CN107798656A - A kind of oral cavity Panorama Mosaic method based on range sensor and gyroscope - Google Patents
A kind of oral cavity Panorama Mosaic method based on range sensor and gyroscope Download PDFInfo
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- CN107798656A CN107798656A CN201711100060.0A CN201711100060A CN107798656A CN 107798656 A CN107798656 A CN 107798656A CN 201711100060 A CN201711100060 A CN 201711100060A CN 107798656 A CN107798656 A CN 107798656A
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- 230000003287 optical effect Effects 0.000 abstract 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
- G06T3/40—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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/80—Geometric correction
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- 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
- G06T2207/30—Subject of image; Context of image processing
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Abstract
The invention discloses a kind of oral cavity Panorama Mosaic method based on range sensor and gyroscope, and dental imaging distortion is calibrated based on the big view field image of range sensor and gyroscope distortion adaptive calibration algorithm；The greedy filtering algorithm screening image of video streaming image based on gyro data；The Scale invariant features transform characteristic point of each image is extracted, the characteristic point of multiple image is matched, transformation matrix is generated and rotation transformation is carried out to image, finally completes the bonding splicing of multiple image.The beneficial effects of the invention are as follows can effectively solve the problems, such as the aberration problems of oral cavity image and optical sieving, so as to improve the splicing degree of accuracy of oral cavity image, and computational complexity can be reduced.
Description
Technical field
The invention belongs to image procossing and technical field of oral medicine, it is related to a kind of based on range sensor and gyroscope
Oral cavity Panorama Mosaic method.
Background technology
How study hotspot and difficult point that oral cavity panoramic picture be always dentistry and dental imaging field is obtained.It is existing
Oral cavity panoramic imaging techniques be generally based on the principle of scanner, such as the oral cavity laser scanner of 3shape brands, in height
While precision scans, tooth model is reconstructed.Although the imaging precision of this panorama oral cavity imaging technique is higher, complexity
It is all very big with cost and to need special messenger to operate, it is necessary to expensive dedicated scan equipment, it is only applicable to strong dental hospital
And clinic, it can not be used widely.And with the development of optical image technology, now with very low cost, shirtsleeve operation
Topography with regard to oral cavity can be obtained, for example with peeping camera or other similar devices cans one in cheap oral cavity
Secondary imaging obtains the image of a certain facing of one or two tooth.Repeating by continuous several times again, doctor is with regard to that can obtain institute
There is the topography photographed.Due to lacking effective oral cavity Panorama Mosaic method, doctor and patient can only pass through now
Review to understand oral condition, oral cavity panorama sketch can not be generated, it is also just inconvenient intuitively to observe overall oral health situation.And
Oral cavity Panorama Mosaic has larger technical difficulty, because the splicing of this microspur image is spelled different from general distant view image
Connect, it is necessary to effectively solve the problems, such as pattern distortion and optical sieving problem.Although can retrieve has one or two oral cavity panorama sketch in recent years
The patent of picture, but the use of these patents is still traditional image mosaic technology, does not relate to how solve above-mentioned two
The problem of during image mosaic.
The content of the invention
It is an object of the invention to provide a kind of oral cavity Panorama Mosaic method based on range sensor and gyroscope,
Solves the problem of existing oral cavity image joining method efficiency in terms of pattern distortion, optical sieving and splicing is low, and precision is low.
The technical solution adopted in the present invention is to follow the steps below：
Step 1：Adaptive calibration algorithm is distorted to dental imaging based on the big view field image of range sensor and gyroscope
Distortion is calibrated；
Step 2：The greedy filtering algorithm screening image of video streaming image based on gyro data；
Step 3：Extract Scale invariant features transform (the Scale-invariant feature of each image
Transform, SIFT) characteristic point, the characteristic point of multiple image is matched, transformation matrix is generated and image is rotated
Conversion, finally complete the bonding splicing of multiple image.
Further, included based on the big view field image of range sensor and gyroscope distortion adaptive calibration algorithm：
Step 21), target type mould of the structure with tooth solid shape and significant manual features；
Step 22), adjusts the distance sensor and gyroscope is calibrated；
Step 23), (believed under different distance (utilizing range sensor information) and different shooting angles using gyroscope
Breath), based on mold image, lens parameters are demarcated；
Step 24), generate the four-matrix look-up table of distortion parameter under different shooting distances and angle conditions；
Step 25), with reference to range sensor and gyroscope, using four-matrix look-up table, dental imaging is distorted and carried out
Calibration.
