CN108122200A - Image split-joint method and device - Google Patents
Image split-joint method and device Download PDFInfo
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- CN108122200A CN108122200A CN201711388673.9A CN201711388673A CN108122200A CN 108122200 A CN108122200 A CN 108122200A CN 201711388673 A CN201711388673 A CN 201711388673A CN 108122200 A CN108122200 A CN 108122200A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
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- G—PHYSICS
- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/32—Indexing scheme for image data processing or generation, in general involving image mosaicing
Abstract
The present invention provides a kind of image split-joint method and device, this method includes obtaining the characteristics of image in multiple pictures to be spliced respectively；Based on the Feature Correspondence Algorithm pre-saved, the characteristics of image got is matched, obtains the multigroup matching double points for meeting condition between multiple described pictures to be spliced；Based on multigroup matching double points, multiple described pictures to be spliced are spliced, obtain overlapping region；Coordinate system is established in the overlapping region, obtains the coordinate information of overlapping region；Based on the gray value per pictures in the coordinate information, multiple pictures to be spliced pre-saved, the brightness each put in the overlapping region is changed.In this way, the problem of image mosaic caused by can eliminating the mismatch of image mosaic position and the mutation of brightness is ineffective, so as to obtain the splicing picture of high quality.
Description
Technical field
The present invention relates to image processing field, in particular to a kind of image split-joint method and device.
Background technology
When needing to splice multiple images, if splicing the position inaccurate at position or not being at splicing position
Head to head, in the case that tail is to tail, image mosaic has certain difficulty.Simultaneously as same camera shoots different scenery not
Same time brightness has certain deviation, that is to say, that the mutation of certain brightness is had when image mosaic.If it spells
The brightness of socket part position mismatches, and splicing position is present with a black line, influences splicing effect.
The content of the invention
In view of this, the embodiment of the present invention is designed to provide a kind of image split-joint method and device, this method energy
The problem of image mosaic caused by eliminating the mismatch of image mosaic position and the mutation of brightness is ineffective.
In a first aspect, an embodiment of the present invention provides a kind of image split-joint method, the described method includes：Obtain multiple respectively
Characteristics of image in picture to be spliced；Based on the Feature Correspondence Algorithm pre-saved, the characteristics of image got is matched,
Meet multigroup matching double points of condition between multiple pictures to be spliced described in obtaining；Based on multigroup matching double points, by described in
Multiple pictures to be spliced are spliced, and obtain overlapping region；Coordinate system is established in the overlapping region, obtains the seat of overlapping region
Mark information；Based on the gray value per pictures in the coordinate information, multiple pictures to be spliced pre-saved, change is described heavy
The brightness each put in folded region.
Second aspect, an embodiment of the present invention provides a kind of image splicing device, described device includes：Acquisition module is used
In obtaining the characteristics of image in multiple pictures to be spliced respectively；Matching module, for based on the Feature Correspondence Algorithm pre-saved,
The characteristics of image got is matched, obtains the multigroup matching double points for meeting condition between multiple described pictures to be spliced；
Concatenation module for being based on multigroup matching double points, multiple described pictures to be spliced is spliced, obtain overlapping region；
Module is established, for establishing coordinate system in the overlapping region, obtains the coordinate information of overlapping region；Module is changed, for base
Gray value in the coordinate information, multiple pictures to be spliced pre-saved per pictures, is changed in the overlapping region
The brightness each put.
Compared with prior art, the image split-joint method of various embodiments of the present invention proposition and the advantageous effect of device are：
By obtaining the characteristics of image in multiple pictures to be spliced respectively；Based on the Feature Correspondence Algorithm pre-saved, by what is got
Characteristics of image is matched, and obtains the multigroup matching double points for meeting condition between multiple described pictures to be spliced；Based on described more
Group matching double points, will splice between multiple described pictures to be spliced, obtain overlapping region；It establishes and sits in the overlapping region
Mark system, obtains the coordinate information of overlapping region；Based on every figure in the coordinate information, multiple pictures to be spliced pre-saved
The gray value of piece changes the brightness each put in the overlapping region.In this way, image mosaic position can be eliminated not
The problem of image mosaic caused by the mutation of matching and brightness is ineffective, so as to obtain the splicing picture of high quality.
