CN109035170A - Adaptive wide-angle image correction method and device based on single grid chart subsection compression - Google Patents
Adaptive wide-angle image correction method and device based on single grid chart subsection compression Download PDFInfo
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Abstract
The invention discloses adaptive wide-angle image correction methods and device based on single grid chart subsection compression, it is simple with operation, practical feature, the automation for not only realizing dominating pair of vertices is extracted, and optimal segmentation correction adaptively can be carried out according to the distortion degree of camera lens, it realizes automated correction and handles and improve part and global correction accuracy.This method comprises: pre-processing to distortion grid Prototype drawing, single pixel two-value distortion grid Prototype drawing is obtained；The dominating pair of vertices in distortion grid Prototype drawing is extracted using the neighborhood characteristics of grid intersection point；Establish the minimum subsection optimization model of radial distortion；Reverse correction maps table is established, the coordinate correspondence relationship between correction result figure and former fault image is obtained；The processing of coordinate reverse Mapping is carried out, the first correction result images are obtained；Picture element interpolation is carried out to the first correction result images using bilinear interpolation algorithm, restores its gray value, obtains complete second correction result images.
Description
Technical field
The present invention relates to wide angle picture alignment technique fields more particularly to a kind of based on the adaptive of single grid chart subsection compression
Answer wide-angle image correction method and device.
Background technique
Compared to common lens, wide-angle lens can obtain the wider visual field because of the features such as its focal length is short, visual field is big, the depth of field is long
The image comprising more multiple-object information in range, greatly reduces vision dead zone.Therefore it is widely used in industry monitoring, video
Many visual fields such as monitoring, auxiliary driving, robot navigation, medical endoscope, virtual reality.However due to wide-angle lens
Make defect and nonlinear imaging mechanism, there is more serious barrel distortions in captured image.Wide-angle barrel distortion master
It to include thin prism distortion, tangential distortion and radial distortion.This nonlinear distortion can not only make the original geometry structure of image
Distorting transformation influences normal visual effect, can also reduce the geometric position precision of scene objects in image, it is therefore desirable to wide
Angular distortion is corrected, and can just wide-angle lens be made really to put into practical application.Radial distortion is the leading factor of wide-angle distortion, is made
It is radially contracted that vegetarian refreshments is imaged, so that the scaling of the annular region in image from optical axis different distance is inconsistent.Scene mesh
The line and optical axis angle that gauge length camera lens optical axis is remoter or light is from target point to optical center are bigger, shrink distortion degree
More serious, therefore, most of correction researchs are primarily directed to the correction of the wide-angle based on radial distortion.
The basic operational steps of distortion correction are as follows: (1) determine center of distortion first, that is, do not distort in fault image
Point；(2) distortion factor is calculated to distortion modeling analysis further according to distortion principle；(3) then pass through back mapping high-ranking officers
The pixel of positive figure is mapped to corresponding position in distortion figure；(4) finally restore the gray value of pixel using interpolation algorithm.
Currently, the distortion correction of wide-angle lens is broadly divided into two major classes: template and parameter have been known the law.Parameter has been known the law nothing
Equivalent Sphere Measurement Model need to be established merely with camera parameter (such as field angle of focal length, camera lens), for simulating wide-angle by template
Distortion.Although this method principle is simple, correction accuracy is not high, and needs to know the relevant parameter of camera lens in advance.
No. 201611008743.9 patent applications " a kind of ultra wide-angle imaging head distortion correction method and system " have been known the law using parameter, will
On fault image projection value panorama spherical surface, the correction maps relationship for being rectangular coordinate system has been obtained and has sat down to spherical surface.Template is logical
Production calibrating template is crossed to obtain the coordinate mapping relations between fault image and ideograph picture point pair, thus correction accuracy compared with
Height, but calibration result depends on the acquisition quality of Prototype drawing, and requires camera lens optical axis perpendicular with template.It can be by dedicated
Acquisition device obtain the high quality Prototype drawing for meeting constraint requirements.There are many planforms for template, commonly include grid
Template, concentric circle template, checkerboard pattern and wait hexagonal lattices template etc..It is main using high in traditional template correction method
Rank multinomial model or division model model wide-angle distortion, but are only applicable to the lesser wide-angle lens of distortion degree.
