CN109410159A - Binocular visible light and infrared thermal imaging complex imaging system, method and medium - Google Patents
Binocular visible light and infrared thermal imaging complex imaging system, method and medium Download PDFInfo
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- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration by the use of more than one image, e.g. averaging, subtraction
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- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
- G06T7/337—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving reference images or patches
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Abstract
The present invention provides a kind of binocular visible light and infrared thermal imaging complex imaging systems, method and medium, include: thermal imaging module: the focus infrared energy for being issued the object in scene using optical device is on infrared detector, then the infrared data from each infrared detector is converted into preset picture format, obtains original infrared image；Visual light imaging module: primary visible light image is acquired by camera；ARM system module: the original infrared image is pre-processed, pretreated infrared image is obtained.The present invention is relative to traditional radar stealthy materials, the Image Fusion that the present invention uses can remove most redundancies in infrared image, the profile informations such as remaining target and visible images are subjected to image co-registration, so that fused image not only has good target and background characteristics, abundant background information can be provided, while also enhancing important target information.
Description
Technical field
The present invention relates to infrared thermal imaging fields, and in particular, to visible light based on binocular 4G mobile terminal and infrared
Thermal imaging complex imaging system, method.
Background technique
Infrared thermal imaging uses the infrared ray specific band signal of photoelectric technology detection object heat radiation, which is converted
At the image and figure differentiated for human vision, and temperature value can be further calculated out.Infrared thermal imaging technique makes the mankind
Dysopia is surmounted, thus one can see that the temperature distribution state of body surface.Body surface temperature is if it exceeds absolutely
Electromagnetic wave i.e. can be given off to zero degree, with temperature change, the radiation intensity of electromagnetic wave is also changed correspondingly with wavelength diffusion properties,
Electromagnetic wave of the wavelength between 0.75 μm to 1000 μm is known as " infrared ray ", and human vision visible " visible light " is between 0.4 μ
M to 0.75 μm.Infrared ray will receive Atmospheric composition substance (especially H2O, CO2, CH4, N2O, O3 etc.) when earth's surface transmits
It absorbs, intensity is decreased obviously, and only has preferable penetrance in two wave bands of 3 μ~5 μm of shortwave and 8~12 μm of long wave
(Transmission), it is generally called atmospheric window (Atmospheric window), most thermal infrared imager is aiming at this
Two wave bands are detected, and the surface temperature distribution of object is calculated and be shown.Further, since solid of the infrared ray to very big part
And the penetration capacity of liquid substance is very poor, therefore infrared thermal imaging detection is to be with the infrared radiation energy for measuring body surface
It is main.
The prior art has the disadvantage that
1, the thermal imaging system of comparison on the market, generally all there are the following problems for most thermal imaging system: equipment volume mistake
Greatly, heavy, it is not readily portable.
2, infrared camera is plug-in, does not support binocular, and convenience and integrated level are low.
3,4G data function, the upload server or PC that the data of thermal imaging system acquisition cannot be easy in real time are not supported
Machine, carries out statistics and pervious data compare and complete relevant judgement.
4, to live geographical location, temperature acquires that the Informational supports such as the date of thermal imagery are inadequate, these data are for building one
It is very necessary for covering full database for tracking equipment day-to-day operation.
Patent document CN105187808A (application number: CN201510734502) discloses a kind of visible light and infrared thermal imaging
Binocular all-in-one machine and its processing method.The all-in-one machine includes infrared optical system, infrared detector, processing module, visible light
System, visible light sensor, data collector.Processing module include ARM primary processor, dsp processor, video encoder,
Network output unit.Infrared detector obtains IR video stream by infrared optical system, it is seen that optical sensor passes through visible
Optical system obtains visible light video data.This two-path video data passes through data collector synchronous acquisition and transmits into ARM master
Processor, by make ARM primary processor by memory sharing in a manner of give dsp processor and do intelligent operation, the knot of intelligent operation
Fruit returns again to ARM primary processor and issues video encoder again in company with two-path video data and encode, ARM master after the completion of coding
Processor is responsible for accordingly exporting by network output unit.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of binocular visible light and infrared thermal imaging are compound
Imaging system, method and medium.
A kind of binocular visible light and infrared thermal imaging complex imaging system provided according to the present invention, comprising:
Thermal imaging module: the focus infrared energy for being issued the object in scene using optical device is in infrared detector
On, then the infrared data from each infrared detector is converted into preset picture format, obtains original infrared image；
Visual light imaging module: primary visible light image is acquired by camera；
ARM system module: the original infrared image is pre-processed, pretreated infrared image is obtained；
Image processing module: it according to the pretreated infrared image, is merged, obtains color image.