For the above objects, features and advantages of the present invention is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It in order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of scope, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structure diagram of electronic equipment provided in an embodiment of the present invention；
Fig. 2 is a kind of flow chart for image split-joint method that first embodiment of the invention provides；
Fig. 3 is a kind of a kind of splicing schematic diagram for image split-joint method that first embodiment of the invention provides；
Fig. 4 is a kind of another splicing schematic diagram for image split-joint method that first embodiment of the invention provides；
Fig. 5 is a kind of another splicing schematic diagram for image split-joint method that first embodiment of the invention provides；
Fig. 6 is a kind of another splicing schematic diagram for image split-joint method that first embodiment of the invention provides；
Fig. 7 is the flow chart for another image split-joint method that first embodiment of the invention provides；
Fig. 8 is a kind of structure diagram for image splicing device that second embodiment of the invention provides；
Fig. 9 is the structure diagram for another image splicing device that second embodiment of the invention provides.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can configure to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Go out all other embodiments obtained on the premise of creative work, belong to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
As shown in Figure 1, it is the block diagram of electronic equipment 100.The electronic equipment 100 can be PC
(personal computer, PC), tablet computer, personal digital assistant (personal digital assistant, PDA)
Deng.The electronic equipment 100 includes：Image splicing device, memory 110, storage control 120, processor 130, peripheral hardware connect
Mouth 140, input-output unit 150, audio unit 160, display unit 170.
The memory 110, storage control 120, processor 130, Peripheral Interface 140, input-output unit 150, sound
Frequency unit 160 and 170 each element of display unit are directly or indirectly electrically connected between each other, with realize the transmission of data or
Interaction.It is electrically connected for example, these elements can be realized between each other by one or more communication bus or signal wire.The figure
As splicing apparatus includes at least one can be stored in the form of software or firmware (firmware) in the memory 110 or solid
Change the software function module in the operating system (operating system, OS) of client device.The processor 130 is used
In performing the executable module that is stored in memory 110, such as the software function module or electricity that described image splicing apparatus includes
Sub- device program.
Wherein, memory 110 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Wherein, memory 110 is for storing program, and the processor 130 performs described program after receiving and executing instruction, foregoing
Method performed by the electronic equipment 100 for the flow definition that any embodiment of the embodiment of the present invention discloses can be applied to processor
It is realized in 130 or by processor 130.
Processor 130 may be a kind of IC chip, have the processing capacity of signal.Above-mentioned processor 130 can
To be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit
(Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP), application-specific integrated circuit (ASIC),
Ready-made programmable gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hard
Part component.It can realize or perform disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor
Can be microprocessor or the processor can also be any conventional processor etc..
Various input/output devices are coupled to processor 130 and memory 110 by the Peripheral Interface 140.At some
In embodiment, Peripheral Interface 140, processor 130 and storage control 120 can be realized in one single chip.Other one
In a little examples, they can be realized by independent chip respectively.
Input-output unit 150 is used to that user input data to be supplied to realize user and the interaction of electronic equipment 100.It is described
Input-output unit 150 may be, but not limited to, mouse and keyboard etc..
Audio unit 160 provides a user audio interface, may include one or more microphones, one or more raises
Sound device and voicefrequency circuit.
Display unit 170 provides an interactive interface (such as user interface) between electronic equipment 100 and user
Or it is referred to for display image data to user.In the present embodiment, the display unit 170 can be liquid crystal display or touch
Control display.Can be that the capacitance type touch control screen or resistance-type of single-point and multi-point touch operation is supported to touch if touch control display
Control screen etc..Single-point and multi-point touch operation is supported to refer to that touch control display can sense on the touch control display one or more
The touch control operation generated simultaneously at a position, and the touch control operation that this is sensed transfers to processor 130 to be calculated and handled.