Further, the greedy filtering algorithm of the video streaming image based on gyro data includes：
Step 31), it is synchronous to read Video stream information and gyro data, in the hope of obtaining accurate rotation angle information, and
Matched on a timeline with video streaming image；
Step 32), travel through moment t to moment t+ Δ t video flowing (Δ t：User's length of the video time interested), with
Temporal resolution t0Video flowing is sampled, it is { I to obtain picture indiciap}({IpImage collection is represented, subscript p represents figure
As sequence number).To each image IpPolar coordinate transform is carried out, and determines that gyroscope corresponds to numerical value θp；
Step 33), greedy filtering algorithm.Set two parameters：A. maximum matching frame number interval K between image；B. associate
Confidence threshold T.From the first frame (Ip=1) start, calculate it successively with each pictures in θpUnder the conditions of association maximum, directly
It is less than T to this maximum, this frame flag is S frames (S is to associate number of image frames when maximum is less than T).Retain first
And S this two images, and intermediate image, i.e., from second to S-1, figure is all deleted.Next iteration is from S
Open and begin, above step is repeated, until { I all in video flowingpImage is all calculated as stopping.
The beneficial effects of the invention are as follows can effectively solve the problems, such as the aberration problems of oral cavity image and optical sieving, so as to improve
The splicing degree of accuracy of oral cavity image, and computational complexity can be reduced.
Brief description of the drawings
Fig. 1 is the oral cavity Panorama Mosaic method flow schematic diagram of the invention based on range sensor and gyroscope.
Embodiment
With reference to embodiment, the present invention is described in detail.
The present invention as shown in figure 1, use the adaptive calibration algorithm based on range sensor and gyroscope, to regarding greatly first
The distortion of field picture is calibrated, and then video streaming image is sieved using the greedy filtering algorithm based on gyro data
Choosing, then extract Scale invariant features transform (the Scale-invariant feature of each image filtered out
Transform, SIFT) characteristic point, the characteristic point of multiple image is matched, transformation matrix is generated and image is rotated
Conversion, finally complete the bonding splicing of multiple image.Clinical diagnosis of the dental panoramic figure of this method generation for dentist
The prevention and health care for the treatment of and patient have very big benefit.Comprise the following steps that：
The first step：Target type mould of the structure with tooth solid shape and significant manual features.
Second step：Adjust the distance sensor and gyroscope is calibrated.
3rd step：(believed under different distance (utilizing range sensor information) and different shooting angles using gyroscope
Breath), based on mold image, lens parameters are demarcated.
4th step：Generate the four-matrix look-up table of distortion parameter under different shooting distances and angle conditions.
5th step：With reference to range sensor and gyroscope, using four-matrix look-up table, school is carried out to dental imaging distortion
It is accurate.
6th step：It is synchronous to read Video stream information and gyro data, in the hope of the accurate rotation angle information of acquisition, and with
Video streaming image after calibration is matched on a timeline.
7th step：Travel through moment t to moment t+ Δ t video flowing (Δ t：User's length of the video time interested), with
Temporal resolution t0Video flowing is sampled, it is { I to obtain picture indiciap}({IpImage collection is represented, subscript p represents figure
As sequence number).To each image IpPolar coordinate transform is carried out, and determines that gyroscope corresponds to numerical value θp。
8th step：Set two parameters：A. maximum matching frame number interval K between image；B. confidence threshold T is associated.From
One frame (Ip=1) start, calculate it successively with each pictures in θpUnder the conditions of association maximum, until this maximum is small
In T, this frame flag is S frames (S is to associate number of image frames when maximum is less than T).Retain first and S this two
Image, and intermediate image, i.e., from second to S-1, figure is all deleted.Next iteration opens from S to be begun, more than repetition
Step, until { I all in video flowingpImage is all calculated as stopping.
9th step：Extract Scale invariant features transform (the Scale-invariant feature of each image
Transform, SIFT) characteristic point, the characteristic point of multiple image is matched, transformation matrix is generated and image is rotated
Conversion, finally complete the bonding splicing of multiple image.
