CN108470351A - It is a kind of to track the method, apparatus and storage medium for measuring offset using image patch - Google Patents
It is a kind of to track the method, apparatus and storage medium for measuring offset using image patch Download PDFInfo
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- CN108470351A CN108470351A CN201810101601.XA CN201810101601A CN108470351A CN 108470351 A CN108470351 A CN 108470351A CN 201810101601 A CN201810101601 A CN 201810101601A CN 108470351 A CN108470351 A CN 108470351A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/215—Motion-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/12—Edge-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
- G06T7/248—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving reference images or patches
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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
- G06T2207/10—Image acquisition modality
- G06T2207/10024—Color image
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Abstract
The embodiment of the invention discloses a kind of methods tracked using image patch and measure offset, include the following steps：Gray processing processing is carried out to image；Gained image is subjected to binary conversion treatment；Setting window size simultaneously carries out raster scanning to set step-length, and traversal entire image searches for patch quantity, if the qualified patch number obtained is less than setting value, expands window size and re-searches for；Using obtaining the entire image of the window size of qualified patch quantity again after traversal search movement；Class's block that the extraction degree of correlation is greater than the set value；The mobile preceding patch center-of-mass coordinate position with after movement is calculated, the displacement deviation of each patch is calculated；Global displacement and deflection angle are calculated according to the displacement deviation of each patch.Using the present invention, it low resolution can be used to carry out the new method that image patch method for tracing realizes the measurement of offset, have algorithm complexity low, realize simple feature, can be widely applied in the positioning measurement of industrial machine, unmanned plane, industrial mechanism.
Description
Technical field
The present invention relates to object running fix fields of measurement more particularly to a kind of tracked using image patch to measure offset
Method, apparatus and storage medium.
Background technology
Carry out relevant position offset measurement to moving movement object has extensively in industrial mechanism, unmanned plane positioning etc.
Application, traditional locating measurement method generally uses the localization methods such as machinery, optics, sound, radio, with computer skill
The rapid development of art, it is more and more common using framing based on image processing techniques, such as light stream positioning, image registration,
Wherein light stream positioning is well used in rotor wing unmanned aerial vehicle, however its algorithm is complicated, and equipment cost is high, is unfavorable for carrying
Its high application range.
Invention content
Technical problem to be solved of the embodiment of the present invention is, provides a kind of tracked using image patch and measures offset
Method, apparatus and storage medium.Simple algorithm Observed Drift and positioning can be used.
In order to solve the above-mentioned technical problem, an embodiment of the present invention provides a kind of tracked using image patch to measure offset
Method includes the following steps：
S1：Gray processing processing is carried out to image；
S2：Gained image is subjected to binary conversion treatment；
S3：Setting window size simultaneously carries out raster scanning to set step-length, and traversal entire image searches for patch quantity, if obtaining
When the qualified patch number obtained is less than setting value, expands window size and re-search for；
S4：Using obtaining the entire image of the window size of qualified patch quantity again after traversal search movement；
S5：Class's block that the extraction degree of correlation is greater than the set value；
S6：The mobile preceding patch center-of-mass coordinate position with after movement is calculated, the displacement deviation of each patch is calculated；
S7：Global displacement and deflection angle are calculated according to the displacement deviation of each patch.
Further, the step S1 further includes the steps that carrying out enhancing processing to the image that gray processing is handled.
Further, in the step S3 qualified patch for patch and window periphery between at least in the presence of between a pixel
Every.
Further, the qualified patch number purpose setting value of the acquisition is 2~3.
Further, the preceding patch center-of-mass coordinate position with after movement of movement that calculates is calculated by the following formula：
Wherein fn(i, j) and fn+1(i, j) is illustrated respectively in image f at point (i, j)n(x, y) and fn+1The pixel value of (x, y).
N indicates that the image has N number of pixel.
Further, the calculating global displacement and deflection angle are carried out by following formula：
Calculate the displacement deviation of single patch：
Wherein Δ xk, Δ ykThe yaw displacement of respectively k-th patch；
Calculate global displacement：
Calculate deflection angle：
Correspondingly, the embodiment of the present invention additionally provides a kind of device tracked using image patch and measure offset, including deposits
Reservoir, processor and it is stored in the computer program that can be run in the memory and on the processor, the processing
The step of device realizes the above method when executing the computer program.
Correspondingly, the embodiment of the present invention additionally provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, is realized such as the step of the above method when computer program is executed by processor.
Implement the embodiment of the present invention, has the advantages that：The present invention low resolution can be used to carry out image patch and chase after
Track method realizes the new method of the measurement of offset, has algorithm complexity low, realizes simple feature, can be widely applied to
Industrial machine, unmanned plane, industrial mechanism positioning measurement in.
Description of the drawings
Fig. 1 is the structural schematic diagram that the present invention applies；
Fig. 2 is the schematic diagram of satisfactory patch in the method for the present invention.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with attached drawing
Step ground detailed description.