It is appreciated that structure shown in FIG. 1 is only to illustrate, electronic equipment 100 may also include it is more more than shown in Fig. 1 or
Less component or with the configuration different from shown in Fig. 1.Each component shown in Fig. 1 may be employed hardware, software or its
Combination is realized.
First embodiment
It refer to Fig. 2, Fig. 2 is a kind of flow chart for image split-joint method that first embodiment of the invention provides, the side
Method is applied to electronic equipment.Flow shown in Fig. 2 will be described in detail below, the described method includes：
Step S110：The characteristics of image in multiple pictures to be spliced is obtained respectively.
As a kind of embodiment, Fig. 3 is refer to, multiple described pictures to be spliced can be two pictures, then, two
A wherein pictures in picture to be spliced are the first picture P1, and another pictures are second picture P2.
As another embodiment, multiple described pictures to be spliced can be more than two, such as three in Fig. 4, example
Three in such as Fig. 5.
Wherein, Fig. 4 is refer to, three pictures are arranged in order respectively A1, A2, A3, for the first pictures A1 and second
For pictures A2, the first pictures A1 is the first picture P1, and the second pictures A2 is second picture P2, for the second pictures
For A2 and the 3rd pictures A3, the second pictures A2 is the first picture P1, and the 3rd pictures are second picture P2.
Refer to Fig. 5, the first pictures A1 sizes in three pictures are maximum, are arranged in one side, the second pictures A2 with
3rd pictures A3 is contacted respectively with the first pictures A1.So, for the first pictures A1 and the second pictures A2, the
One pictures A1 is the first picture P1, and the second pictures A2 is second picture P2, for the first pictures A1 and the 3rd pictures
For A3, the first pictures A1 is the first picture P1, and the 3rd pictures are second picture P2.
It is worth noting that the description that the above-mentioned quantity for multiple pictures to be spliced forms is only some examples, and
The quantity of multiple pictures to be spliced is not caused to limit to, it will be understood that the quantity of multiple pictures to be spliced except can be two,
Three are outer, can also be four, five, six it is even more, multiple pictures to be spliced that the picture of different number is formed
Arrangement can also include multiple combinations, not merely be confined to the arrangement mode of the example above.
It is also worth noting that each of multiple pictures to be spliced is combined between included the first picture and second picture
All include overlapping region.
It is respectively the first figure below using picture to be spliced as two in order to clearly to understanding the embodiment of the present invention
It is introduced exemplified by piece and second picture.
The extraction of characteristics of image can be extracted by the feature extractor carried in Opencv.Opencv is a base
In the cross-platform computer vision library of BSD licenses (increasing income) distribution, Linux, Windows, Android and Mac may operate in
In OS operating systems.Its lightweight and efficiently, be made of a series of C functions and a small amount of C++ class, at the same provide Python,
The interface of the language such as Ruby, MATLAB realizes many general-purpose algorithms in terms of image procossing and computer vision.
The extraction of characteristics of image can select the features such as sift, surf, fast.Different features has different extraction speed
Degree, the extraction rate of wherein fast features are most fast.As a kind of embodiment, this programme can extract fast features.Certainly,
At this moment, electronic equipment can also get each in the gray value and second picture of each pixel in the first picture
The gray value of pixel.
Step S120：Based on the Feature Correspondence Algorithm pre-saved, the characteristics of image got is matched, obtains institute
State the multigroup matching double points for meeting condition between multiple pictures to be spliced.
Further, the multigroup match point for meeting condition between first picture and the second picture is as obtained
It is right.
Wherein, the condition can be that the gray value of two pixels is identical.