For the serious big field angle camera lens that distorts, these two types of models can only effectively correct center of distortion peripheral region, still
For four corner edges of image, correction accuracy is low and poor effect.Such as a kind of No. 201410424349.8 patent application " flake mirrors
The method of image rectification after leader is fixed ", it is similar to Zhang Shi standardization, obtains high-order moment model using checkerboard grid standardization
Parameter, due to the integrity demands of chessboard Prototype drawing grid block, control point can not be paved with entire visual angle area in this kind of Prototype drawing
Domain causes image corner areas to be unable to get calibration, therefore cannot effectively recover all areas of fault image.
No. 201510514238.0 patent applications " a kind of method of accurate correction ultra wide-angle imaging head pattern distortion " on this basis into
It has gone improvement, has improved the range of correction accuracy and view angle correction to a certain extent, but whole calibration result is bad.
Summary of the invention
An object of the present invention at least that, for how to overcome the above-mentioned problems of the prior art, provide one kind
Adaptive wide-angle image correction method and device based on single grid chart subsection compression, the spy for having operation simple, practical
Point, the automation for not only realizing dominating pair of vertices are extracted, but also can be adaptively according to the distortion degree of camera lens (field angle size)
Optimal segmentation correction is carried out, automated correction is realized and handles and improve part and global correction accuracy.
To achieve the goals above, the technical solution adopted by the present invention includes following aspects.
A kind of adaptive wide-angle image correction method based on single grid chart subsection compression comprising:
Distortion grid Prototype drawing is pre-processed, single pixel two-value distortion grid Prototype drawing is obtained；Based on single pixel two
It is worth distortion grid Prototype drawing, the dominating pair of vertices in distortion grid Prototype drawing is extracted using the neighborhood characteristics of grid intersection point；It is based on
Dominating pair of vertices in distortion grid Prototype drawing establishes the minimum subsection optimization model of radial distortion；
Reverse correction maps table is established, the coordinate correspondence relationship between correction result figure and former fault image is obtained；Base
In correction maps table, the processing of coordinate reverse Mapping is carried out, obtains the first correction result images；Using bilinear interpolation algorithm to
One correction result images carry out picture element interpolation, restore its gray value, obtain complete second correction result images.
A kind of adaptive wide angle picture means for correcting based on single grid chart subsection compression comprising at least one processing
Device, and the memory being connect at least one described processor communication；The memory be stored with can by it is described at least one
The instruction that processor executes, described instruction is executed by least one described processor, so that at least one described processor can
Execute described in any item methods.
In conclusion by adopting the above-described technical solution, the present invention at least has the advantages that
Extraction by the dominating pair of vertices searched for based on subregion orientation of mesh line realizes the control of single net template figure
The automation of point pair obtains, and reduces the operation complexity manually marked in conventional method with allocation control points pair；In addition, comparing
With Corner Detection Algorithm, proposed algorithm improves the positioning accuracy of distortion grid point to a certain extent；
By the adaptive distortion correction model optimized based on polynomial pieces, the high-precision of big distortion wide-angle lens is realized
Degree correction, compared to Hypothesis of Single Curve Build Up approximating method, the present invention improves local correction accuracy；It is opposite with traditional template,
Integral correction effect is preferable, can be corrected well to image corner the most serious of distorting, and satisfied recovery effect is obtained
Fruit；In addition, the correction advantage on this overall performance can more aobvious protrusion with the increase of wide-angle lens field angle.
