.
Other features and advantages of the present invention will illustrate in the following description, and, partly from explanation
Book becomes apparent, or understands by implementing the present invention.The purpose of the present invention and other advantages can
Realize by structure specifically noted in the description write, claims and accompanying drawing and obtain
?.
Below by drawings and Examples, technical scheme is described in further detail.
Accompanying drawing explanation
Accompanying drawing is for providing a further understanding of the present invention, and constitutes a part for description, with this
Bright embodiment is used for explaining the present invention together, is not intended that limitation of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart of the method for picture splicing in the embodiment of the present invention；
Fig. 2 is the step determining in the embodiment of the present invention and whether there is effective matching area in two pictures
Flow chart；
Fig. 3 is the structural representation of the device of the method for picture splicing in the embodiment of the present invention.
Detailed description of the invention
It is more fully described the exemplary embodiment of the disclosure below with reference to accompanying drawings.Although accompanying drawing shows
The exemplary embodiment of the disclosure, it being understood, however, that may be realized in various forms the disclosure and should be by
Embodiments set forth here is limited.On the contrary, it is provided that these embodiments are able to be best understood from this
Open, and complete for the scope of the present disclosure can be conveyed to those skilled in the art.
The method of the picture splicing that the embodiment of the present invention provides, as it is shown in figure 1, include:
S11, two pictures are extracted characteristic point therein respectively；
S12, characteristic point to two pictures carry out characteristic matching, and determine two pictures is effectively matched region,
Region will be effectively matched as overlapping region；
S13, according to intersection coordinate in two pictures, two pictures are spliced.
Separately below above steps is described in detail.
Although what above-mentioned S11～S13 of the embodiment of the present invention illustrated is the row of two pictures to be spliced to two
The method of anastomosing and splicing, but those skilled in the art can infer easily, when user needs two
When above picture splices, every two pictures to be spliced in these pictures (have the portion of coincidence
Point) between, the step of above-mentioned S11-S13 can be used to realize, the present invention does not limit picture splicing
Quantity.
Further, in above-mentioned S11, two pictures to be spliced have certain registration, and its image is overlapping
Region can not be the least, in general, it is impossible to less than the 15% of picture size, such guarantee has enough
Feature Points Matching.This just requires, when the picture that shooting can be spliced, have certain weight between two pictures
Close part, utilize this block intersection, the splicing of two pictures can be completed.
In above-mentioned S11, two pictures are extracted characteristic point therein, in the specific implementation, Ke Yitong respectively
Cross and extract according to the way of prior art, for example with simple Harris Corner Detection etc., or according to existing
Technology is had to extract scale invariant feature conversion (Scale-Invariant Feature Transform, SIFT)Feature
Deng.
Characteristic point is carried out after Detection and Extraction go out characteristic point, between above-mentioned steps S11 and S12, it is also possible to
Calculate including characteristic point being carried out stochastic sampling consistent (RANdom SAmple Consensus, RANSAC)
The step that method purifies, it is therefore an objective to remove some noises, obtain effective sample.
Following is a brief introduction of RANSAC algorithm.
RANSAC can be estimated by iterative manner from one group of observation data set comprising " point not in the know "
The parameter of mathematical model.It is a kind of uncertain algorithm it have certain probability to draw one reasonably
Result；Iterations must be improved to improve probability.The input of RANSAC algorithm is one group of observation data,
One parameterized model that can explain or be adapted to observe data, some believable parameters.RANSAC
Target is reached by the one group of random subset being chosen in data.The subset being selected is assumed to be intra-office
Point, and verify by following method:
Having a model to be adapted to the intra-office point assumed, the most all of unknown parameter can be from the intra-office point assumed
Calculate, go to test other data all of with model obtained above, if certain point is applicable to estimate
Model, it is believed that it is also intra-office point.If there being abundant point to be classified as the intra-office point assumed, then
The model estimated is sufficient for rationally.Then, go to reappraise model with the intra-office point of all hypothesis, because it
Only by initial hypothesis intra-office point estimation.