It further, can be by the image of the first picture since the first picture and second picture are there are repeat region
Feature is compared with the characteristics of image of second picture by Ransac algorithms, so as to find the first picture and phase in second picture
Mutual matched pixel pair.One pixel of the pixel centering characterizes the pixel in the first picture, another point characterization
With being present in second picture, the pixel with the pixel repetition in the first picture.
Step S130：Based on multigroup matching double points, multiple described pictures to be spliced are spliced, obtain overlay region
Domain.
Further, as first picture with the second picture is spliced, obtains overlapping region.
, it is necessary to which excluding position between matching double points mismatches the influence caused by splicing before splicing, it is therefore desirable to from
Optimal matching points are found in multigroup matching double points, and image mosaic is carried out according to optimal matching points.Further, it is more
Group matching double points can form a Ransac sample set.The basic thought of optimal matching points is found from Ransac sample sets
For：
(1) electronic equipment can randomly select a Ransac sample for including 4 groups of matching double points in Ransac sample sets
This.(2) according to this 4 groups of matching double points, the transformation matrix M of the first picture and second picture can be calculated.Wherein, square is converted
The calculating of battle array M can call library function findHomography that (3) are calculated according to Ransac samples by Opencv
This collection, transformation matrix M and the error metrics function pre-saved calculate the consistent collection for meeting current transform matrix, and return to one
It causes to concentrate element number.(4) judge whether it is that optimal (maximum) unanimously collects according to current consistent concentration element number, if so,
It is updated to current optimal consistent collection.(5) current erroneous Probability p is updated, if p is more than the minimum error probability allowed, is repeated (1)
Continue iteration to (4), until current erroneous Probability p is less than minimum error probability.
Wherein, minimum error probability can be determined according to the matching double points number that Ransac samples are included, such as n groups
With point pair, then, minimum error probability 1/n2, 4 groups of matching double points selecting in this programme, so minimum error probability is 1/
16。
4 groups of matching double points in Ransac sample sets corresponding to current erroneous Probability p are optimal matching points.It is based on
Optimal matching points overlap the first picture with the point being mutually matched in second picture, the weight formed after being spliced
Folded region.
Step S140：Coordinate system is established in the overlapping region, obtains the coordinate information of overlapping region.
Fig. 6 is refer to, the overlapping region is included close to the first sideline L1 of the first picture P1 and close to described
The second sideline L2 of second picture P2.
Coordinate system is established in the overlapping region, wherein, a kind of feasible embodiment is, using the first sideline L1 as Y
Axis establishes rectangular coordinate system using the line L3 perpendicular to L1 and positioned at the overlapping region as X-axis.It is, of course, also possible to using L2 as Y
Axis, can also be using the straight line parallel to L1 as Y-axis.After rectangular coordinate system is established, it can obtain positioned at the every of overlapping region
The coordinate information of one pixel.
Step S150：Based in the coordinate information, multiple pictures to be spliced pre-saved per pictures gray value,
Change the brightness each put in the overlapping region.
In this present embodiment, in multiple pictures to be spliced per pictures gray value be the first picture gray value and
The gray value of second picture.
If the brightness of two pictures is misfitted, it may appear that an excessive black line, it is contemplated that above-mentioned situation will consider
To the excessive of brightness.Therefore, it is necessary to change the brightness each put in overlapping region.
Continuing with reference to Fig. 6, as a kind of embodiment, the electronic equipment can be based on formula：
M (i, j)=a × f (i, j)+(1-a) × g (i, j),
Change the brightness of the overlapping region.
Wherein, M (i, j) is the brightness of certain point in the overlapping region, and (i, j) is the coordinate of the point, and f (i, j) is this
Gray value o'clock in the first picture, g (i, j) are gray value of this in second picture, and a is weights, and dis is this o'clock to
The distance of one sideline L1, distance are distance of first sideline to the second sideline L2.