Oral cavity Panorama Mosaic method proposed by the present invention based on range sensor and gyroscope can effectively solve the problem that
The aberration problems and optical sieving problem of oral cavity image, the degree of accuracy of oral cavity image splicing is improved, reduce computational complexity.Pass through
The present invention carries the dental panoramic figure of joining method generation, and doctor and patient can intuitively and accurately understand oral cavity holistic health shape
Condition, the prevention and health care of clinical conditions and patient for dentist have very big benefit.
It is also an advantage of the present invention that the oral cavity Panorama Mosaic method based on range sensor and gyroscope proposed
Can effectively solve the problems, such as the aberration problems of oral cavity image and optical sieving, so as to improve the splicing degree of accuracy of oral cavity image, and energy
Reduce computational complexity.
Described above is only the better embodiment to the present invention, not makees any formal limit to the present invention
System, any simple modification that every technical spirit according to the present invention is made to embodiment of above, equivalent variations and modification,
Belong in the range of technical solution of the present invention.
Claims (3)
- A kind of 1. oral cavity Panorama Mosaic method based on range sensor and gyroscope, it is characterised in that according to following steps Carry out：Step 1：Adaptive calibration algorithm is distorted to dental imaging distortion based on the big view field image of range sensor and gyroscope Calibrated；Step 2：The greedy filtering algorithm of video streaming image based on gyro data screens to image；Step 3：The Scale invariant features transform characteristic point of each image is extracted, the characteristic point of multiple image is matched, it is raw Rotation transformation is carried out into transformation matrix and to image, finally completes the bonding splicing of multiple image.
- 2. according to a kind of oral cavity Panorama Mosaic method based on range sensor and gyroscope described in claim 1, it is special Sign is：It is described to be included based on the big view field image of range sensor and gyroscope distortion adaptive calibration algorithm：Target type mould of the step 21) structure with tooth solid shape and significant manual features；Step 22) adjusts the distance sensor and gyroscope is calibrated；Step 23), based on mold image, is demarcated under different distance and different shooting angles to lens parameters；Step 24) generates the four-matrix look-up table of distortion parameter under different shooting distances and angle conditions；Step 25) combines range sensor and gyroscope, and using four-matrix look-up table, dental imaging distortion is calibrated.
- 3. according to a kind of oral cavity Panorama Mosaic method based on range sensor and gyroscope described in claim 1, it is special Sign is：The greedy filtering algorithm of the video streaming image based on gyro data includes：Step 31) synchronously reads Video stream information and gyro data, in the hope of obtaining accurate rotation angle information, and and video Stream picture is matched on a timeline；Step 32) travels through moment t to moment t+ Δ t video flowing, and Δ t is user's length of the video time interested, with the time Resolution ratio t0Video flowing is sampled, it is { I to obtain picture indiciap, { IpImage collection is represented, subscript p represents image sequence Number, to each image IpPolar coordinate transform is carried out, and determines that gyroscope corresponds to numerical value θp；The greedy filtering algorithm of step 33), set two parameters：A. maximum matching frame number interval K between image；B. confidence threshold is associated Value T, from the first frame Ip=1 starts, and calculates it successively with each pictures in θpUnder the conditions of association maximum, until this most Big value is less than T, and this frame flag is S frames, and S is to associate number of image frames when maximum is less than T, retains first and S This two images, from second to S-1, figure is all deleted, and next iteration opens from S to be begun, and repeats above step, directly All { I into video flowingpImage is all calculated as stopping.
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Cited By (4)
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| CN108597004A (en) * | 2018-05-08 | 2018-09-28 | 南京齿贝犀科技有限公司 | Occlusal surfaces of teeth Panorama Mosaic method based on Local Optimization Algorithm |
| CN108615223A (en) * | 2018-05-08 | 2018-10-02 | 南京齿贝犀科技有限公司 | Tooth lip buccal side Panorama Mosaic method based on Local Optimization Algorithm |
| CN108648146A (en) * | 2018-05-08 | 2018-10-12 | 南京齿贝犀科技有限公司 | Tooth tongue palate side Panorama Mosaic method based on Local Optimization Algorithm |
| WO2021083049A1 (en) * | 2019-11-01 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Image processsing device, image processing method and program |
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| EP4202823A1 (en) * | 2021-12-21 | 2023-06-28 | Koninklijke Philips N.V. | System and method for digital reconstruction structures of an object |
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