CN107169921B - Double-spectrum image registration system and method - Google Patents
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- 238000013519 translation Methods 0.000 claims description 36
- 238000003384 imaging method Methods 0.000 claims description 7
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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
- G06T3/14—Transformations for image registration, e.g. adjusting or mapping for alignment of images
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
- G06T7/337—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving reference images or patches
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Abstract
The invention relates to a double-spectrum image registration system and a method, the system comprises a double-waveband image acquisition assembly, a calibration plate, a fluorescent lamp and an upper computer, wherein the double-waveband image acquisition assembly comprises a first camera and a second camera which are used for acquiring images of different wavebands, optical axes of the first camera and the second camera are mutually parallel, the first camera and the second camera are both connected with the upper computer, the calibration plate is provided with at least 4 positioning holes, connecting lines of the 4 positioning holes enclose a rectangular structure, the fluorescent lamp is arranged behind the positioning holes when registration is carried out, the first camera and the second camera respectively acquire images of corresponding wavebands and send the images to the upper computer, and the upper computer calculates registration parameters according to the acquired images. Compared with the prior art, the registration method is simple and feasible, and the registration result is accurate and reliable.
Description
Technical Field
The invention relates to the field of image processing, in particular to a double-spectrum image registration device and method.
Background
Image registration refers to the process of establishing a mapping relationship between points in one image and corresponding points in another image to achieve a spatial variation. The current image registration is divided into two modes of translation calculation or single mapping matrix calculation, the translation calculation mode has simple results, the rotation between images cannot be processed, the single mapping matrix calculation mode has large calculation amount and higher requirement on image feature matching results, and correct results can be obtained only when the accuracy of the matching results is higher.
At present, domestic and foreign research aiming at multiband image fusion mainly focuses on the fields of long-wave infrared-medium-wave infrared, infrared-visible light, ultraviolet-visible light and the like, and a system for detecting partial discharge by using infrared and ultraviolet signals at home and foreign places only realizes detection of two independent aspects of ultraviolet imaging and infrared detection, realizes registration of ultraviolet-infrared double-spectrum images and can provide powerful technical support for the current ultraviolet-infrared double-spectrum detection field.
Disclosure of Invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and to provide a dual-spectrum image registration apparatus and method.
The purpose of the invention can be realized by the following technical scheme:
a dual-spectrum image registration system comprises a dual-waveband image acquisition assembly, a calibration plate, a fluorescent lamp and an upper computer, wherein the dual-waveband image acquisition assembly comprises a first camera and a second camera which are used for acquiring images of different wavebands, optical axes of the first camera and the second camera are parallel to each other, the first camera and the second camera are both connected with the upper computer, at least 4 positioning holes are formed in the calibration plate, the connecting lines of the 4 positioning holes enclose a rectangular structure, the fluorescent lamp is arranged behind the positioning holes when registration is carried out, the first camera and the second camera respectively acquire images of corresponding wavebands and send the images to the upper computer, and the upper computer calculates registration parameters according to the acquired images.
The calibration plate is a square white calibration plate.
The positioning holes are distributed with 80 positioning holes, and the arrangement mode of the 80 positioning holes is as follows: the horizontal central axis, the vertical central axis and the two diagonal lines of the square calibration plate are respectively and uniformly distributed with 20 positioning holes.
The positioning hole is a round hole with the aperture of 5 mm.
The registration parameters include an amount of registration translation and a registration scaling ratio.
A method for image registration using the above-described dual-spectral image registration system, the method comprising the steps of:
(1) respectively placing fluorescent lamps behind the 80 positioning holes, and respectively acquiring 80 pairs of positioning registration images through a first camera and a second camera, wherein each pair of positioning registration images comprises a first image and a second image;
(2) respectively solving a pre-registration translation amount according to each pair of positioning registration images;
(3) obtaining the mean value of 80 pre-registration translation quantities to obtain registration translation quantities;
(4) selecting 4 positioning holes from the calibration plate, connecting the 4 positioning holes to form a rectangular structure, respectively obtaining 4 pairs of positioning registration images corresponding to the 4 positioning holes, and processing the 4 pairs of registration images to obtain a registration scaling ratio.
The step (2) is specifically as follows: placing a pair of positioning registration images of which the pre-registration translation amount is to be obtained in the same coordinate system, and enabling the edges of the first image and the second image to coincide with each other, obtaining center point coordinates P1(x1, x2) and P2(x2, y2) of imaging light spots in the first image and the second image, wherein (x2-x1) and (y2-y1) of the imaging light spots in the first image and the second image, wherein (x2-x1) is a horizontal pre-registration translation amount, and (y2-y1) is a vertical pre-registration translation amount, and further correspondingly obtaining mean values of the 80 horizontal pre-registration translation amounts and the vertical pre-registration translation amounts in step (3) to obtain the horizontal registration translation amount and the pre-registration translation amount.
