CN106990412B - A kind of method for registering images of interference synthetic aperture laser radar system - Google Patents

A kind of method for registering images of interference synthetic aperture laser radar system Download PDF

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Publication number
CN106990412B
CN106990412B CN201710330065.6A CN201710330065A CN106990412B CN 106990412 B CN106990412 B CN 106990412B CN 201710330065 A CN201710330065 A CN 201710330065A CN 106990412 B CN106990412 B CN 106990412B
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registration
offset
standard point
point
image
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CN106990412A (en
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张勇
邱鹏宇
赵远
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Harbin Institute of Technology
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Harbin Institute of Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/90—Lidar systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • G06T2207/10044—Radar image

Abstract

A kind of method for registering images of interference synthetic aperture laser radar system, is related to the image registration algorithm of InSAL system, and the method for registering registration effect in order to solve the problems, such as InSAR is poor, registration is slow-footed.The invention includes the scale for estimating registration translation, standard point rough registration is carried out using maximal correlation function as registration scale, delimit division position, standard point between two division positions is nearly zero doppler position standard point, standard point essence registration offset is obtained using spectrum method for registering, standard point except two division positions is remote zero doppler position standard point, standard point essence registration offset is obtained as registration scale using maximal correlation function, standard point essence registration offset is combined to obtain the standard point essence registration offset moment matrix of master image, determine the offset of any one pixel in master image；According to offset, resampling is carried out to auxiliary image using Cubic Spline Interpolation method.The present invention is suitable for the image registration of InSAL system.