Specifically, the embodiment of the present invention uses RANSAC to screen the feature point pairs of coupling, can
To comprise the steps:
From the feature point pairs of all couplings, one RANSAC sample of random selection, described RANSAC
Sample comprises multiple matching double points；
According to the matching double points in RANSAC sample, calculate transformation matrix；
According to RANSAC sample, transformation matrix and error metrics function, calculate and meet current transform matrix
Consistent collection；
According to the consistent element number concentrated, it is judged that whether consistent collection is the optimum consistent collection set；
When judged result is for being, calculate current erroneous probability, when error probability is less than the minimal error set
During probability, transformation matrix is exported as final result, otherwise, random selection RANSAC sample again,
Repeat above-mentioned calculating, until error probability is less than the minimum error probability set.
Lift a simply example and illustrate to use the flow process of RANSAC, first random selection from sample set
One RANSAC sample, such as 4 matching double points, then calculate conversion according to these 4 matching double points
Matrix M；Calculate according to sample set, transformation matrix M, and error metrics function and meet current transform matrix
Unanimously collect consensus, and element number is unanimously concentrated in return；Judge according to current consistent concentration element number
The most optimum consistent collection, if then updating current optimum consistent collection；Update current erroneous Probability p simultaneously, if
P then repeats step above more than the minimum error probability allowed and continues iteration, until current erroneous Probability p
Less than minimum error probability.
Before performing S12, it is also possible to further, the matching degree of the characteristic point in reference two frame pictures
Threshold value, screens out less than the characteristic point setting threshold value further by the matching degree of characteristic point.
Further, in above-mentioned S12, it is thus necessary to determine that whether two pictures exist effective matching area,
If existing and the ratio of shared whole picture be more than the ratio set, it is determined that matching area being for determining two respectively
Intersection in pictures.
Further, as in figure 2 it is shown, above-mentioned determine whether two pictures exist effective matching area
Step, specifically can be realized by following flow process:
S21, respectively the setting regions in two two field pictures is carried out piecemeal, and according to the closeness of each piece, really
Close quarters in fixed described setting regions；
S22, each characteristic point being respectively compared in the close quarters of two frame pictures, determine having in two frame pictures
Effect close quarters；Effectively in the area intensive degree in close quarters and region, the matching degree of characteristic point is satisfied by
Impose a condition；
It is preferred that in above-mentioned S21, the setting regions in two two field pictures can be in before and after two frame picture, edge
The region accounting for whole picture 4/5 size of center picture radiation.
In this region, carry out piecemeal further, such as, be divided into Area1, Area2 ... etc., by each
Block arranges according to closeness, according to the threshold value of the closeness set, removes the block that closeness is relatively low, surplus
Under each piece composition region be exactly close quarters.
In close quarters, needing to further determine that effective close quarters, above-mentioned steps S22 is being embodied as
Time, the matching degree of all characteristic points in close quarters is arranged, the matching degree that same use is preset
Threshold value, screens out the characteristic point that some matching degrees are the highest, and remaining region has just obtained effective close quarters.
Further, in above-mentioned S13, according to intersection coordinate in two pictures, by two pictures
Splice, specifically, can be by according to intersection coordinate in two pictures, by two figures
The pixel of intersection is weighted averagely splicing by sheet.
Specifically, it is simply that following three parts are carried out the process merged: Far Left is taken from left figure completely
Data (get rid of the part data outside the part of coincidence) in left figure, mid portion is weight in two width images
Conjunction part is weighted averagely, and the part on the right of overlapping region is taken from original right figure and (got rid of coincidence part and divide it
Outer data).
