CN110084753A - Dynamic DR image split-joint method and terminal based on Multi-sensor Fusion - Google Patents
Dynamic DR image split-joint method and terminal based on Multi-sensor Fusion Download PDFInfo
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- 238000012545 processing Methods 0.000 claims abstract description 37
- 230000009977 dual effect Effects 0.000 claims abstract description 29
- 210000000988 bone and bone Anatomy 0.000 claims description 42
- 238000012937 correction Methods 0.000 claims description 16
- 210000004872 soft tissue Anatomy 0.000 claims description 13
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- 238000003759 clinical diagnosis Methods 0.000 abstract description 3
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/50—Clinical applications
- A61B6/505—Clinical applications involving diagnosis of bone
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- 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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
Abstract
The invention discloses a kind of dynamic DR image split-joint method and terminal based on Multi-sensor Fusion, method include: by the first X-ray bulb and the second X-ray bulb detected object of dynamic irradiation simultaneously；The displacement information between the initial pictures of detected object and the initial pictures of adjacent two frame is acquired respectively；Processing is split to initial pictures according to the window size of the light concentrator on the first X-ray bulb and the second X-ray bulb, obtains dual intensity irradiation image；Enhancing image is calculated according to the relative positional relationship between displacement information, dual intensity irradiation image and the first X-ray bulb and the second X-ray bulb；Processing is zoomed in and out to enhancing image, obtains image to be spliced；Stitching image is treated according to the speed of displacement information and dynamic irradiation and carries out splicing, obtains stitching image.The present invention can effectively avoid parallax and distortion, and Image Acquisition precision is high, and it is good finally to splice obtained picture quality, and clinical diagnosis precision can be improved.
Description
Technical field
The present invention relates to technical field of image processing more particularly to a kind of dynamic DR image spellings based on Multi-sensor Fusion
Connect method and terminal.
Background technique
Dynamic DR (Digital Radiography, digital X-ray imaging) system be release within 2015 or so it is medical at
As system, for traditional static DR system, dynamic DR system cannot be only used for static film making, also achievable radiography and saturating
Depending on etc. Premium Features, improve the convenience and diagnostic accuracy of diagnosis.
Long bone image can provide clinical diagnosis foundation for doctor, in joint angles measurement, the measurement of lower limb line of tension and bone
Post-operative recovery measurement etc. has important clinical meaning.Therefore the technology has higher requirement in image measurement precision aspect,
More there is high required precision in terms of assessment bone growth.
Traditional long bone joining method is all based on static DR system, and there are mainly two types of static DR long bone joining methods,
One of which is fixed focal length method, and another kind is fixed range method.Wherein fixed focal length method specifically includes: 1, by source to image distance from
(Source to image distance, SID) rises to higher position；2, bulb is rotated, detector is moved to initial position,
Shoot an image；3, continue to rotate bulb, adjust detector position, shoot several images until final position；4, according to ball
Multiple images are generated long bone image using respective algorithms by the parameters such as tube angulation and SID.Fixed range method specifically includes: 1, adopting
With fixed SID, source focus crosses detector center and perpendicular to detector；2, mobile bulb and detector are shot to initial position
One image；3, the position for continuing to move to bulb and detector shoots several images until final position；4, according to image weight
Multiple images are generated long bone image using respective algorithms by the information such as right.
Based on two kinds of long bone connection schemes of static DR system because the factors such as distortion and parallax reduce diagnostic accuracy.Wherein
Fixed focal length method avoids by using higher SID and rotation angle and occurs parallax at image mosaic, in focal length and detector
Intersection image has comparatively ideal precision.However the imaging mode fixed due to its radiographic source focal length, lead to detector focal point
Remoter, then its pattern distortion is bigger, causes long bone image measurement accuracy poor.Fixed range method generally shoots several images,
Therefore detector and source focal length intersection can reach ideal precision in every image.But since the ray that the source issues is cone
Beam form, therefore focal point remote position measurement accuracy is undesirable in the picture, and is often adjacent two images splicing at this
Place, causes stitching portion parallax occur since two images focal length is inconsistent, occurs most of clinical letter after splicing at image mosaic
Inconsistent phenomenon is ceased, which easily causes mistaken diagnosis and fail to pinpoint a disease in diagnosis.Parallax can be improved to solid by reducing image taking spacing
The influence of set a distance method, however patient can therefore be caused to receive that roentgen dose X is big, complicated for operation, shooting time is long and easy transport
The side effects such as dynamic artifact.