Description

A kind of method for registering images of interference synthetic aperture laser radar system
Technical field
The present invention relates to the method for registering images of InSAL system.
Background technique
The method for registering images of InSAL (interference synthetic aperture laser radar) system is typically chosen the realization of InSAR algorithm, but Since the signal source difference of system causes the source of system noise different.In general InSAR (interfering synthetic aperture radar) system Various forms of radiofrequency signals required for uniting both are from radar frequency synthesizer.Radar Frequency Synthesizer is made with oscillator at present For benchmark source, its frequency drift and phase noise will have a direct impact on the precision and reliability of system.And for InSAL, Since the echo reception of InSAL relies on photodetector, the main noise source of photodetector is shot noise and thermal noise. Wherein, shot noise includes the shot noise of signal light, bias light and dark current.The registration Algorithm of InSAR is for containing white Gaussian The InSAL system single-view registration effect of noise is poor, and slower with Quasi velosity.
Summary of the invention
The purpose of the present invention is to solve the method for registering of InSAR for the InSAL system haplopia containing white Gaussian noise Figure registration effect is poor, is registrated slow-footed problem, to provide a kind of image registration of interference synthetic aperture laser radar system Method.
A kind of method for registering images of interference synthetic aperture laser radar system of the present invention, comprising the following steps:
Step 1: in master image select 1 reference point, using centered on the reference point delimit M × M region as be registrated Window；
Point corresponding with the reference point in master image is selected on auxiliary image, and the region of N × N delimited centered on the point, Choose in the area the region of M × M be registrated window and is registrated according to related coefficient, to estimate the ruler for being registrated and translating Degree；M and N is positive integer, and M < N；
Step 2: selecting multiple standard points in master image, the region of M × M delimited centered on a standard point respectively As registration window, the scale of the registration translation estimated on auxiliary image according to step 1 delimit the search window of Q × Q, with Maximal correlation function carries out standard point rough registration as registration scale, obtains rough registration offset；Q is positive integer, and M < Q < N；
Step 2 is repeated, until multiple standard point rough registrations finish in master image；
Step 3: the rough registration offset obtained according to step 2, the search window of A × A is selected on auxiliary image, is gone forward side by side Row interpolation is inserted into Y point that is, between adjacent two o'clock, obtains the new search window of [(A-1) × Y+A] × [(A-1) × Y+A] Mouthful；A and Y is positive integer, and A < M；
The window of S × S, row interpolation of going forward side by side, i.e. interleaving in adjacent two o'clock delimited centered on the reference point in master image Enter Y point, obtains the new registration window of [(S-1) × Y+S] × [(S-1) × Y+S]；S is positive integer, and S < A；
Choose at one o'clock as the first division position in orientation, the first division position is done in zero doppler position of orientation After symmetrical, the second division position is obtained, the standard point between two division positions is nearly zero doppler position standard point, using spectrum Method for registering obtains the first scale standard point essence registration as registration scale, in conjunction with new search window and new registration window Offset, the standard point except two division positions are remote zero doppler position standard point, using maximal correlation function as matching Fiducial mark degree obtains second of scale standard point essence registration offset in conjunction with new search window and new registration window；
Step 4: it combines the standard point essence obtained in step 3 by two kinds of scales registration offset to obtain master image Standard point essence registration offset moment matrix, determines the offset of any one pixel in master image；
Step 5: the offset obtained according to step 4 carries out weight to auxiliary image using Cubic Spline Interpolation method Image registration is completed in sampling.
Preferably, the offset for determining any one pixel in master image is fitted in the step 4 by quadratic polynomial Amount, the quadratic polynomial fitting use homogeneous equation group, and homogeneous equation group is shown in formula (1),
Wherein a1、a2To f1、f2It is fitting parameter, (x1,y1) be master image on cell coordinate, (x2,y2) supplemented by image The above corresponding coordinate of cell coordinate corresponding to master image.
Preferably, the maximal correlation function is realized using amplitude correlation function or compound correlative function.
The rough registration registration scale different with essence registration selection is registrated in image registration of the invention, to improve It is registrated efficiency and precision；Different registration scales is selected to be registrated to position different direction in essence registration.The present invention Registration accuracy it is high, it is fast with Quasi velosity.
Detailed description of the invention
Fig. 1 is a kind of method for registering images of interference synthetic aperture laser radar system described in specific embodiment one Flow chart.
Specific embodiment
Specific embodiment 1: illustrating present embodiment, a kind of interference synthesis described in present embodiment in conjunction with Fig. 1 The method for registering images of aperture laser radar system, comprising the following steps:
Step 1: select 1 reference point in master image, 21 × 21 region delimited using centered on the reference point as matching Quasi- window；
Point corresponding with the reference point in master image is selected on auxiliary image, and 300 × 300 area delimited centered on the point Domain, choose in the area 21 × 21 region be registrated window and is registrated according to related coefficient, put down to estimate and be registrated The scale of shifting；
Step 2: selecting multiple standard points in master image, 21 × 21 area delimited centered on a standard point respectively As registration window, the scale of the registration translation estimated on auxiliary image according to step 1 delimit 31 × 31 search window in domain Mouthful, standard point rough registration is carried out using maximal correlation function as registration scale, obtains rough registration offset；
Step 2 is repeated, until multiple standard point rough registrations finish in master image；
Step 3: the rough registration offset obtained according to step 2,5 × 5 search window is selected on auxiliary image, is gone forward side by side Row interpolation is inserted into 9 points that is, between adjacent two o'clock, obtains 41 × 41 new search window；
3 × 3 window delimited centered on the reference point in master image, and carries out same interpolation, i.e., in adjacent two o'clock Between be inserted into 9 points, obtain 21 × 21 new registration window；
Choose at one o'clock as the first division position in orientation, the first division position is done in zero doppler position of orientation After symmetrical, the second division position is obtained, the standard point between two division positions is nearly zero doppler position standard point, using spectrum Method for registering obtains the first scale standard point essence registration as registration scale, in conjunction with new search window and new registration window Offset, the standard point except two division positions are remote zero doppler position standard point, using maximal correlation function as matching Fiducial mark degree obtains second of scale standard point essence registration offset in conjunction with new search window and new registration window；
Step 4: it combines the standard point essence obtained in step 3 by two kinds of scales registration offset to obtain master image Standard point essence registration offset moment matrix, determines the offset of any one pixel in master image；
Step 5: the offset obtained according to step 4 carries out weight to auxiliary image using Cubic Spline Interpolation method Image registration is completed in sampling.
In the step 4 by quadratic polynomial be fitted determine master image in any one pixel offset, described two Order polynomial fitting uses homogeneous equation group, and homogeneous equation group is shown in formula (1),
Wherein a1、a2To f1、f2It is fitting parameter, (x1,y1) be master image on cell coordinate, (x2,y2) supplemented by image The above corresponding coordinate of cell coordinate corresponding to master image.
Multiple pixels are selected in master image respectively as multiple standard points, according to standard point coordinate, the mark in master image The offset of essence registration offset moment matrix Plays point on schedule, obtains on auxiliary image that corresponding cell coordinate is corresponding to master image Coordinate, the corresponding coordinate of the cell coordinate in master image, the corresponding cell coordinate on auxiliary image is substituted into formula (1), is obtained To fitting parameter a1、a2To f1、f2, then by coordinate substitution formula (1) of any one pixel in master image, can be obtained auxiliary The corresponding coordinate of corresponding to master image cell coordinate on image, according on the coordinate of pixel in master image and auxiliary image with master The corresponding coordinate of corresponding cell coordinate of image obtains the offset of any one pixel in master image.
Resampling is carried out to auxiliary image, that is, realize on auxiliary image the corresponding coordinate of corresponding to master image cell coordinate with The corresponding cell coordinate of master image is identical.
The maximal correlation function is realized using amplitude correlation function.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims Variation is included within the present invention.
Although describing the present invention herein with reference to specific embodiment, it should be understood that, these realities Apply the example that example is only principles and applications.It should therefore be understood that can be carried out to exemplary embodiment Many modifications, and can be designed that other arrangements, without departing from spirit of the invention as defined in the appended claims And range.It should be understood that different appurtenances can be combined by being different from mode described in original claim Benefit requires and feature described herein.It will also be appreciated that the feature in conjunction with described in separate embodiments can be used In other described embodiments.