Preferably, described image processing module, comprising:
Infrared image enhancement module: image enhancement is carried out to pretreated infrared image, obtains enhanced infrared figure
Picture；
Size change over module: primary visible light image, enhanced infrared image are arranged to identical size, obtained
Visible images after obtaining size change over, the infrared image after size change over；
Image registration module: image is carried out to the visible images after size change over, the infrared image after size change over and is matched
Standard, infrared image after visible images, registration after being registrated；
Image co-registration module: image co-registration is carried out to infrared image after visible images, registration after registration, after being merged
Image；
False color of image processing module: Pseudo Col ored Image is carried out to fused image, the coloured silk after obtaining Pseudo Col ored Image
Chromatic graph picture.
Preferably, further includes:
Intelligent mobile terminal application software module: specified region or point to the color image after Pseudo Col ored Image carry out
Temperature analysis processing, obtains thermal imaging data information；
ARM system module: the space-time location information of record thermal imaging data information, the cromogram after uploading Pseudo Col ored Image
Picture, thermal imaging data information, space-time location information
Preferably, which is characterized in that the primary visible light image includes: RGB image；
It is described that carry out pretreatment to original infrared thermal imaging image include: nonuniformity correction, blind element compensation, in median filtering
It is any or appoint a variety of processing；
Temperature analysis processing include: the color image after Pseudo Col ored Image specified region or point temperature mark,
Any one of remember, compare, analyze or appoint a variety of processing；The temperature mark includes: to be labeled in the domain point temperature of intake
On fused image；
The space-time location information includes: the corresponding location information of thermal imaging data, temporal information, in location information
It is any or appoint much information；
The ARM system module further include: GPS positioning module, WIFI wireless communication module, 4G communication module, BT communication
Any one of module appoints multiple module；
Preferably, described image Fusion Module includes:
Detail pictures extraction module: the detail pictures of visible images after registration are extracted；The detail pictures include: picture
Lines under different proportion, direction and angle, shape, edge respectively；
Bottom layer image obtains module: carrying out laplacian pyramid multi-resolution decomposition to infrared image after registration, is matched
The bottom layer image of the laplacian pyramid of infrared image after standard；
Preliminary Fusion Module: by the bottom layer image of the laplacian pyramid of infrared image after registration be registrated after visible light
The detail pictures of image are merged, and preliminary blending image is obtained；
Reconstruct Fusion Module: preliminary blending image is reconstructed, fused image is obtained；
The laplacian pyramid multi-resolution decomposition includes: that infrared image after registration is decomposed into multi-Scale Pyramid figure
As sequence, to upper layer direction since bottom layer image, operation is successively executed, forms a pyramidal image data structure；
Wherein, the operation includes: both upper tomographic images for this tomographic image and this tomographic image, will be both described
The image setting of middle low resolution is on upper layer, and in lower layer, the size of upper layer images is next for the image setting of high-resolution
The 1/4 of tomographic image size；
The bottom layer image refers to: original image subtracts a tomographic image thereon and passes through the amplified image of interpolation, obtained difference
It is worth image；
The reconstruct Fusion Module: the La Pula of each image is successively acquired by interpolation from top to bottom since its top layer
This pyramid, then the image of corresponding level is merged, restore its corresponding pyramid, obtains fused image.
A kind of binocular visible light and infrared thermal imaging composite imaging method provided according to the present invention, comprising:
Step 1: the focus infrared energy for being issued the object in scene using optical device is on infrared detector, then
It is converted into preset picture format from the infrared data of each detector element, obtains original infrared image；
Primary visible light image is acquired by camera, obtains primary visible light image；
Step 2: according to original infrared image, the original infrared image received being pre-processed, after being pre-processed
Infrared image.
Step 3: image enhancement being carried out to pretreated infrared image, obtains enhanced infrared image；
Step 4: enhanced infrared image, primary visible light image being arranged to identical size, obtain size
Infrared image after transformed visible images, size change over；
Step 5: image registration being carried out to the visible images after size change over, the infrared image after size change over, is obtained
Infrared image after visible images, registration after registration；
Step 6: image co-registration being carried out to infrared image after visible images, registration after registration, obtains fused image；
Step 7: Pseudo Col ored Image being carried out to fused image, the color image after obtaining Pseudo Col ored Image；
Step 8: specified region or point to the color image after Pseudo Col ored Image carry out temperature analysis processing, obtain heat
Imaging data information；
Step 9: the space-time location information of record thermal imaging data information, color image, heat after uploading Pseudo Col ored Image
Imaging data information, space-time location information.