Summary of the invention
The technical problems to be solved by the present invention are: provide a kind of DR image split-joint method based on Multi-sensor Fusion and
Terminal is greatly improved the joining quality of long bone image.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows:
A kind of dynamic DR image split-joint method based on Multi-sensor Fusion, comprising:
The energy for presetting the first X-ray bulb and the second X-ray bulb respectively, wherein the energy of the first X-ray bulb
Amount is less than the energy of the second X-ray bulb；
Pass through the first X-ray bulb and the second X-ray bulb detected object of dynamic irradiation simultaneously；
The displacement between the initial pictures of the detected object and the initial pictures of adjacent two frame is acquired respectively
Information；
According to the window size of the light concentrator on the first X-ray bulb and the second X-ray bulb to described initial
Image is split processing, obtains dual intensity irradiation image；
According between institute's displacement information, dual intensity irradiation image and the first X-ray bulb and the second X-ray bulb
Relative positional relationship enhancing image is calculated；
Processing is zoomed in and out to the enhancing image, obtains image to be spliced；
Stitching image is treated according to the speed of institute's displacement information and dynamic irradiation and carries out splicing, obtains spliced map
Picture.
Another technical solution that the present invention uses are as follows:
A kind of dynamic DR image mosaic terminal based on Multi-sensor Fusion, including memory, processor and be stored in
On the memory and the computer program that can run on a processor, the processor are realized when executing the computer program
Following steps:
The energy for presetting the first X-ray bulb and the second X-ray bulb respectively, wherein the energy of the first X-ray bulb
Amount is less than the energy of the second X-ray bulb；
Pass through the first X-ray bulb and the second X-ray bulb detected object of dynamic irradiation simultaneously；
The displacement between the initial pictures of the detected object and the initial pictures of adjacent two frame is acquired respectively
Information；
According to the window size of the light concentrator on the first X-ray bulb and the second X-ray bulb to described initial
Image is split processing, obtains dual intensity irradiation image；
According between institute's displacement information, dual intensity irradiation image and the first X-ray bulb and the second X-ray bulb
Relative positional relationship enhancing image is calculated；
Processing is zoomed in and out to the enhancing image, obtains image to be spliced；
Stitching image is treated according to the speed of institute's displacement information and dynamic irradiation and carries out splicing, obtains spliced map
Picture.
The beneficial effects of the present invention are: different-energy is emitted by the first X-ray bulb and the second X-ray bulb respectively
X-ray, may be respectively used for acquisition detected object soft tissue and bone image, then according to soft tissue and bone image
Bone, which can be calculated, clearly enhances image, improves detection accuracy；Zooming in and out processing to enhancing image can avoid cone-beam
Ray enlarge-effect caused by bone image improves subsequent image joining quality；To detected object carry out dynamic irradiation and
Detection, it is possible to prevente effectively from parallax and distortion.
Detailed description of the invention
Fig. 1 is the flow chart of the dynamic DR image split-joint method based on Multi-sensor Fusion of the embodiment of the present invention one；
Fig. 2 is the overall structure diagram of the image collecting device of the embodiment of the present invention one；
Fig. 3 is the partial structure diagram of the image collecting device of the embodiment of the present invention one；
Fig. 4 is the schematic diagram of the Image Acquisition principle of the embodiment of the present invention one；
Fig. 5 is the schematic diagram of the image segmentation of the embodiment of the present invention one；
Fig. 6 is the schematic diagram of the acquisition principle of the thickness image of the embodiment of the present invention one；
Fig. 7 is the schematic diagram of the image mosaic of the embodiment of the present invention one；
Fig. 8 is the schematic diagram of the dynamic DR image mosaic terminal based on Multi-sensor Fusion of the embodiment of the present invention two.
Label declaration:
1, high pressure generator；2, bulb；2-1, the first X-ray bulb；2-2, the second X-ray bulb；3, light concentrator；3-1,
First light concentrator；3-2, the second light concentrator；4, rack；4-1, fixture；
4-2, bearing group；4-3, laser displacement sensor；5, bed body；6, foot pedal；7, detector,；
8, electromechanical driving system；8-1, chain；8-2, gear；8-3, motor；8-4, rotary encoder；8-5, pulling force resistance
Sensor；9, industrial personal computer；10, laser vision sensor；10-1, laser light source；
10-2, CMOS camera；11, detected object；
100, dynamic DR image mosaic terminal；101, memory；102, processor.