As another embodiment, the electronic equipment is also based on formula
M (i, j)=(1-b) × f (i, j)+b × g (i, j),
Change the brightness of the overlapping region.
Wherein, M (i, j) is the brightness of any in the overlapping region, and (i, j) is the coordinate of the point, and f (i, j) is the point
Gray value in the first picture, g (i, j) are gray value of this in second picture, and b is weights, and dis is this o'clock to second
The distance in sideline, distance are distance of first sideline to the second sideline.
In addition, when step S110 extracts the characteristics of image of the first picture and second picture, due to camera itself because
Element is likely to result in the first picture or second picture and generates distortion in itself so that and the characteristics of image extracted generates distortion,
So as to reduce the accuracy of subsequent step.In order to solve the problems, such as this, as a kind of embodiment, Fig. 7, the side refer to
Method can also include：
Step S111：Based on image calibration method, the image that distortion is generated in described image feature is adjusted into line distortion.
Wherein, described image standardization can be Zhang Zhengyou image calibration methods.
Further, in order to exclude the interference of the factors such as illumination and picture direction, continuing with reference to Fig. 7, the method
It can also include：
Step S112：For each characteristics of image, Feature Descriptor is calculated, and this feature is described into son and is saved in accordingly
In characteristics of image.
A kind of advantageous effect for image split-joint method that first embodiment of the invention is provided is：By obtaining first respectively
The characteristics of image of picture and second picture；Based on the Feature Correspondence Algorithm pre-saved, the characteristics of image got is carried out
Matching, obtains the multigroup matching double points for meeting condition between first picture and the second picture；Based on described multigroup
With point pair, first picture with the second picture is spliced, obtains overlapping region；It establishes and sits in the overlapping region
Mark system, obtains the coordinate information of overlapping region；Based on the coordinate information, the gray value of the first picture pre-saved and
The gray value of two pictures changes the brightness each put in the overlapping region.In this way, image mosaic position can be eliminated
Mismatch and brightness mutation caused by image mosaic it is ineffective the problem of, so as to obtain the splicing picture of high quality.
Second embodiment
Fig. 8 is refer to, Fig. 8 is a kind of structure diagram for image splicing device 400 that second embodiment of the invention provides.Under
Face will be illustrated structure diagram shown in Fig. 8, and shown device includes：
Acquisition module 410, for obtaining the characteristics of image in multiple pictures to be spliced respectively；
For based on the Feature Correspondence Algorithm pre-saved, the characteristics of image got is carried out for matching module 420
Match somebody with somebody, obtain the multigroup matching double points for meeting condition between in multiple described pictures to be spliced；
Concatenation module 430 for being based on multigroup matching double points, multiple described pictures to be spliced is spliced, are obtained
To overlapping region；
Module 440 is established, for establishing coordinate system in the overlapping region, obtains the coordinate information of overlapping region；
Module 450 is changed, for based on every pictures in the coordinate information, multiple pictures to be spliced pre-saved
Gray value changes the brightness each put in the overlapping region.
Due to the factor of camera itself, acquisition module 410 is likely to result in the image got when obtaining characteristics of image
Feature generates distortion, so as to reduce the accuracy of subsequent step.It, please as a kind of embodiment in order to solve the problems, such as this
Referring to Fig. 9, described device can also include：
Module 460 is adjusted, for being based on image calibration method, the image of distortion will be generated in described image feature into line distortion
Adjustment.
Further, in order to exclude the interference of the factors such as illumination and picture direction, continuing with reference to Fig. 9, described device
It can also include：
Computing module 470 for being directed to each characteristics of image, calculates Feature Descriptor, and this feature is described son and is preserved
Into corresponding characteristics of image.
The present embodiment refers to above-mentioned the process of the respective function of each Implement of Function Module of the device 400 of image mosaic
Fig. 1 is to the content described in embodiment illustrated in fig. 7, and details are not described herein again.