Preferably, the step 2, carrying out pretreatment to original infrared thermal imaging image includes: nonuniformity correction, blind element benefit
It repays, any one of median filtering or appoint a variety of processing；
The step 5 includes that described image registration includes:
It is designed by optics and structure, so that the infrared detector of thermal imaging module and the optics of visual light imaging module pass
The imaging viewing field error of sensor completes the figure to primary visible light image and enhanced infrared image in default error range
As registration.
Preferably, the step 6 includes:
Step 6.1: extracting the detail pictures of visible images after registration；
Step 6.2: laplacian pyramid multi-resolution decomposition, infrared figure after being registrated are carried out to infrared image after registration
The bottom layer image of the laplacian pyramid of picture；
Step 6.3: by the bottom layer image of the laplacian pyramid of infrared image after registration be registrated after visible images
Detail pictures merged, obtain preliminary blending image；
Step 6.4: reconstructing preliminary blending image, obtain fused image.
The step 6.1, the detail pictures include: lines of the picture respectively under different proportion, direction and angle, shape
Shape, edge；
The step 6.2, the laplacian pyramid multi-resolution decomposition include: infrared image after registration is decomposed into it is more
Scale pyramid image sequence successively executes operation to upper layer direction since bottom layer image, forms a pyramidal figure
As data structure；Wherein, the operation includes: both upper tomographic images for this tomographic image and this tomographic image, will be described
The image setting of low resolution is arranged on upper layer, the image of high-resolution in lower layer in the two, and the size of upper layer images is
The 1/4 of next tomographic image size；
The step 6.3, the bottom layer image refer to: original image subtracts a tomographic image thereon and passes through the amplified figure of interpolation
Picture, obtained error image；
The step 6.4 includes: successively to acquire the La Pula of each image by interpolation from top to bottom since its top layer
This pyramid, then the image of corresponding level is merged, restore its corresponding pyramid, obtains fused image.
Preferably, the step 8, the temperature analysis processing include:
The specified region of color image after Pseudo Col ored Image or the temperature of point identify, remember, comparing, analyzing in any
Kind appoints a variety of processing；
The domain point temperature of intake is labeled on fused image, and the infrared datas such as temperature are passed through on mobile network
It passes to server and completes data storage, facilitate the comparative analysis of later data, information trace.
The step 9 includes:
Color image, thermal imaging data information, space-time location information after uploading Pseudo Col ored Image by mobile network；
The space-time location information includes: the corresponding location information of thermal imaging data, temporal information.
A kind of computer readable storage medium for being stored with computer program provided according to the present invention, the computer journey
The step of above-mentioned binocular visible light and infrared thermal imaging composite imaging method is realized when sequence is executed by processor.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, relative to traditional radar stealthy materials, the Image Fusion that the present invention uses can remove most redundancies in infrared image
The profile informations such as remaining target and visible images are carried out image co-registration, so that fused image not only has by information
Good target and background characteristics can provide abundant background information, while also enhance important target information.
2, the present invention can complete to include that image specifies region or point temperature by intelligent mobile terminal application software module
Intake, enrich image background information.
3, the present invention can be uploaded in real time infrared data by the 4G mobile data function of ARM system module, in movement
Property, convenience all use very big raising, easy popularization and use.
4, the present invention provides a kind of visible photoreactivation infra-red thermal imaging system based on 4G mobile intelligent terminal, can be complete
At thermal imaging temperature calibration, and the combination geographical location GPS etc., thermal imaging data are uploaded in real time, can also pass through thermal imaging
Image fusion technology carries out parsing processing to imaging data and is merged into the picture that people can see in real time, soft by intelligent use
Part completes thermal-image data storage, and the traceable database of complete set is completed in upload server building.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the step flow diagram of binocular visible light according to the present invention and infrared thermal imaging composite imaging method.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
A kind of binocular visible light and infrared thermal imaging complex imaging system provided according to the present invention, comprising:
Thermal imaging module: the focus infrared energy for being issued the object in scene using optical device is in infrared detector
On, then the infrared data from each infrared detector is converted into preset picture format, obtains original infrared image；Into
One step, by SPI interface original infrared image delivery to ARM system mould group.