Two pictures are being extracted wherein by the method and device of the image mosaic that the embodiment of the present invention provides respectively
Characteristic point after, the characteristic point of two pictures is carried out characteristic matching, determines being effectively matched of two pictures
Region, will be effectively matched region as overlapping region；According to intersection coordinate in two pictures, will
Two pictures splice.The region that is effectively matched utilizing two pictures is mated, it is possible to be effectively improved spelling
Connect the quality of picture after the efficiency of photo and synthesis.
Based on same inventive concept, the embodiment of the present invention additionally provides the device of a kind of image mosaic, due to this
The principle of the solved problem of device is similar to the method for aforementioned image mosaic, and therefore the enforcement of this device can be joined
See the enforcement of preceding method, repeat no more in place of repetition.
The device of a kind of picture splicing that the embodiment of the present invention provides, as it is shown on figure 3, include:
Feature point extraction module 301, for extracting characteristic point therein respectively to two pictures；
Overlapping region determines module 302, for the characteristic point of two pictures is carried out characteristic matching, determines two
Pictures be effectively matched region, region will be effectively matched as overlapping region；
Concatenation module 303, for according to intersection coordinate in two pictures, carrying out two pictures
Splicing.
Further, the device of above-mentioned picture splicing, such as Fig. 3, also include:
RANSAC purifies module 304, for using RANSAC to purify the feature point pairs extracted；
Correspondingly, overlapping region determines module 302, and the characteristic point after RANSAC purifies carries out feature
Coupling.
Further, above-mentioned overlapping region determines module 302, is used for determining in two pictures whether there are
The matching area of effect, if the ratio of existence and shared whole picture is more than the ratio set, it is determined that Matching band
Territory is to determine the intersection in two pictures respectively.
Further, above-mentioned overlapping region determines module 302, is used for respectively to carrying out piecemeal in two two field pictures,
And according to the closeness of each piece, determine the close quarters in described setting regions；It is respectively compared two frame pictures
Each characteristic point in close quarters, determines the effective close quarters in two frame pictures；Effectively in close quarters
In area intensive degree and region, the matching degree of characteristic point is satisfied by imposing a condition.
Further, above-mentioned concatenation module 303, specifically for according to intersection seat in two pictures
The pixel of intersection is weighted averagely splicing by mark by two pictures.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or meter
Calculation machine program product.Therefore, the present invention can use complete hardware embodiment, complete software implementation or knot
The form of the embodiment in terms of conjunction software and hardware.And, the present invention can use and wherein wrap one or more
Computer-usable storage medium containing computer usable program code (include but not limited to disk memory and
Optical memory etc.) form of the upper computer program implemented.
The present invention is with reference to method, equipment (system) and computer program product according to embodiments of the present invention
The flow chart of product and/or block diagram describe.It should be understood that can by computer program instructions flowchart and
/ or block diagram in each flow process and/or flow process in square frame and flow chart and/or block diagram and/
Or the combination of square frame.These computer program instructions can be provided to general purpose computer, special-purpose computer, embedding
The processor of formula datatron or other programmable data processing device is to produce a machine so that by calculating
The instruction that the processor of machine or other programmable data processing device performs produces for realizing at flow chart one
The device of the function specified in individual flow process or multiple flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions may be alternatively stored in and computer or the process of other programmable datas can be guided to set
In the standby computer-readable memory worked in a specific way so that be stored in this computer-readable memory
Instruction produce and include the manufacture of command device, this command device realizes in one flow process or multiple of flow chart
The function specified in flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions also can be loaded in computer or other programmable data processing device, makes
Sequence of operations step must be performed to produce computer implemented place on computer or other programmable devices
Reason, thus the instruction performed on computer or other programmable devices provides for realizing flow chart one
The step of the function specified in flow process or multiple flow process and/or one square frame of block diagram or multiple square frame.