Specific embodiment
To explain the technical content, the achieved purpose and the effect of the present invention in detail, below in conjunction with embodiment and cooperate attached
Figure is explained.
The most critical design of the present invention is: emitting different energy respectively by the first X-ray bulb and the second X-ray bulb
The X-ray of amount may be respectively used for the soft tissue and bone image of acquisition detected object, then according to soft tissue and skeletal graph
Clearly enhance image as bone can be calculated.
Please refer to Fig. 1, a kind of dynamic DR image split-joint method based on Multi-sensor Fusion, comprising:
The energy for presetting the first X-ray bulb and the second X-ray bulb respectively, wherein the energy of the first X-ray bulb
Amount is less than the energy of the second X-ray bulb；
Pass through the first X-ray bulb and the second X-ray bulb detected object of dynamic irradiation simultaneously；
The displacement between the initial pictures of the detected object and the initial pictures of adjacent two frame is acquired respectively
Information；
According to the window size of the light concentrator on the first X-ray bulb and the second X-ray bulb to described initial
Image is split processing, obtains dual intensity irradiation image；
According between institute's displacement information, dual intensity irradiation image and the first X-ray bulb and the second X-ray bulb
Relative positional relationship enhancing image is calculated；
Processing is zoomed in and out to the enhancing image, obtains image to be spliced；
Stitching image is treated according to the speed of institute's displacement information and dynamic irradiation and carries out splicing, obtains spliced map
Picture.
As can be seen from the above description, the beneficial effects of the present invention are: pass through the first X-ray bulb and the second X-ray bulb
The X-ray for emitting different-energy respectively, may be respectively used for the soft tissue and bone image of acquisition detected object, then basis
Bone, which can be calculated, in soft tissue and bone image clearly enhances image, improves detection accuracy；It contracts to enhancing image
Putting processing can avoid cone-beam x-ray enlarge-effect caused by bone image, improve subsequent image joining quality；To detected pair
As carrying out dynamic irradiation and detection, it is possible to prevente effectively from parallax and distortion.
Further, described according to institute's displacement information, dual intensity irradiation image and the first X-ray bulb and second
Relative positional relationship between X-ray bulb is calculated enhancing image and specifically includes:
It is closed according to the relative position between institute's displacement information and the first X-ray bulb and the second X-ray bulb
System matches the dual intensity irradiation image at a position of detected object, obtains a position and shines in the first X-ray bulb
The high energy image of low energy image and a position under the irradiation of the second X-ray bulb under penetrating；
The enhancing image at a position is calculated according to the low energy image and high energy image.
Seen from the above description, according to the available a certain portion of relative positional relationship between displacement information and two bulbs
Low energy image and high energy image, are calculated the enhancing figure that a certain position just can be obtained by the low energy image and high energy image of position
Picture.
Further, the enhancing image that a position is calculated according to the low energy image and high energy image has
Body are as follows: according to formulaThe enhancing image at a position is calculated, wherein FnIndicate enhancing image, LnTable
Show low energy image, Hn,lIndicate that high energy image, q indicate soft tissue attenuation coefficient, value range is [0,0.5], and n indicates photographed frame
Number, l indicate the relative displacement between the high energy image and low energy image at a position.
Further, described that processing is zoomed in and out to the enhancing image, it obtains image to be spliced and specifically includes:
Obtain the thickness image of detected object；
Binaryzation and edge extracting processing are carried out to the thickness image, obtain thickness profile image；
The thickness profile image is detected by gradient operator, obtains effective contour region；
Using the center in the effective contour region as the position of bone；
According to the source of the thickness image to image distance from and the position of the bone zoom factor is calculated；
Processing is zoomed in and out to the enhancing image according to the zoom factor, obtains image to be spliced.
Seen from the above description, by the way that the detection accuracy of image can be improved to detected object progress thickness measure, from
And improve the quality of subsequent stitching image.
Further, the source according to the thickness image to image distance from and the position of the bone contracting is calculated
Put coefficient specifically: according to formulaZoom factor is calculated, wherein f indicates that zoom factor, SID indicate that source is arrived
Image distance is from s indicates bone to the distance of picture.