The step (4) is specifically as follows: and respectively superposing the first image and the second image in the 4 pairs of positioning registration images to obtain a first scaling registration image and a second scaling registration image containing 4 light spots, respectively connecting the 4 light spots in the first scaling registration image and the second scaling registration image to form a first rectangle and a second rectangle, and solving the first rectangle area as S1 and the second rectangle area as S2, wherein the registration scaling ratio is S1/S2.
And (4) repeating the step (4) for multiple times, and averaging the obtained registration scaling ratios to obtain a final registration scaling ratio.
Compared with the prior art, the invention has the following advantages:
(1) the registration system and the registration method are simple and easy to implement, can conveniently and quickly acquire registration parameters, and are convenient for subsequent image registration;
(2) the invention has simple arrangement of the calibration positioning plate, easy manufacture and low cost;
(3) the invention adopts a mode of calculating and averaging for multiple times when acquiring the registration parameters, so that the measurement result is more real and reliable, and the registration effect is improved.
Drawings
FIG. 1 is a schematic diagram of the image registration system of the present invention;
FIG. 2 is a schematic structural view of a calibration plate;
fig. 3 is a flow chart of the image registration method of the present invention.
In the figure, 1 is a first camera, 2 is a second camera, 3 is a calibration board, and 4 is an upper computer.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Examples
As shown in fig. 1, a dual-spectrum image registration system includes a dual-band image acquisition component, a calibration plate 3, a fluorescent lamp and an upper computer 4, the dual-band image acquisition component includes two first cameras 1 and two second cameras 2 for acquiring images of different bands, optical axes of the first cameras 1 and the second cameras 2 are parallel to each other, the first cameras 1 and the second cameras 2 are both connected to the upper computer 4, at least 4 positioning holes are arranged on the calibration plate 3, connecting lines of the 4 positioning holes enclose a rectangular structure, when registration is performed, the fluorescent lamp is arranged behind the positioning holes, the first cameras 1 and the second cameras 2 respectively acquire images of corresponding bands and send the images to the upper computer 4, and the upper computer 4 calculates registration parameters according to the acquired images.
The calibration plate 3 is a square white calibration plate. 80 locating holes are distributed on the locating holes, and the arrangement mode of the 80 locating holes is as follows: the horizontal central axis, the vertical central axis and the two diagonal lines of the square calibration plate are respectively and uniformly distributed with 20 positioning holes. The locating hole is a round hole with the aperture of 5 mm. As shown in fig. 2, the distribution form of the positioning holes in the calibration plate 3 is given by taking the case that 6 positioning holes are uniformly distributed on the horizontal central axis, the vertical central axis and the two diagonal lines of the square calibration plate.
The registration parameters include an amount of registration translation and a registration scaling ratio.
As shown in fig. 3, a method for image registration using the above-mentioned dual-spectrum image registration system includes the following steps:
(1) respectively placing fluorescent lamps behind the 80 positioning holes, and respectively acquiring 80 pairs of positioning registration images through a first camera 1 and a second camera 2, wherein each pair of positioning registration images comprises a first image and a second image;
(2) respectively solving a pre-registration translation amount according to each pair of positioning registration images;
(3) obtaining the mean value of 80 pre-registration translation quantities to obtain registration translation quantities;
(4) selecting 4 positioning holes from the calibration plate 3, connecting the 4 positioning holes to form a rectangular structure, respectively obtaining 4 pairs of positioning registration images corresponding to the 4 positioning holes, and processing the 4 pairs of registration images to obtain a registration scaling ratio.
The step (2) is specifically as follows: placing a pair of positioning registration images of which the pre-registration translation amount is to be obtained in the same coordinate system, and enabling the edges of the first image and the second image to coincide with each other, obtaining center point coordinates P1(x1, x2) and P2(x2, y2) of imaging light spots in the first image and the second image, wherein (x2-x1) and (y2-y1) of the imaging light spots in the first image and the second image, wherein (x2-x1) is a horizontal pre-registration translation amount, and (y2-y1) is a vertical pre-registration translation amount, and further correspondingly obtaining mean values of the 80 horizontal pre-registration translation amounts and the vertical pre-registration translation amounts in step (3) to obtain the horizontal registration translation amount and the pre-registration translation amount.
The step (4) is specifically as follows: and respectively superposing the first image and the second image in the 4 pairs of positioning registration images to obtain a first scaling registration image and a second scaling registration image containing 4 light spots, respectively connecting the 4 light spots in the first scaling registration image and the second scaling registration image to form a first rectangle and a second rectangle, and solving the first rectangle area as S1 and the second rectangle area as S2, wherein the registration scaling ratio is S1/S2.
And (4) repeating the step (4) for multiple times, and averaging the obtained registration scaling ratios to obtain a final registration scaling ratio.
In this embodiment, the first camera 1 adopts an infrared camera, and the second adopts an ultraviolet camera, so that the registration of infrared and ultraviolet images is realized. And uniformly irradiating each positioning hole of the calibration plate 3 by using a high-power fluorescent lamp to obtain infrared and ultraviolet images of each positioning hole, wherein the total number of the images is 160.