Detailed description of the invention
Fig. 1 is the adaptive wide angle picture correction according to an exemplary embodiment of the present invention based on single grid chart subsection compression
Method flow diagram.
Fig. 2 is distortion grid Prototype drawing according to an exemplary embodiment of the present invention.
Fig. 3 is the single pixel two-value distortion grid Prototype drawing of refinement according to an exemplary embodiment of the present invention.
Fig. 4 is relative positional relationship indexed coordinates according to an exemplary embodiment of the present invention system schematic diagram.
Fig. 5 is the relation schematic diagram of ideal distance according to an exemplary embodiment of the present invention and distortion distance.
Fig. 6 is the CoD schematic diagram searched in refinement two-value Prototype drawing according to an exemplary embodiment of the present invention.
Fig. 7 is four corner range points according to an exemplary embodiment of the present invention to information schematic diagram.
Fig. 8 is single width distortion grid Prototype drawing according to an exemplary embodiment of the present invention.
Fig. 9 is the adaptive wide angle picture correction according to an exemplary embodiment of the present invention based on single grid chart subsection compression
Apparatus structure schematic diagram.
Specific embodiment
With reference to the accompanying drawings and embodiments, the present invention will be described in further detail, so that the purpose of the present invention, technology
Scheme and advantage are more clearly understood.It should be appreciated that described herein, specific examples are only used to explain the present invention, and does not have to
It is of the invention in limiting.
Various embodiments of the present invention disclose it is a kind of for big distortion high-resolution wide-angle lens based on single net template
The Adaptive correction algorithm of Polynomials on graph subsection compression.The method of the present invention belongs to one kind based on template Lens Distortion Correction algorithm
Improved method is broadly divided into distortion calibration and distortion correction process two large divisions.Distortion is demarcated, is refining single grid first
Subregion beam search algorithm is used in Prototype drawing, obtains actual coordinate (the Distortion Coordinate of distortion grid point
Point, DCP) and corresponding to the coordinate (Ideal Coordinate Point, ICP) in ideal rule mesh trrellis diagram, realize control
Point extracts the automation of (Control Pair Point, CPP).Then, optimal distortion is estimated away from searching algorithm using point
Center (Center of Distortion, CoD), to obtain the distortion distance and ideal distance of CPP to CoD.In turn, it establishes
The distortion model of lower order polynomial expressions piecewise fitting is adaptively fitted local radial distortion.By least-squares algorithm, solve most
Excellent division number and fitting parameter.Finally, the coordinate transform for being generated correction chart to distortion figure using reverse Mapping method is mapped
Table.During distortion correction, by reverse Mapping table and bilinear interpolation algorithm, final correction result is quickly recovered.
The present invention selects net template to carry out distortion calibration, can because it can be paved with the field range of entire camera lens
Obtain the dominating pair of vertices of more reflecting edge distortion informations.The adaptively correcting of polynomial pieces optimization proposed by the present invention is calculated
On the one hand method improves the extracting method of dominating pair of vertices, realize automatic processing；On the other hand adaptive piecewise polynomial is used
Model replaces traditional single multinomial distortion model, to improve part and global correction accuracy.Wide-angle proposed by the present invention
The bearing calibration of camera lens adaptive segmentation can adaptively determine the most optimal sorting of radial distortion model according to the distortion degree of camera lens
Number of segment mesh, operating process have semi-automatic characteristic, can reach higher correction accuracy, and can guarantee the serious image of distortion
Corner all also obtains satisfied recovery effects.In addition, this advantage can more aobvious protrusion with the continuous increase of the angle of view.