Visual light imaging module: primary visible light image is acquired by camera；Further, by MIPI interface former
Light-exposed image transmitting begin to ARM system mould group.
ARM system module: the original infrared image is pre-processed, pretreated infrared image is obtained；
Image processing module: it according to the pretreated infrared image, is merged, obtains color image.
Specifically, described image processing module, comprising:
Infrared image enhancement module: image enhancement is carried out to pretreated infrared image, obtains enhanced infrared figure
Picture；Further, image enhancement is carried out to pretreated infrared image according to infrared histogram equalization method, is enhanced
Infrared image afterwards.
Size change over module: primary visible light image, enhanced infrared image are arranged to identical size, obtained
Visible images after obtaining size change over, the infrared image after size change over；Further, according to piecewise linear transform method,
Primary visible light image, enhanced infrared image are arranged to identical size, the visible light after obtaining size change over
Infrared image after image, size change over.
Image registration module: image is carried out to the visible images after size change over, the infrared image after size change over and is matched
Standard, infrared image after visible images, registration after being registrated；
Image co-registration module: image co-registration is carried out to infrared image after visible images, registration after registration, after being merged
Image；Further, after using the fusion method based on Laplacian pyramid to visible images, registration after registration
Infrared image carries out image co-registration, obtains fused image.
False color of image processing module: Pseudo Col ored Image is carried out to fused image, the coloured silk after obtaining Pseudo Col ored Image
Chromatic graph picture.
Specifically, further includes:
Intelligent mobile terminal application software module: specified region or point to the color image after Pseudo Col ored Image carry out
Temperature analysis processing, obtains thermal imaging data information；
ARM system module: the space-time location information of record thermal imaging data information, the cromogram after uploading Pseudo Col ored Image
Picture, thermal imaging data information, space-time location information
Specifically, which is characterized in that the primary visible light image includes: RGB image；
It is described that carry out pretreatment to original infrared thermal imaging image include: nonuniformity correction, blind element compensation, in median filtering
It is any or appoint a variety of processing；
Temperature analysis processing include: the color image after Pseudo Col ored Image specified region or point temperature mark,
Any one of remember, compare, analyze or appoint a variety of processing；The temperature mark includes: to be labeled in the domain point temperature of intake
On fused image；
The space-time location information includes: the corresponding location information of thermal imaging data, temporal information, in location information
It is any or appoint much information；
The ARM system module further include: GPS positioning module, WIFI wireless communication module, 4G communication module, BT communication
Any one of module appoints multiple module；
Specifically, described image Fusion Module includes:
Detail pictures extraction module: the detail pictures of visible images after registration are extracted；The detail pictures include: picture
Lines under different proportion, direction and angle, shape, edge respectively；
Bottom layer image obtains module: carrying out laplacian pyramid multi-resolution decomposition to infrared image after registration, is matched
The bottom layer image of the laplacian pyramid of infrared image after standard；
Preliminary Fusion Module: by the bottom layer image of the laplacian pyramid of infrared image after registration be registrated after visible light
The detail pictures of image are merged, and preliminary blending image is obtained；
Reconstruct Fusion Module: preliminary blending image is reconstructed, fused image is obtained；
The laplacian pyramid multi-resolution decomposition includes: that infrared image after registration is decomposed into multi-Scale Pyramid figure
As sequence, to upper layer direction since bottom layer image, operation is successively executed, forms a pyramidal image data structure；
Wherein, the operation includes: both upper tomographic images for this tomographic image and this tomographic image, will be both described
The image setting of middle low resolution is on upper layer, and in lower layer, the size of upper layer images is next for the image setting of high-resolution
The 1/4 of tomographic image size；
The bottom layer image refers to: original image subtracts a tomographic image thereon and passes through the amplified image of interpolation, obtained difference
It is worth image；
The reconstruct Fusion Module: the La Pula of each image is successively acquired by interpolation from top to bottom since its top layer
This pyramid, then the image of corresponding level is merged, restore its corresponding pyramid, obtains fused image.
Binocular visible light and infrared thermal imaging complex imaging system provided by the invention, the binocular that can be given through the invention
The step process of visible light and infrared thermal imaging composite imaging method is realized.Those skilled in the art can be visible by the binocular
Light and infrared thermal imaging composite imaging method are interpreted as one of the binocular visible light and infrared thermal imaging complex imaging system
Preference.