Structural schematic diagram shown in referring to Fig.1.
The a kind of of the present invention tracks the method for measuring offset using image patch, is that camera is installed on body, leads to
The image that camera obtains lower section or ground is crossed, when body shifts, the image that camera obtains can shift, and pass through
The drift rate for calculating feature patch in image, to obtain the movement deviation of body.
It is as follows：
1. gray processing：The purpose is to which coloured image (RGB image) is become gray level image, main purpose is to reduce operand
While keep distribution and the feature of the entirety of image and the coloration and brightness degree of part, while the image of acquisition can be made to go out
Existing initial characteristics patch provides basis for subsequent processing.For a width RGB image, R, G, B respectively represent red, indigo plant, green
Three Color Channels, each color are respectively divided into 256 rank brightness.Conversion formula between RGB image and gray level image is as follows：
Gray=R0.229+G0.587+B0.114
2. image enhancement：The purpose of the step is pre-processed to the image after image gray processing, will by transformation of variables
The low gray scale value part of image extends, its high gray value is partially compressed, to achieve the purpose that emphasize the low gray portion of image.Become
The method of changing is given by.
S=clogv+1(1+vr) r ∈ [0,1], c are constant, 0<c≤10.
Above-mentioned logarithmic transformation, the truth of a matter v+1 when calculating, use the formula that refoots.The truth of a matter is bigger, to low gray scale portion
Emphasizing for dividing is stronger, also stronger to the compression of high gray portion.Opposite, and high gray scale is emphasized by anti-log function
Part.Anti-log function is as follows
The enhanced image enhancement contrast of image, the difference of feature patch and other parts, makes in prominent image
Picture Patch properties are more obvious.
3. image binaryzation：Binary conversion treatment is carried out to enhanced picture, obtains shade patch.The thought of binaryzation is
Assuming that the grey level range in piece image is (0,255), then the gray value of every bit is f (x, y) in image, if threshold value is T
(0≤T≤255) then
Wherein, g (x, y) indicates the value of each pixel in image after binaryzation
4. image shade patch number purpose determines：For obtain image in feature patch quantity, selected window size be n ×
N-pixel carries out raster scanning with step-length l to image, and traversal entire image searches for patch, if patch such as Fig. 2 in regional window
Shown, i.e., (i.e. in the window at least there is pixel in patch and window edge when patch is not at window edge
Interval), then the patch is the patch found.
If obtain qualified patch number m be less than setting value k, expand window according to size be n × n=(n+1) ×
(n+1) regional window and identical step-length l traversals search again for, and when patch number m >=k of acquisition, complete search.
K is bigger, and the patch found is also more, and located in connection precision is also higher, but calculation amount can increase, therefore preferably
Be k be 2-3.
Location determination after body movement：When the body for being loaded with picture pick-up device occurs mobile, relative to body, it is believed that be
Patch is deviated.
Sliding window n × n when terminating to search patch according to front, traversal search entire image again, by the patch of acquisition
The patch obtained with upper width image carries out correlation computations, if the degree of correlation is more than 90% patch, then it is assumed that and two patches are consistent,
Calculate the barycenter (x of corresponding patch in two imagesk,yk) and (x 'k,y′k), centroid calculation formula is as follows：
Wherein fn(i, j) and fn+1(i, j) is illustrated respectively in image f at point (i, j)n(x, y) and fn+1The pixel value of (x, y).
N indicates that the image has N number of pixel.
6. the determination of displacement deviation：By the center-of-mass coordinate position of corresponding patch, we can just calculate single feature spot
The displacement deviation of block：
Wherein Δ xk, Δ ykThe yaw displacement of respectively k-th patch.
According to the yaw displacement of the single feature patch found out, the average displacement of each patch is found out, this is body
Whole yaw displacement.Formula is as follows：
The deflection angle of body is：
The embodiment of the present invention additionally provides a kind of device tracked using image patch and measure offset, can be desktop meter
The computing devices such as calculation machine, notebook, palm PC and cloud server.A kind of tracked using image patch measures offset
Device may include, but be not limited only to, processor, memory.It will be understood by those skilled in the art that the schematic diagram is only one
Kind measures the device of offset using image patch tracking, does not constitute to a kind of device measuring offset using image patch tracking
Restriction, may include either combining certain components or different components, such as institute than illustrating more or fewer components
State it is a kind of using image patch track measure offset device can also include input-output equipment, network access equipment, bus
Deng.
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), application-specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor
It is a kind of control centre for tracking the device for measuring offset using image patch Deng, the processor, utilizes various interfaces
With a kind of entire various pieces that tracking the device for measuring offset using image patch of connection.