Obviously, those skilled in the art can carry out various change and modification without deviating from this to the present invention
The spirit and scope of invention.So, if these amendments of the present invention and modification belong to the claims in the present invention
And within the scope of equivalent technologies, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. the method for a picture splicing, it is characterised in that including:
Two pictures are extracted characteristic point therein respectively；
The characteristic point of two pictures is carried out characteristic matching, and determine two pictures is effectively matched region, by institute
State and be effectively matched region as overlapping region；
According to described intersection coordinate in two pictures, two pictures are spliced.
2. the method for claim 1, it is characterised in that also include:
Use the consistent RANSAC of stochastic sampling that the feature point pairs extracted is purified；
The described characteristic point to two pictures carries out characteristic matching, including:
Characteristic point after purifying two pictures RANSAC carries out characteristic matching.
3. the method for claim 1, it is characterised in that determine the effective coupling of two pictures
Region, using the described region that is effectively matched as overlapping region, specifically includes:
Determine and whether two pictures exist effective matching area, if existing and the ratio of shared whole picture
More than the ratio set, it is determined that described matching area is to determine the intersection in two pictures respectively.
4. method as claimed in claim 3, it is characterised in that determine in two pictures and whether there are
The matching area of effect, including:
Respectively the setting regions in two two field pictures is carried out piecemeal, and according to the closeness of each piece, determines described
Close quarters in setting regions；
It is respectively compared each characteristic point in the close quarters of described two frame pictures, determines in described two frame pictures
Effectively close quarters；The matching degree of characteristic point in area intensive degree in described effective close quarters and region
It is satisfied by imposing a condition.
5. the method as described in any one of claim 1-3, it is characterised in that according to described intersection
Two pictures are spliced by the coordinate in two pictures, including:
According to intersection coordinate in two pictures, the pixel of intersection is carried out by two pictures
Weighted average is spliced.
6. the device of a picture splicing, it is characterised in that including:
Feature point extraction module, for extracting characteristic point therein respectively to two pictures；
Overlapping region determines module, for the characteristic point of two pictures is carried out characteristic matching, determines two figures
Sheet be effectively matched region, using the described region that is effectively matched as overlapping region；
Concatenation module, for according to described intersection coordinate in two pictures, carrying out two pictures
Splicing.
7. device as claimed in claim 6, it is characterised in that also include:
The consistent RANSAC of stochastic sampling purifies module, for using the RANSAC feature point pairs to extracting
Purify；
Described overlapping region determines module, and the characteristic point after RANSAC purifies carries out characteristic matching.
8. device as claimed in claim 6, it is characterised in that described overlapping region determines module, uses
In determining, whether two pictures exist effective matching area, if the ratio of existence and shared whole picture is big
In the ratio set, it is determined that described matching area is to determine the intersection in two pictures respectively.
9. device as claimed in claim 8, it is characterised in that described overlapping region determines module, uses
Piecemeal is carried out in respectively to two two field pictures, and according to the closeness of each piece, in determining described setting regions
Close quarters；It is respectively compared each characteristic point in the close quarters of described two frame pictures, determines described two frame figures
Effective close quarters in sheet；In area intensive degree in described effective close quarters and region characteristic point
Join degree to be satisfied by imposing a condition.
10. the device as described in any one of claim 6-9, it is characterised in that concatenation module, specifically uses
According to intersection coordinate in two pictures, the pixel of intersection is added by two pictures
Weight average splices.
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| CN201510299110.7A CN106296580A (en) | 2015-06-03 | 2015-06-03 | A kind of method and device of image mosaic |
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| CN201510299110.7A CN106296580A (en) | 2015-06-03 | 2015-06-03 | A kind of method and device of image mosaic |
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| CN107330858A (en) * | 2017-06-30 | 2017-11-07 | 北京金山安全软件有限公司 | Picture processing method and device, electronic equipment and storage medium |
| CN109272446A (en) * | 2018-08-02 | 2019-01-25 | 苏州佳世达光电有限公司 | More pictures piece method, apparatus and system together automatically |
| CN110708464A (en) * | 2019-10-18 | 2020-01-17 | 合肥学院 | Digital image acquisition system |
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