A kind of binocular visible light and infrared thermal imaging composite imaging method provided according to the present invention, comprising:
Step S101: using optical device by scene object issue focus infrared energy on infrared detector,
Then the infrared data from each detector element is converted into preset picture format, obtains original infrared image；
Primary visible light image is acquired by camera, obtains primary visible light image；
Step S102: according to original infrared image, the original infrared image received is pre-processed, is pre-processed
Infrared image afterwards；
Step S103: image enhancement is carried out to pretreated infrared image, obtains enhanced infrared image；Further
Ground carries out image enhancement to pretreated infrared image according to infrared histogram equalization method, obtains enhanced infrared
Image；
Step S104: enhanced infrared image, primary visible light image are arranged to identical size, obtain ruler
Infrared image after very little transformed visible images, size change over；Further, according to piecewise linear transform method, will increase
Infrared image, primary visible light image after strong are arranged to identical size, visible images after obtaining size change over,
Infrared image after size change over；
Step S105: image registration is carried out to the visible images after size change over, the infrared image after size change over, is obtained
Infrared image after visible images, registration after must being registrated；
Step S106: image co-registration is carried out to infrared image after visible images, registration after registration, obtains fused figure
Picture；Further, using the blending algorithm based on Laplacian pyramid to infrared after visible images, registration after registration
Image carries out image co-registration, obtains fused image；
Step S107: Pseudo Col ored Image is carried out to fused image, the color image after obtaining Pseudo Col ored Image；
Step S108: specified region or point to the color image after Pseudo Col ored Image carry out temperature analysis processing, obtain
Thermal imaging data information；
Step S109: record thermal imaging data information space-time location information, upload Pseudo Col ored Image after color image,
Thermal imaging data information, space-time location information.
Specifically, the step S102, to original infrared thermal imaging image carry out pretreatment include: nonuniformity correction, it is blind
A variety of processing are appointed in any one of member compensation, median filtering；
The step S105 includes that described image registration includes:
It is designed by optics and structure, so that the infrared detector of thermal imaging module and the optics of visual light imaging module pass
The imaging viewing field error of sensor completes the figure to primary visible light image and enhanced infrared image in default error range
As registration.
Specifically, the step S106 includes:
Step S601: the detail pictures of visible images after registration are extracted；
Step S602: carrying out laplacian pyramid multi-resolution decomposition to infrared image after registration, infrared after being registrated
The bottom layer image of the laplacian pyramid of image；
Step S603: by the bottom layer image of the laplacian pyramid of infrared image after registration be registrated after visible images
Detail pictures merged, obtain preliminary blending image；
Step S604: reconstructing preliminary blending image, obtains fused image.
The step S601, the detail pictures include: lines of the picture respectively under different proportion, direction and angle,
Shape, edge；
The step S602, the laplacian pyramid multi-resolution decomposition include: to be decomposed into infrared image after registration
Multi-Scale Pyramid image sequence successively executes operation to upper layer direction since bottom layer image, and formation one is pyramidal
Image data structure；Wherein, the operation includes: both upper tomographic images for this tomographic image and this tomographic image, by institute
The image setting of low resolution in the two is stated on upper layer, the image of high-resolution is arranged in lower layer, the size of upper layer images
It is the 1/4 of next tomographic image size；
The step S603, the bottom layer image refer to: it is amplified by interpolation that original image subtracts a tomographic image thereon
Image, obtained error image；
The step S604 includes: the La Pula for successively acquiring each image by interpolation from top to bottom since its top layer
This pyramid, then the image of corresponding level is merged, restore its corresponding pyramid, obtains fused image.
Specifically, the step S108, the temperature analysis processing include:
The specified region of color image after Pseudo Col ored Image or the temperature of point identify, remember, comparing, analyzing in any
Kind appoints a variety of processing；
The domain point temperature of intake is labeled on fused image, and the infrared datas such as temperature are passed through on mobile network
It passes to server and completes data storage, facilitate the comparative analysis of later data, information trace.Further, temperature etc. is infrared
Data are uploaded onto the server by 4G mobile network completes data storage, facilitates the comparative analysis of later data, information trace.
The step S109 includes:
Color image, thermal imaging data information, space-time location information after uploading Pseudo Col ored Image by mobile network；Into
One step, color image, thermal imaging data information, space-time location information after Pseudo Col ored Image is uploaded by 4G mobile network.