Fig. 1 shows the adaptive wide angle picture according to an exemplary embodiment of the present invention based on single grid chart subsection compression
Bearing calibration comprising distortion calibration and two processes of distortion correction.The method of the embodiment mainly comprises the steps that
Step 101: distortion grid Prototype drawing being pre-processed, single pixel two-value distortion grid Prototype drawing is obtained
Due to the unevenness of ambient lighting and the special tectonic of camera lens, wide angle picture will appear tone from center to edge gradually
" dark angle " phenomenon (as indicated with 2) deepened, this will affect the extraction of mesh point.Common global threshold algorithm cannot not only reach
To ideal segmentation effect, it also will cause wire fractures and edge noise.It is common for the region except being focused in Prototype drawing
Corner Detection Algorithm will cause missing inspection or false retrieval, and positioning accuracy is also poor.In addition, the method based on template is mostly to utilize
Four neighborhoods of distortion grid intersection point are obtained apart from criterion, and position is closed relative to the point of standardization net template to obtain
System obtains the coordinate that do not distort preferably.But this method is not suitable for the serious big visual field wide-angle lens that distorts, because of line at this time
Bending degree is serious, distance as relative position distribution criterion no longer reliably.
Therefore, in this step process, first by distortion grid Prototype drawing gray processing, several various sizes of pieces are separated into
(middle section size is big, and it is smaller more to arrive edge size), carries out adaptive threshold fuzziness respectively, and then synthesis is complete abnormal
The bianry image of Moving grids Prototype drawing.Further, smoothly, most handle, refined through inverse afterwards using median filtering
Single pixel two-value distortion grid Prototype drawing (as shown in Figure 3).
Step 102: being based on single pixel two-value distortion grid Prototype drawing, distortion is extracted using the neighborhood characteristics of grid intersection point
Dominating pair of vertices in net template figure.
Specifically, precise positioning control point can be come first with the neighborhood characteristics (branched structure information) of grid intersection point.Into
And the method searched in conjunction with subregion along orientation of mesh line, the relative position distribution between distortion grid point is obtained, to solve
The corresponding ideal coordinates of distortion point.
The treatment process that dominating pair of vertices automatically extracts is as follows:
1, relative positional relationship indexed coordinates system (Distribution Relationship as shown in Figure 4 is established
Coordinate System, DRCS), for describing mesh point in the standardization template of ideal corresponding to distortion grid template
Relative positional relationship (orientation and the grid block number being separated by).Grid point locations use distribution index coordinate (Distribution
Index Coordinate, DIC) description.Wherein, the point of origin P of coordinate system(0,0)It is the nearest net of distance distortion Prototype drawing central point
Lattice intersection point.It is horizontally to the right x-axis index direction, is vertically downward y-axis index direction.P(0,-1)、P(0,1)、P(-1,0)And P(1,0)Point
It Wei not P(0,0)The arest neighbors index position of four direction in upper and lower, left and right.
2, with reference to relative positional relationship indexed coordinates system, four are divided in the single pixel two-value distortion grid Prototype drawing of refinement
Extracted region distortion grid intersection point and Relative distribution indexed coordinates.Block A, B, C and D in Fig. 4 are seen in region of search.
Lattice site can be positioned by 8 neighborhood characteristics of tessellated mesh intersection point.Become since distortion will cause lines bending
Shape, the grid lines in tessellated mesh Prototype drawing outside focal zone are largely serrated, and certain mesh points can be split
At this moment the crosspoint closed at two takes the two midpoint as tessellated mesh point coordinate.
Why subregion carries out the beam search of distortion grid point respectively, is because of grid lines in region A, B, C and D
Deformation direction is different, but the deforming trend (no matter horizontal be also vertically oriented) of grid lines is all one in the same region
Sample.All interconnected grid intersection points effectively can be searched along grid lines using lines deformation direction, and can be just
Corresponding distribution index coordinate is obtained promptly.Ordered set SsearchThe mesh point being searched is recorded one by one.