Claims (3)

1. a kind of method for registering images of interference synthetic aperture laser radar system, which comprises the following steps:
Step 1: in master image select 1 reference point, using centered on the reference point delimit M × M region as be registrated window Mouthful；
Point corresponding with the reference point in master image is selected on auxiliary image, the region of N × N is delimited centered on the point, at this Chosen in region the region of M × M be registrated window and is registrated according to related coefficient, to estimate the scale for being registrated and translating；M It is positive integer with N, and M < N；
Step 2: select multiple standard points in master image, delimited respectively using centered on a standard point region of M × M as It is registrated window, the scale of the registration translation estimated on auxiliary image according to step 1 delimit the search window of Q × Q, with maximum Correlation function carries out standard point rough registration as registration scale, obtains rough registration offset；Q is positive integer, and M < Q < N；
Step 2 is repeated, until multiple standard point rough registrations finish in master image；
Step 3: the rough registration offset obtained according to step 2, selects the search window of A × A on auxiliary image, and carry out slotting Value is inserted into Y point that is, between adjacent two o'clock, obtains the new search window of [(A-1) × Y+A] × [(A-1) × Y+A]；A and Y is positive integer, and A < M；
The window of S × S delimited centered on the reference point in master image, row interpolation of going forward side by side is inserted into Y that is, between adjacent two o'clock Point obtains the new registration window of [(S-1) × Y+S] × [(S-1) × Y+S]；S is positive integer, and S < A；
Choose at one o'clock as the first division position in orientation, the first division position is done symmetrically in zero doppler position of orientation Afterwards, the second division position is obtained, the standard point between two division positions is nearly zero doppler position standard point, is registrated using spectrum Method obtains the registration offset of the first scale standard point essence as registration scale, in conjunction with new search window and new registration window It measures, the standard point except two division positions is remote zero doppler position standard point, is used as using maximal correlation function and matches fiducial mark Degree obtains second of scale standard point essence registration offset in conjunction with new search window and new registration window；
Step 4: it combines the standard point essence obtained in step 3 by two kinds of scales registration offset to obtain the standard of master image Point essence registration offset moment matrix, determines the offset of any one pixel in master image；
Step 5: the offset obtained according to step 4 carries out resampling to auxiliary image using Cubic Spline Interpolation method, Complete image registration.
2. a kind of method for registering images of interference synthetic aperture laser radar system according to claim 1, feature exist In, the offset for determining any one pixel in master image is fitted in the step 4 by quadratic polynomial, it is described secondary more Item formula fitting uses homogeneous equation group, and homogeneous equation group is shown in formula (1),
Wherein a1、a2To f1、f2It is fitting parameter, (x1,y1) be master image on cell coordinate, (x2,y2) supplemented by image with The corresponding coordinate of corresponding cell coordinate of master image.
3. a kind of method for registering images of interference synthetic aperture laser radar system according to claim 1, feature exist In maximal correlation function described in step 2 and step 3 is realized using amplitude correlation function or compound correlative function.
CN201710330065.6A 2017-05-11 2017-05-11 A kind of method for registering images of interference synthetic aperture laser radar system Expired - Fee Related CN106990412B (en)

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