The memory can be used for storing the computer program and/or module, and the processor is by running or executing
Computer program in the memory and/or module are stored, and calls the data being stored in memory, described in realization
A kind of various functions for tracking the device for measuring offset using image patch.The memory can mainly include storing program area and
Storage data field, wherein storing program area can storage program area, application program (such as the sound needed at least one function
Playing function, image player function etc.) etc.；Storage data field can be stored uses created data (such as sound according to mobile phone
Frequency evidence, phone directory etc.) etc..In addition, memory may include high-speed random access memory, can also include non-volatile deposit
Reservoir, such as hard disk, memory, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital
(Secure Digital, SD) block, flash card (Flash Card), at least one disk memory, flush memory device or other
Volatile solid-state part.
If a kind of integrated module/unit of the device for measuring and deviating of being tracked using image patch is with software function list
The form of member is realized and when sold or used as an independent product, can be stored in a computer read/write memory medium
In.Based on this understanding, the present invention realizes all or part of flow in above-described embodiment method, can also pass through computer
Program is completed to instruct relevant hardware, and the computer program can be stored in a computer readable storage medium, should
Computer program is when being executed by processor, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program
Including computer program code, the computer program code can be source code form, object identification code form, executable file
Or certain intermediate forms etc..The computer-readable medium may include：Any of the computer program code can be carried
Entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disc, CD, computer storage, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and
Software distribution medium etc..It should be noted that the content that the computer-readable medium includes can be according in jurisdiction
Legislation and the requirement of patent practice carry out increase and decrease appropriate, such as in certain jurisdictions, according to legislation and patent practice, meter
Calculation machine readable medium does not include electric carrier signal and telecommunication signal.
It is above disclosed to be only a preferred embodiment of the present invention, the power of the present invention cannot be limited with this certainly
Sharp range, therefore equivalent changes made in accordance with the claims of the present invention, are still within the scope of the present invention.
Claims (8)
1. a kind of tracking the method for measuring offset using image patch, which is characterized in that include the following steps：
S1：Gray processing processing is carried out to image；
S2：Gained image is subjected to binary conversion treatment；
S3：Setting window size simultaneously carries out raster scanning to set step-length, and traversal entire image searches for patch quantity, if obtain
When qualified patch number is less than setting value, expands window size and re-search for；
S4：Using obtaining the entire image of the window size of qualified patch quantity again after traversal search movement；
S5：Class's block that the extraction degree of correlation is greater than the set value；
S6：The mobile preceding patch center-of-mass coordinate position with after movement is calculated, the displacement deviation of each patch is calculated；
S7：Global displacement and deflection angle are calculated according to the displacement deviation of each patch.
2. according to claim 1 track the method for measuring offset using image patch, which is characterized in that the step S1
Further include the steps that enhancing processing is carried out to the image that gray processing is handled.
3. according to claim 1 or 2 track the method for measuring offset using image patch, which is characterized in that the step
In rapid S3 at least there is a pixel separation in qualified patch between patch and window periphery.
4. according to claim 3 track the method for measuring offset using image patch, which is characterized in that the acquisition
Qualified patch number purpose setting value is 2~3.
5. according to claim 4 track the method for measuring offset using image patch, which is characterized in that the calculating moves
It is calculated by the following formula with the patch center-of-mass coordinate position after movement before dynamic：
Wherein fn(i, j) and fn+1(i, j) is illustrated respectively in image f at point (i, j)n(x, y) and fn+1The pixel value of (x, y).N tables
Show that the image has N number of pixel.
6. according to claim 5 track the method for measuring offset using image patch, which is characterized in that the calculating is whole
Position moves and deflection angle is carried out by following formula：
Calculate the displacement deviation of single patch：
Wherein Δ xk, Δ ykThe yaw displacement of respectively k-th patch；
Calculate global displacement：
Calculate deflection angle：
7. a kind of tracking the device for measuring offset using image patch, including memory, processor and is stored in the storage
In device and the computer program that can run on the processor, which is characterized in that the processor executes the computer journey
The step of method as claimed in claim 1 or 6 is realized when sequence.
8. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, feature to exist
In, when the computer program is executed by processor realize as claimed in claim 1 or 6 method the step of.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810101601.XA CN108470351B (en) | 2018-02-01 | 2018-02-01 | Method, device and storage medium for measuring body shift by image patch tracking |
| PCT/CN2018/110967 WO2019148894A1 (en) | 2018-02-01 | 2018-10-19 | Method and device for tracking measurement offset by using image patches, and storage medium |
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| CN201810101601.XA CN108470351B (en) | 2018-02-01 | 2018-02-01 | Method, device and storage medium for measuring body shift by image patch tracking |
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| CN108470351B CN108470351B (en) | 2020-09-04 |
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Cited By (2)
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| WO2019148894A1 (en) * | 2018-02-01 | 2019-08-08 | 汕头大学 | Method and device for tracking measurement offset by using image patches, and storage medium |
| GB2618499A (en) * | 2021-11-17 | 2023-11-08 | Guangdong Brunp Recycling Technology Co Ltd | Method for preparing refractory material from waste battery residues, and use of refractory material |
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Also Published As
| Publication number | Publication date |
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| WO2019148894A1 (en) | 2019-08-08 |
| CN108470351B (en) | 2020-09-04 |
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