In conclusion a kind of image split-joint method and device that the embodiment of the present invention proposes, by obtaining first respectively
The characteristics of image of picture and second picture；Based on the Feature Correspondence Algorithm pre-saved, the characteristics of image got is carried out
Matching, obtains the multigroup matching double points for meeting condition between first picture and the second picture；Based on described multigroup
With point pair, first picture with the second picture is spliced, obtains overlapping region；It establishes and sits in the overlapping region
Mark system, obtains the coordinate information of overlapping region；Based on the coordinate information, the gray value of the first picture pre-saved and
The gray value of two pictures changes the brightness each put in the overlapping region.In this way, image mosaic position can be eliminated
Mismatch and brightness mutation caused by image mosaic it is ineffective the problem of, so as to obtain the splicing picture of high quality.
In several embodiments provided herein, it should be understood that disclosed apparatus and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the system frame in the cards of the devices of multiple embodiments according to the present invention, method and electronic equipment program product
Structure, function and operation.In this regard, each box in flow chart or block diagram can represent a module, program segment or code
A part, the part of the module, program segment or code include one or more be used to implement as defined in logic function
Executable instruction.It should also be noted that at some as in the realization method replaced, the function of being marked in box can also be with not
It is same as the order marked in attached drawing generation.For example, two continuous boxes can essentially perform substantially in parallel, they have
When can also perform in the opposite order, this is depending on involved function.It is also noted that in block diagram and/or flow chart
Each box and the box in block diagram and/or flow chart combination, the special of function or action as defined in performing can be used
Hardware based system realize or can be realized with the combination of specialized hardware and electronic device instructions.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point or modules individualism, can also two or more modules be integrated to form an independent part.
If the function is realized in the form of software function module and is independent production marketing or in use, can be with
An electronic device-readable is stored in take in storage medium.Based on such understanding, technical scheme substantially or
Say that the part of the part contribute to the prior art or the technical solution can be embodied in the form of software product, it should
Electronic appliance software product is stored in a storage medium, is used including some instructions so that an electronic equipment equipment (can
To be personal electronic equipments, server or the network equipment etc.) perform the whole or portion of each embodiment the method for the present invention
Step by step.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), with
Various Jie that can store program code such as machine access memory (RAM, Random Access Memory), magnetic disc or CD
Matter.It should be noted that herein, relational terms such as first and second and the like be used merely to an entity or
Operation is distinguished with another entity or operation, and without necessarily requiring or implying between these entities or operation, there are any
This actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant be intended to it is non-exclusive
Property include so that process, method, article or equipment including a series of elements not only include those elements, but also
Further include other elements that are not explicitly listed or further include for this process, method, article or equipment it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described
Also there are other identical elements in the process of element, method, article or equipment.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.It should be noted that：Similar label and letter exists
Similar terms is represented in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, is then not required in subsequent attached drawing
It is further defined and is explained.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in change or replacement, should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention described should be subject to the protection scope in claims.
Claims (10)
1. a kind of image split-joint method, which is characterized in that the described method includes：
The characteristics of image in multiple pictures to be spliced is obtained respectively；
Based on the Feature Correspondence Algorithm pre-saved, the characteristics of image got is matched, obtains that described multiple are to be spliced
Meet multigroup matching double points of condition between picture；
Based on multigroup matching double points, multiple described pictures to be spliced are spliced, obtain overlapping region；
Coordinate system is established in the overlapping region, obtains the coordinate information of overlapping region；
Based on the gray value per pictures in the coordinate information, multiple pictures to be spliced pre-saved, the overlapping is changed
The brightness each put in region.