The space-time location information includes: the corresponding location information of thermal imaging data, temporal information.
A kind of computer readable storage medium for being stored with computer program provided according to the present invention, the computer journey
The step of above-mentioned binocular visible light and infrared thermal imaging composite imaging method is realized when sequence is executed by processor.
Below by preference, the present invention is more specifically illustrated.
Embodiment 1:
Modules A (thermal imaging mould group: gathered the infrared energy that the object in scene issues using optical device by thermal imaging mould group
Then coke is converted into the picture format of standard on infrared detector from the infrared data with each detector element) pass through
Infrared picture data is transferred to ARM system mould group -1 by SPI interface, and module B (200W high-definition camera acquires RGB image) is logical
Cross MIPI interface and image data be transferred to ARM system mould group -1, ARM system mould group -1, the image for the modules A that face receives and
Module RGB image carries out melting figure, and combination gets the picture of implementation.
ARM system mould group -1 (it is integrated with GPS/WIFI/BT/4G function, can recorde the location information of thermal imaging data,
Time, place mark the high position of temperature, upload to background management system)
To achieve the goals above, the invention adopts the following technical scheme: image processing module, receives instruction and completes school
Standard, pretreatment, the work such as image co-registration；Intelligent mobile terminal application software module is completed to believe domain point temperature, position, time etc.
The intake of breath is analyzed, and passes through 4G mobile data function upload server.The specific implementation steps are as follows:
Step 1: the focus infrared energy that modules A (thermal imaging mould group) is issued the object in scene using optical device
On infrared detector, original infrared image, module B are then converted into the infrared data from each detector element
(200W high-definition camera) acquires primary visible light image.
Step 2: original infrared picture data is transferred to ARM system mould group -1 by SPI interface, pass through MIPI interface
Primary visible light image data is transferred to ARM system mould group -1.
Step 3: -1 pair of group of ARM system mould collected primary visible light image and original infrared image carry out in advance respectively
Processing.Original Infrared images pre-processing includes nonuniformity correction, blind element compensation and median filtering.
Step 4: infrared image enhancement.Since histogram often reflects the frequency of figure gray value appearance, for comparison
The image of degree Relatively centralized has good effect, in order to improve the contrast of infrared image, after pretreatment, using infrared straight
Square figure equalization method enhances it.
Step 5: having been handled since visible images and infrared image size have differences in infrared image enhancement
Their size is arranged to consistent by Cheng Hou using piecewise linear transform method.In actual process, for visible
The processing of light image only carries out on Y-component (i.e. luminance component), and following steps are similarly.
Step 6: being registrated to visible images and infrared image.Image registration is the necessary links of image co-registration,
Directly affect the quality of final blending image.Visible images and infrared image use the registration mode of rough registration.Pass through optics
The guarantee made is designed with structure, so that modules A (thermal imaging mould group) sensor and module B (200W high-definition camera) sensor
Imaging viewing field close to consistent, that is, complete the rough registration of visible images and infrared image.
Melt Step 7: carrying out image to the image after registration using the fusion method based on Laplacian pyramid
It closes.The process of this method is as follows:
1) details of visible images is extracted；
2) the laplacian pyramid multi-resolution decomposition of infrared image；
3) bottom layer image of infrared image laplacian pyramid is merged with the detail pictures of visible images；
4) blending image is reconstructed.
Step 8: the pseudo-color processing of blending image.Since resolution ratio of the human eye to gray scale only has 20~60 grades, and to face
The resolution ratio of color is the hundred times of gray scale, therefore by blending image combined color image, for promoting human eye to blending image
Perceptibility has great importance.This technology does Pseudo Col ored Image to visible images and the fused image of infrared image again,
Further enhance its visual effect.Pseudo Col ored Image is using gray level-color fusion algorithms, by establishing grayscale image
Gray level image is converted to color image by the mapping relations in the gray level of picture and color space between various colors.
Step 9: intelligent mobile terminal application software module, can complete to include the scale of thermometer that image specifies region or point
Know, memory is compared, the work such as analysis.
Step 10: ARM system mould group -1, is integrated with GPS/WIFI/BT/4G function, the position of thermal imaging data can recorde
Confidence breath, time, place etc. can realize that thermal imaging data include that domain point temperature uploads in real time by 4G mobile network.