Below by taking the right regions B in Fig. 4 as an example, the beam search step of dominating pair of vertices is elaborated:
(1) initialization search set Ssearch={ P(0,-1)}；
(2) if SsearchFor sky, search is terminated；
(3) for SsearchIn all the points, if it is set header element, it is upward along grid lines by starting point of the coordinate
Otherwise the neighbour's mesh point for searching for next connection to the right only scans for the right.Movement can be increased by sliding window
Step-length, thus acceleration search process；
(4) S is referred tosearchIn search starting point and the direction of search, and combine neighbour's mesh point for detecting and search starting point
Only it is separated by the feature of a grid spacing, it is easy to determine the Relative distribution indexed coordinates of the mesh point detected in step (3)；
(5) S is updatedsearchFor all neighbour's mesh points searched in step (3), step (2) are then gone to.
As shown in Figure 4, arrow direction indicates that the direction of search, coordinate points subscript indicate to correspond to for the entire visualization diagram of search
Distribution index coordinate.Every neighbour's mesh point for executing a step (2) and obtaining is marked with different colors.In addition,
For isolated mesh point (such as P of image corner areas(7,-6)), the reference nearest mesh point detected therewith can obtain it
Distribution index coordinate.
3, for distortion grid point PgCor_r, corresponding ideal coordinates are PgCor_i, then it can be calculate by the following formula to obtain:
PgCor_i=Pb+(DICgCor_r-DICb)·Dgrid_i (1)
Here there is an important hypothesis: the maximum two mesh point P of spacingaAnd PbDo not distort.This is maximum
Spacing is taken as ideal grid space Dgrid_i。
4, all dominating pair of vertices < P are obtainedgCor_i,PgCor_r> generates set S(gCor_i,gCor_r)={ < PgCor_i,PgCor_r
> }.
Step 103: using distortion distance and the non-linear increasing relationship between ideal distance, determining the position of optimal center of distortion
It sets
The existing bearing calibration in part roughly thinks that picture centre is exactly the position of center of distortion (CoD).However, practical
There are certain offsets with image geometry center for upper center of distortion.In addition, the position of CoD is only precisely located, it could more
Accurately obtain each distortion grid point to CoD distortion distance and ideal distance.The present invention is directed to the characteristics of template, uses
Based on CoD searching algorithm of the point away from search, the position of optimal CoD is positioned.This method using distortion distance between ideal distance
Non-linear increasing relationship, scans in maximum mesh, determines that candidate point is optimal center of distortion.And it can be further
Increase the threshold requirement of the root-mean-square error of biquadratic curve fitting, to improve the precision and execution efficiency of search.Specific implementation step
It is rapid as follows:
(1) the coordinate points P in traversal search regionk, the ideal distance of all distortion grid points and abnormal is calculated by formula (2)
Displacement is from generation distance is to set
(2) rightCarry out biquadratic curve fitting, the mean-square value error ε of digital simulationkIf εkIt is (general less than threshold value σ
Take σ=2.5), step (3) are continued to execute, next candidate point is otherwise chosen, then execute step (1)；
(3) ascending order is carried out with ideal distance r, to setIt is ranked up operation；Calculate distortion distanceIn meet liter
The distance number m of sequence ordering rulek, and update maximum distance number m0。
m0Corresponding Searching point P0It is exactly optimal CoD.At this point, relationship such as Fig. 5 of corresponding ideal distance and distortion distance
Shown, wherein abscissa is ideal distance, and ordinate is distortion distance, and unit is pixel.It is searched in refinement two-value Prototype drawing
To CoD such as in Fig. 6 arrow be directed toward point shown in.