2. according to the method described in claim 1, it is characterized in that, the picture to be spliced includes the first picture and the second figure
Piece, the described method includes：
The characteristics of image of first picture and the second picture is obtained respectively；
Based on the Feature Correspondence Algorithm pre-saved, the characteristics of image got is matched, obtain first picture with
Meet multigroup matching double points of condition between the second picture；
Based on multigroup matching double points, first picture with the second picture is spliced, obtains overlapping region；
Coordinate system is established in the overlapping region, obtains the coordinate information of overlapping region；
Based on the coordinate information, the gray value of the first picture pre-saved and the gray value of second picture, described in change
The brightness each put in overlapping region.
3. according to the method described in claim 2, it is characterized in that, the overlapping region includes the close to first picture
One sideline and the second sideline of the close second picture, it is described based on the coordinate information, the first picture pre-saved
Gray value, the gray value of second picture, change the brightness of the overlapping region, including：Based on formula
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<mi>i</mi>
<mi>s</mi>
<mi> </mi>
<mi>tan</mi>
<mi> </mi>
<mi>c</mi>
<mi>e</mi>
</mrow>
</mfrac>
</mrow>
The brightness of the overlapping region is changed, wherein, M (i, j) is the brightness of any in the overlapping region, and (i, j) is the point
Coordinate, f (i, j) is gray value of this o'clock in the first picture, and g (i, j) is gray value of this in second picture, and a is
Weights, dis are distance of this o'clock to the first sideline, and distance is distance of first sideline to the second sideline.
4. according to the method described in claim 2, it is characterized in that, the overlapping region includes the close to first picture
One sideline and the second sideline of the close second picture, it is described based on the coordinate information, the first picture pre-saved
Gray value, the gray value of second picture, change the brightness of the overlapping region, including：Based on formula
<mrow>
<mi>M</mi>
<mrow>
<mo>(</mo>
<mi>i</mi>
<mo>,</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>-</mo>
<mi>b</mi>
<mo>)</mo>
</mrow>
<mo>&times;</mo>
<mi>f</mi>
<mrow>
<mo>(</mo>
<mi>i</mi>
<mo>,</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mi>b</mi>
<mo>&times;</mo>
<mi>g</mi>
<mrow>
<mo>(</mo>
<mi>i</mi>
<mo>,</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
<mo>,</mo>
<mi>b</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>d</mi>
<mi>i</mi>
<mi>s</mi>
</mrow>
<mrow>
<mi>d</mi>
<mi>i</mi>
<mi>s</mi>
<mi> </mi>
<mi>tan</mi>
<mi> </mi>
<mi>c</mi>
<mi>e</mi>
</mrow>
</mfrac>
</mrow>
The brightness of the overlapping region is changed, wherein, M (i, j) is the brightness of any in the overlapping region, and (i, j) is the point
Coordinate, f (i, j) is gray value of this o'clock in the first picture, and g (i, j) is gray value of this in second picture, and b is
Weights, dis are distance of this o'clock to the second sideline, and distance is distance of first sideline to the second sideline.
5. according to any methods of claim 1-4, which is characterized in that obtain multiple pictures to be spliced respectively described
Characteristics of image after and described based on the Feature Correspondence Algorithm pre-saved, the characteristics of image got is matched
Before, the method further includes：
Based on image calibration method, the image that distortion is generated in described image feature is adjusted into line distortion.
6. according to the method described in claim 5, it is characterized in that, described based on image calibration method, by described image feature
The middle image for generating distortion is adjusted into line distortion and described based on the Feature Correspondence Algorithm pre-saved, the image that will be got
Before feature is matched, the method further includes：
For each characteristics of image, Feature Descriptor is calculated, and this feature is described into son and is saved in corresponding characteristics of image.
7. a kind of image splicing device, which is characterized in that described device includes：
Acquisition module, for obtaining the characteristics of image in multiple pictures to be spliced respectively；
Matching module, for based on the Feature Correspondence Algorithm pre-saved, the characteristics of image got being matched, obtains institute
State the multigroup matching double points for meeting condition between multiple pictures to be spliced；
Concatenation module for being based on multigroup matching double points, multiple described pictures to be spliced is spliced, obtain overlay region
Domain；
Module is established, for establishing coordinate system in the overlapping region, obtains the coordinate information of overlapping region；
Change module, for based in the coordinate information, multiple pictures to be spliced pre-saved per pictures gray value,
Change the brightness each put in the overlapping region.