In the description of the present application, it is to be understood that term " on ", "front", "rear", "left", "right", " is erected at "lower"
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, description the application is merely for convenience of and simplifies description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
It, completely can be by the way that method and step be carried out programming in logic come so that provided by the invention other than system, device and its modules
System, device and its modules are declined with logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and insertion
The form of controller etc. realizes identical program.So system provided by the invention, device and its modules may be considered that
It is a kind of hardware component, and the knot that the module for realizing various programs for including in it can also be considered as in hardware component
Structure；It can also will be considered as realizing the module of various functions either the software program of implementation method can be Hardware Subdivision again
Structure in part.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of binocular visible light and infrared thermal imaging complex imaging system characterized by comprising
Thermal imaging module: the focus infrared energy for being issued the object in scene using optical device is on infrared detector, so
The infrared data from each infrared detector is converted into preset picture format afterwards, obtains original infrared image；
Visual light imaging module: primary visible light image is acquired by camera；
ARM system module: the original infrared image is pre-processed, pretreated infrared image is obtained；
Image processing module: it according to the pretreated infrared image, is merged, obtains color image.
2. binocular visible light according to claim 1 and infrared thermal imaging complex imaging system, which is characterized in that the figure
As processing module, comprising:
Infrared image enhancement module: image enhancement is carried out to pretreated infrared image, obtains enhanced infrared image；
Size change over module: primary visible light image, enhanced infrared image are arranged to identical size, obtain ruler
Infrared image after very little transformed visible images, size change over；
Image registration module: image registration is carried out to the visible images after size change over, the infrared image after size change over, is obtained
Infrared image after visible images, registration after must being registrated；
Image co-registration module: image co-registration is carried out to infrared image after visible images, registration after registration, obtains fused figure
Picture；
False color of image processing module: Pseudo Col ored Image is carried out to fused image, the cromogram after obtaining Pseudo Col ored Image
Picture.
3. binocular visible light according to claim 1 and infrared thermal imaging complex imaging system, which is characterized in that also wrap
It includes:
Intelligent mobile terminal application software module: specified region or point to the color image after Pseudo Col ored Image carry out temperature
Analysis processing, obtains thermal imaging data information；
ARM system module: record thermal imaging data information space-time location information, upload Pseudo Col ored Image after color image,
Thermal imaging data information, space-time location information.
4. binocular visible light according to claim 3 and infrared thermal imaging complex imaging system, which is characterized in that the original
Beginning visible images include: RGB image；
It is described that carry out pretreatment to original infrared thermal imaging image include: nonuniformity correction, blind element compensation, appointing in median filtering
A kind of or a variety of processing；
Temperature analysis processing include: the color image after Pseudo Col ored Image specified region or the temperature mark of point, memory,
Any one of compare, analyze or appoint a variety of processing；The temperature mark includes: after the domain point temperature of intake is labeled in fusion
Image on；
The space-time location information includes: the corresponding location information of thermal imaging data, temporal information, appointing in location information
A kind of or much information；
The ARM system module further include: GPS positioning module, WIFI wireless communication module, 4G communication module, BT communication module
Any one of or appoint multiple module.
5. binocular visible light according to claim 2 and infrared thermal imaging complex imaging system, which is characterized in that the figure
As Fusion Module includes:
Detail pictures extraction module: the detail pictures of visible images after registration are extracted；The detail pictures include: picture difference
Lines, shape, edge under different proportion, direction and angle；
Bottom layer image obtains module: laplacian pyramid multi-resolution decomposition is carried out to infrared image after registration, after being registrated
The bottom layer image of the laplacian pyramid of infrared image；
Preliminary Fusion Module: by the bottom layer image of the laplacian pyramid of infrared image after registration be registrated after visible images
Detail pictures merged, obtain preliminary blending image；
Reconstruct Fusion Module: preliminary blending image is reconstructed, fused image is obtained；
The laplacian pyramid multi-resolution decomposition includes: that infrared image after registration is decomposed into multi-Scale Pyramid image sequence
Column successively execute operation to upper layer direction since bottom layer image, form a pyramidal image data structure；
Wherein, the operation includes: both upper tomographic images for this tomographic image and this tomographic image, by described the two compared with
The image setting of low resolution is on upper layer, and in lower layer, the size of upper layer images is next layer of figure for the image setting of high-resolution
As the 1/4 of size；
The bottom layer image refers to: original image subtracts a tomographic image thereon and passes through the amplified image of interpolation, obtained differential chart
Picture；
The reconstruct Fusion Module: Laplce's gold of each image is successively acquired by interpolation from top to bottom since its top layer
Word tower, then the image of corresponding level is merged, restore its corresponding pyramid, obtains fused image.