Step 104: based on the dominating pair of vertices in distortion grid Prototype drawing, establishing the minimum subsection optimization model of radial distortion
Relationship based on distortion distance and ideal distance establishes radial distortion mould using the polynomial method of concentric circle template
Type.If be fitted with single polynomial curve, it is only applicable to the wide-angle lens of low resolution or small distortion.It is right
In the high-resolution wide angle picture to distort greatly, this method not only needs higher polynomial order, but also will increase correction course
Calculation amount.Therefore, the invention proposes adaptive low order piecewise polynomial method, specifically comprise the following steps:
Firstly, range points are ranked up set M by the rule of ideal distance r ascending order, the set is then divided into K
SubsetWherein,And the number of range points pair is N.It is respectively adopted as shown in formula (3) most
Small two multiplication algorithm carries out curve fitting:
Wherein,It is curved section fi(r) and fi+1(r) waypoint.It is assumed that
Since CoD does not distort, so first section curve f1(r) origin is crossed, i.e.,The fitting precision of curve is available quasi-
Close goodnessIt is measured, as follows:
Wherein,
The goodness of fit more tends to 1, shows that homologous thread section is higher to the fit quality of data point pair.
Latter end curve is the distortion for estimating image edge area, to guarantee that the farthest corner points of distance CoD can also obtain
To correction, corresponding maximum point (rsymAxis,max(fK)) need to meet:
Wherein,rMaxIt is distortion distance and ideal distance corresponding to the farthest corner points of distance CoD.Four corners
ptl、ptr、pblAnd pbrRange points it is as shown in Figure 7 to information.
It is apparent from, rMax=max { rtl,rtr,rbl,rbr}、In other words have:
And then using the similar triangular transformation in Fig. 7, the width W ' and height H ' of correction chart are obtained, size area is used outer
The matrix collimation mark of side goes out.
The above analysis can establish diameter by the tool of inequality constraints there are two the optimization problem of cost function
To the minimum subsection optimization model of distortion, as shown in formula (7) and (8):
It is tested repeatedly, obtained one group of preferred parameter range selection of the embodiment of the present invention: δ ∈ (0,1) can be eliminated
It shrinks center of distortionIt is expanded with center of distortionξ is set as 0.9, it is ensured that good fit quality, and
It can prevent overfitting；π/180 θ≤5 (rad), λ≤2, can obtain the effect of satisfied curved section smooth transition, also, divide
The optimal segmentation number of section curve is 4 sections.
Step 105: establishing reverse correction maps table, the coordinate pair obtained between correction result figure and former fault image is answered
Relationship
According to Direct mapping, i.e., corresponding ideal point coordinate is directly acquired using the coordinate of distortion point, due to school of distorting
Picture size after just is bigger than original image size, and certain pixels can not find right with it in the recovery image after will lead to correction
The distortion point answered, to form " cavity " phenomenon.To eliminate due to distortion figure and the ideal non-surjective relation restored between figure
Caused " cavity " phenomenon, the present invention take reverse Mapping method to obtain the coordinate between correction result figure and former fault image
Corresponding relationship.
Be to obtain correction chart to the reverse coordinate mapping between distortion figure, and accelerate distortion correction process, establish one with
The equirotal correction maps table of correction chart (Calibration Maping Table, CMT).In CMT each element T (x,
Y) the distortion coordinate position p ' (x, y) that ideal point p (x, y) corresponds in distortion figure is saved.Corresponding relationship is as follows:
Wherein, CoDidealCorrespond to the center of distortion in correction chart.R (p (x, y)) is that p (x, y) arrives CoDidealAway from
From,It is the distance that p ' (x, y) arrives CoD, can be calculated by formula (3).
Step 106: being based on correction maps table, carry out the processing of coordinate reverse Mapping, obtain the first correction result images
During distortion correction, for the distortion wide angle picture of input, is tabled look-up by CMT, obtain each correction pixels
Point corresponds to the distortion coordinate position in the wide angle picture of distortion.
Step 107: picture element interpolation being carried out to the first correction result images using bilinear interpolation algorithm, restores its gray scale
Value obtains complete second correction result images.