Due to the position of the used camera and the calibration plate 3, the circles of all the positioning holes in the calibration plate 3 are ellipses in the ultraviolet image, and the position of each ellipse in the image can be represented by the coordinates of the center point of the ellipse. The general equation for an ellipse is:
Ax2+Bxy+Cy2+Dx+Ey+F＝0，
in the two-dimensional ultraviolet image, setting the edge information point of the ellipse as n, and performing least square processing on the n points to obtain each coefficient in the equation, wherein the central coordinate of the ellipse is as follows:
and substituting the solved coefficient into a formula to obtain the coordinate of the central point of the ellipse, wherein the coordinate of the central point corresponds to one point in the infrared view field. After the coordinates of the central points are obtained, the registration translation amount can be calculated by adopting the method.
Claims (8)
1. A dual-spectrum image registration system is characterized by comprising a dual-waveband image acquisition assembly, a calibration plate, a fluorescent lamp and an upper computer, the dual-waveband image acquisition assembly comprises a first camera and a second camera which are used for acquiring images of different wavebands, the first camera is an infrared camera, the second camera is an ultraviolet camera, optical axes of the first camera and the second camera are parallel to each other, the first camera and the second camera are both connected with an upper computer, the calibration plate is provided with at least 4 positioning holes, and 4 positioning holes are connected to form a rectangular structure, when the alignment is carried out, the fluorescent lamp is arranged behind the positioning holes, the first camera and the second camera respectively collect images of corresponding wave bands and send the images to an upper computer, and the upper computer calculates registration parameters according to the acquired images, wherein the registration parameters comprise registration translation amount and registration scaling ratio.
2. A dual-spectrum image registration system according to claim 1, wherein said calibration plate is a square white calibration plate.
3. A dual-spectrum image registration system as claimed in claim 2, wherein 80 alignment holes are distributed on said alignment holes and wherein 80 alignment holes are arranged as follows: the horizontal central axis, the vertical central axis and the two diagonal lines of the square calibration plate are respectively and uniformly distributed with 20 positioning holes.
4. A dual-spectrum image registration system according to claim 3, wherein said alignment holes are circular holes with a 5mm aperture.
5. A method of image registration using the dual spectral image registration system of claim 4, comprising the steps of:
(1) respectively placing fluorescent lamps behind the 80 positioning holes, and respectively acquiring 80 pairs of positioning registration images through a first camera and a second camera, wherein each pair of positioning registration images comprises a first image and a second image;
(2) respectively solving a pre-registration translation amount according to each pair of positioning registration images;
(3) obtaining the mean value of 80 pre-registration translation quantities to obtain registration translation quantities;
(4) selecting 4 positioning holes from the calibration plate, connecting the 4 positioning holes to form a rectangular structure, respectively obtaining 4 pairs of positioning registration images corresponding to the 4 positioning holes, and processing the 4 pairs of registration images to obtain a registration scaling ratio.
6. The method of image registration according to claim 5, wherein step (2) is specifically: placing a pair of positioning registration images of which the pre-registration translation amount is to be obtained in the same coordinate system, and enabling the edges of the first image and the second image to coincide with each other, obtaining center point coordinates P1(x1, x2) and P2(x2, y2) of imaging light spots in the first image and the second image, wherein (x2-x1) and (y2-y1) of the imaging light spots in the first image and the second image, wherein (x2-x1) is a horizontal pre-registration translation amount, and (y2-y1) is a vertical pre-registration translation amount, and further correspondingly obtaining mean values of the 80 horizontal pre-registration translation amounts and the vertical pre-registration translation amounts in step (3) to obtain the horizontal registration translation amount and the pre-registration translation amount.
7. The method of image registration according to claim 5, wherein step (4) is embodied as: and respectively superposing the first image and the second image in the 4 pairs of positioning registration images to obtain a first scaling registration image and a second scaling registration image containing 4 light spots, respectively connecting the 4 light spots in the first scaling registration image and the second scaling registration image to form a first rectangle and a second rectangle, and solving the first rectangle area as S1 and the second rectangle area as S2, wherein the registration scaling ratio is S1/S2.
8. The method of image registration according to claim 7, wherein step (4) is repeated a plurality of times and the obtained registration scaling ratios are averaged to obtain a final registration scaling ratio.
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| CN107680112B (en) * | 2017-10-16 | 2021-01-26 | 北京邮电大学 | Image registration method |
| CN111311658B (en) * | 2020-04-02 | 2023-11-07 | 烟台艾睿光电科技有限公司 | Image registration method and related device for dual-light imaging system |
| CN113160194B (en) * | 2021-04-28 | 2023-06-16 | 贵州电网有限责任公司 | Distance self-adaptive registration method for ultraviolet and visible light images |
| CN112995528B (en) * | 2021-05-06 | 2021-09-21 | 中国工程物理研究院流体物理研究所 | Method for registering images among channels of photoelectric framing camera |
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