6. a kind of binocular visible light and infrared thermal imaging composite imaging method characterized by comprising
Step 1: then the focus infrared energy for being issued the object in scene using optical device is come from infrared detector
It is converted into preset picture format in the infrared data of each detector element, obtains original infrared image；
Primary visible light image is acquired by camera, obtains primary visible light image；
Step 2: according to original infrared image, the original infrared image received being pre-processed, is obtained pretreated red
Outer image.
Step 3: image enhancement being carried out to pretreated infrared image, obtains enhanced infrared image；
Step 4: enhanced infrared image, primary visible light image being arranged to identical size, obtain size change over
Infrared image after rear visible images, size change over；
Step 5: image registration being carried out to the visible images after size change over, the infrared image after size change over, is registrated
Infrared image after visible images, registration afterwards；
Step 6: image co-registration being carried out to infrared image after visible images, registration after registration, obtains fused image；
Step 7: Pseudo Col ored Image being carried out to fused image, the color image after obtaining Pseudo Col ored Image；
Step 8: specified region or point to the color image after Pseudo Col ored Image carry out temperature analysis processing, obtain thermal imaging
Data information；
Step 9: the space-time location information of record thermal imaging data information, color image, thermal imaging after uploading Pseudo Col ored Image
Data information, space-time location information.
7. binocular visible light according to claim 6 and infrared thermal imaging composite imaging method, which is characterized in that the step
Rapid 2, carrying out pretreatment to original infrared thermal imaging image includes: any one of nonuniformity correction, blind element compensation, median filtering
Or appoint a variety of processing；
The step 5 includes that described image registration includes:
It is designed by optics and structure, so that the optical sensor of the infrared detector of thermal imaging module and visual light imaging module
Imaging viewing field error in default error range, the image of primary visible light image and enhanced infrared image is matched in completion
It is quasi-.
8. binocular visible light according to claim 6 and infrared thermal imaging composite imaging method, which is characterized in that the step
Rapid 6 include:
Step 6.1: extracting the detail pictures of visible images after registration；
Step 6.2: laplacian pyramid multi-resolution decomposition, infrared image after being registrated are carried out to infrared image after registration
The bottom layer image of laplacian pyramid；
Step 6.3: by the bottom layer image of the laplacian pyramid of infrared image after registration be registrated after visible images it is thin
Section image is merged, and preliminary blending image is obtained；
Step 6.4: reconstructing preliminary blending image, obtain fused image.
The step 6.1, the detail pictures include: lines of the picture respectively under different proportion, direction and angle, shape,
Edge；
The step 6.2, the laplacian pyramid multi-resolution decomposition include: infrared image after registration is decomposed into it is multiple dimensioned
Pyramid image sequence successively executes operation to upper layer direction since bottom layer image, forms a pyramidal picture number
According to structure；Wherein, the operation includes: both upper tomographic images for this tomographic image and this tomographic image, will be both described
The image setting of middle low resolution is on upper layer, and in lower layer, the size of upper layer images is next for the image setting of high-resolution
The 1/4 of tomographic image size；
The step 6.3, the bottom layer image refer to: original image subtracts a tomographic image thereon and passes through the amplified image of interpolation,
Obtained error image；
The step 6.4 includes: successively to acquire Laplce's gold of each image by interpolation from top to bottom since its top layer
Word tower, then the image of corresponding level is merged, restore its corresponding pyramid, obtains fused image.
9. binocular visible light according to claim 6 and infrared thermal imaging composite imaging method, which is characterized in that the step
Rapid 8, the temperature analysis, which is handled, includes:
The specified region of color image after Pseudo Col ored Image or the temperature of point any one of identify, remember, compare, analyze or
Appoint a variety of processing；
The domain point temperature of intake is labeled on fused image, and the infrared datas such as temperature are uploaded to by mobile network
Server completes data storage, facilitates the comparative analysis of later data, information trace.
The step 9 includes:
Color image, thermal imaging data information, space-time location information after uploading Pseudo Col ored Image by mobile network；
The space-time location information includes: the corresponding location information of thermal imaging data, temporal information.
10. a kind of computer readable storage medium for being stored with computer program, which is characterized in that the computer program is located
It manages and realizes binocular visible light described in any one of claim 6 to 9 and infrared thermal imaging composite imaging method when device executes
Step.
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