The implementation process of illustrative examples of the present invention is divided into distortion calibration and generates reverse correction maps table and distortion correction
Handle two stages.Distort the single width distortion grid Prototype drawing demarcated be exactly according to shooting, in progress dominating pair of vertices extraction, distortion
The heart estimation, subsection optimization distortion model solve etc. sequence of operations, and then generate optimum correction figure to distortion figure reverse coordinate
Mapping table.Distortion correction is exactly to be corrected place to image captured by the wide-angle lens using reverse correction maps table
It manages (coordinate mapping transformation and interpolation processing), the restoration result figure after being corrected.Wherein, distortion grid Prototype drawing can be in light
According under sufficient environment, the auxiliary filming apparatus of profession, such as the AEE SD-21 model wide-angle of big field angle (170 degree) are utilized
Camera lens absorbs the preferable net template figure of a width quality, as shown in figure 8, control point (mesh point) number is more sufficient, Er Qiepu
Entire image is expired, the more uniform all areas of distribution in the picture.
Fig. 9 shows the adaptive wide angle picture according to an exemplary embodiment of the present invention based on single grid chart subsection compression
Means for correcting, i.e. electronic equipment 310 (such as having the computer server that program executes function) comprising at least one processing
Device 311, power supply 314, and memory 312 and input/output interface with the communication connection of at least one described processor 311
313；The memory 312 is stored with the instruction that can be executed by least one described processor 311, described instruction by it is described at least
One processor 311 executes, so that at least one described processor 311 is able to carry out side disclosed in aforementioned any embodiment
Method；The input/output interface 313 may include display, keyboard, mouse and USB interface, be used for inputoutput data；
Power supply 314 is used to provide electric energy for electronic equipment 310.
It will be appreciated by those skilled in the art that: realize that all or part of the steps of above method embodiment can pass through program
Relevant hardware is instructed to complete, program above-mentioned can store in computer-readable storage medium, which is executing
When, execute step including the steps of the foregoing method embodiments；And storage medium above-mentioned includes: movable storage device, read-only memory
The various media that can store program code such as (Read Only Memory, ROM), magnetic or disk.
When the above-mentioned integrated unit of the present invention be realized in the form of SFU software functional unit and as the sale of independent product or
In use, also can store in a computer readable storage medium.Based on this understanding, the skill of the embodiment of the present invention
Substantially the part that contributes to existing technology can be embodied in the form of software products art scheme in other words, the calculating
Machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be individual
Computer, server or network equipment etc.) execute all or part of each embodiment the method for the present invention.And it is aforementioned
Storage medium include: the various media that can store program code such as movable storage device, ROM, magnetic or disk.
The above, the only detailed description of the specific embodiment of the invention, rather than limitation of the present invention.The relevant technologies
The technical staff in field is not in the case where departing from principle and range of the invention, various replacements, modification and the improvement made
It should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of adaptive wide-angle image correction method based on single grid chart subsection compression, which is characterized in that the method packet
It includes:
Distortion grid Prototype drawing is pre-processed, single pixel two-value distortion grid Prototype drawing is obtained；It is abnormal based on single pixel two-value
Moving grids Prototype drawing extracts the dominating pair of vertices in distortion grid Prototype drawing using the neighborhood characteristics of grid intersection point；Based on distortion
Dominating pair of vertices in net template figure establishes the minimum subsection optimization model of radial distortion；
Reverse correction maps table is established, the coordinate correspondence relationship between correction result figure and former fault image is obtained；Based on school
Positive mapping table carries out the processing of coordinate reverse Mapping, obtains the first correction result images；Using bilinear interpolation algorithm to the first school
Positive result images carry out picture element interpolation, restore its gray value, obtain complete second correction result images.
2. the method according to claim 1, wherein it is described to distortion grid Prototype drawing carry out pretreatment include:
First by distortion grid Prototype drawing gray processing, several various sizes of pieces are separated into, carries out adaptive threshold fuzziness respectively,
Then the bianry image of complete distortion grid Prototype drawing is synthesized；And further carried out smoothly using median filtering, most afterwards through anti-
Color processing, obtains the single pixel two-value distortion grid Prototype drawing of refinement.