8. device according to claim 6, which is characterized in that the picture to be spliced includes the first picture and the second figure
Piece,
The acquisition module, for obtaining the characteristics of image of first picture and the second picture respectively；
Matching module, for based on the Feature Correspondence Algorithm pre-saved, the characteristics of image got being matched, obtains institute
State the multigroup matching double points for meeting condition between the first picture and the second picture；
Concatenation module for being based on multigroup matching double points, first picture with the second picture is spliced, is obtained
To overlapping region；
Module is established, for establishing coordinate system in the overlapping region, obtains the coordinate information of overlapping region；
Module is changed, for based on the coordinate information, the gray value of the first picture pre-saved and the ash of second picture
Angle value changes the brightness each put in the overlapping region.
9. device according to claim 8, which is characterized in that the change module, for being based on formula
<mrow>
<mi>M</mi>
<mrow>
<mo>(</mo>
<mi>i</mi>
<mo>,</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mi>a</mi>
<mo>&times;</mo>
<mi>f</mi>
<mrow>
<mo>(</mo>
<mi>i</mi>
<mo>,</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>-</mo>
<mi>a</mi>
<mo>)</mo>
</mrow>
<mo>&times;</mo>
<mi>g</mi>
<mrow>
<mo>(</mo>
<mi>i</mi>
<mo>,</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
<mo>,</mo>
<mi>a</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>d</mi>
<mi>i</mi>
<mi>s</mi>
</mrow>
<mrow>
<mi>d</mi>
<mi>i</mi>
<mi>s</mi>
<mi> </mi>
<mi>tan</mi>
<mi> </mi>
<mi>c</mi>
<mi>e</mi>
</mrow>
</mfrac>
</mrow>
The brightness of the overlapping region is changed, wherein, M (i, j) is the brightness of any in the overlapping region, and (i, j) is the point
Coordinate, f (i, j) is gray value of this o'clock in the first picture, and g (i, j) is gray value of this in second picture, and a is
Weights, dis are distance of this o'clock to the first sideline, and distance is distance of first sideline to the second sideline.
10. device according to claim 8, which is characterized in that the change module, for being based on formula
The brightness of the overlapping region is changed, wherein, M (i, j) is the brightness of any in the overlapping region, and (i, j) is the point
Coordinate, f (i, j) is gray value of this o'clock in the first picture, and g (i, j) is gray value of this in second picture, and b is
Weights, dis are distance of this o'clock to the second sideline, and distance is distance of first sideline to the second sideline.
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| CN110286091A (en) * | 2019-06-11 | 2019-09-27 | 华南农业大学 | A kind of near-earth remote sensing images acquisition method based on unmanned plane |
| CN112258561A (en) * | 2019-07-22 | 2021-01-22 | 复旦大学 | Matching point acquisition method for image stitching |
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| CN106683045A (en) * | 2016-09-28 | 2017-05-17 | 深圳市优象计算技术有限公司 | Binocular camera-based panoramic image splicing method |
| CN107424118A (en) * | 2017-03-28 | 2017-12-01 | 天津大学 | Based on the spherical panorama mosaic method for improving Lens Distortion Correction |
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| US20040119716A1 (en) * | 2002-12-20 | 2004-06-24 | Chang Joon Park | Apparatus and method for high-speed marker-free motion capture |
| CN106683045A (en) * | 2016-09-28 | 2017-05-17 | 深圳市优象计算技术有限公司 | Binocular camera-based panoramic image splicing method |
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| CN110286091A (en) * | 2019-06-11 | 2019-09-27 | 华南农业大学 | A kind of near-earth remote sensing images acquisition method based on unmanned plane |
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