3. the method according to claim 1, wherein the neighborhood characteristics using grid intersection point distort to extract
Dominating pair of vertices in net template figure includes:
Come precise positioning control point first with the neighborhood characteristics of grid intersection point, and then searched in conjunction with subregion along orientation of mesh line
Method obtains the relative position distribution between distortion grid point, to solve the corresponding ideal coordinates of distortion point.
4. according to the method described in claim 3, it is characterized in that, the method further includes:
Relative positional relationship indexed coordinates system DRCS is established, for describing the standardization template of ideal corresponding to distortion grid template
The relative positional relationship of middle mesh point；Wherein, the point of origin P of coordinate system(0,0)It is the nearest grid of distance distortion Prototype drawing central point
Intersection point；It is horizontally to the right x-axis index direction, is vertically downward y-axis index direction；P(0,-1)、P(0,1)、P(-1,0)And P(1,0)Respectively
For P(0,0)The arest neighbors index position of four direction in upper and lower, left and right；
With reference to relative positional relationship indexed coordinates system, point four regions are mentioned in the single pixel two-value distortion grid Prototype drawing of refinement
Take distortion grid intersection point and Relative distribution indexed coordinates；
For distortion grid point PgCor_r, corresponding ideal coordinates PgCor_iIt is calculate by the following formula to obtain:
PgCor_i=Pb+(DICgCor_r-DICb)·Dgrid_i (10)
Obtain all dominating pair of vertices < PgCor_i,PgCor_r> generates set S(gCor_i,gCor_r)={ < PgCor_i,PgCor_r> }.
5. according to the method described in claim 4, it is characterized in that, the position of the optimal center of distortion of the determination includes following step
It is rapid:
Coordinate points P in traversal search regionk, the ideal distance and distortion distance of all distortion grid points are calculated by formula (2),
Distance is generated to set
It is rightCarry out biquadratic curve fitting, the mean-square value error ε of digital simulationkIf εkLess than threshold value σ, continue to execute next
Otherwise step chooses next candidate point, execute previous step；
Ascending order is carried out with ideal distance r, to setIt is ranked up operation；Calculate distortion distanceIn meet ascending sort
The distance number m of rulek, and update maximum distance number m0；
m0Corresponding Searching point P0It is exactly optimal center of distortion CoD.
6. according to the method described in claim 5, it is characterized in that, the method further includes:
By range points to setIt is ranked up by the rule of ideal distance r ascending order, the set is then divided into K subsetWherein,And the number of range points pair is N；The minimum two as shown in formula (3) is respectively adopted
Multiplication algorithm carries out curve fitting:
Wherein,It is curved section fi(r) and fi+1(r) waypoint, and
7. according to the method described in claim 6, it is characterized in that, the minimum subsection optimization model of the radial distortion, such as formula
(7) and shown in (8):
8. the method according to the description of claim 7 is characterized in that in the method, δ ∈ (0,1), ξ be set as the π of 0.9, θ≤5/
180 (rad), λ≤2, also, the optimal segmentation number of sectional curve is 4 sections.
9. according to the method described in claim 8, it is characterized in that, each element T (x, y) in the correction maps table CMT
Save the distortion coordinate position p ' (x, y) that ideal point p (x, y) corresponds in distortion figure；Corresponding relationship is as follows:
Wherein, CoDidealCorrespond to the center of distortion in correction chart；R (p (x, y)) is that p (x, y) arrives CoDidealDistance,It is the distance that p ' (x, y) arrives CoD.
10. a kind of adaptive wide angle picture means for correcting based on single grid chart subsection compression, which is characterized in that including at least one
A processor, and the memory being connect at least one described processor communication；The memory be stored with can by it is described extremely
The instruction that a few processor executes, described instruction are executed by least one described processor, so that at least one described processing
Device is able to carry out method described in any one of claims 1 to 9.
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