Further, the speed according to institute's displacement information and dynamic irradiation treats stitching image and carries out stitching portion
Reason, obtains stitching image and specifically includes:
The center image region of the image to be spliced is intercepted as region to be spliced；
It is sat according to the splicing that the pixel in region to be spliced is calculated in the speed of institute's displacement information and dynamic irradiation
Mark；
Gamma correction is carried out to the region to be spliced；
According to the splicing coordinate, image co-registration is carried out to the region to be spliced after gamma correction, obtains stitching image.
Seen from the above description, the portion central region for intercepting image to be spliced is merged as region to be spliced, can
Effectively to avoid generating pattern distortion；It treats splicing regions and carries out gamma correction, joining quality can be improved.
Further, described according to the splicing coordinate, image co-registration is carried out to the region to be spliced after gamma correction, is obtained
To stitching image specifically:
According to formula Fn(x, y)=w1·Fn(x,y)+w2·Fn+1The overlay region of (x, y) to two neighboring region to be spliced
Domain is merged, wherein (x, y) indicates the splicing coordinate of pixel, and x, y ∈ (Fn∩Fn+1),
yLAnd yUThe boundary pixel coordinate in respectively two neighboring region to be spliced.
Seen from the above description, fusion treatment need to be only carried out to the lap in two neighboring region to be spliced, it is underlapped
Part is without being merged.
Please refer to Fig. 8, another technical solution of the present invention are as follows:
A kind of dynamic DR image mosaic terminal 100 based on Multi-sensor Fusion, including memory 101, processor 102 with
And it is stored in the computer program that can be run on the memory 101 and on the processor 102, the processor 102 executes institute
It is performed the steps of when stating computer program
The energy for presetting the first X-ray bulb and the second X-ray bulb respectively, wherein the energy of the first X-ray bulb
Amount is less than the energy of the second X-ray bulb；
Pass through the first X-ray bulb and the second X-ray bulb detected object of dynamic irradiation simultaneously；
The displacement between the initial pictures of the detected object and the initial pictures of adjacent two frame is acquired respectively
Information；
According to the window size of the light concentrator on the first X-ray bulb and the second X-ray bulb to described initial
Image is split processing, obtains dual intensity irradiation image；
According between institute's displacement information, dual intensity irradiation image and the first X-ray bulb and the second X-ray bulb
Relative positional relationship enhancing image is calculated；
Processing is zoomed in and out to the enhancing image, obtains image to be spliced；
Stitching image is treated according to the speed of institute's displacement information and dynamic irradiation and carries out splicing, obtains spliced map
Picture.
Further, described according to institute's displacement information, dual intensity irradiation image and the first X-ray bulb and second
Relative positional relationship between X-ray bulb is calculated enhancing image and specifically includes:
It is closed according to the relative position between institute's displacement information and the first X-ray bulb and the second X-ray bulb
System matches the dual intensity irradiation image at a position of detected object, obtains a position and shines in the first X-ray bulb
The high energy image of low energy image and a position under the irradiation of the second X-ray bulb under penetrating；
The enhancing image at a position is calculated according to the low energy image and high energy image.
Further, the enhancing image that a position is calculated according to the low energy image and high energy image has
Body are as follows: according to formulaThe enhancing image at a position is calculated, wherein FnIndicate enhancing image, LnTable
Show low energy image, Hn,lIndicate that high energy image, q indicate soft tissue attenuation coefficient, value range is [0,0.5], and n indicates photographed frame
Number, l indicate the relative displacement between the high energy image and low energy image at a position.
Further, described that processing is zoomed in and out to the enhancing image, it obtains image to be spliced and specifically includes:
Obtain the thickness image of detected object；
Binaryzation and edge extracting processing are carried out to the thickness image, obtain thickness profile image；
The thickness profile image is detected by gradient operator, obtains effective contour region；
Using the center in the effective contour region as the position of bone；
According to the source of the thickness image to image distance from and the position of the bone zoom factor is calculated；
Processing is zoomed in and out to the enhancing image according to the zoom factor, obtains image to be spliced.
Further, the source according to the thickness image to image distance from and the position of the bone contracting is calculated
Put coefficient specifically: according to formulaZoom factor is calculated, wherein f indicates that zoom factor, SID indicate that source is arrived
Image distance is from s indicates bone to the distance of picture.
Further, the speed according to institute's displacement information and dynamic irradiation treats stitching image and carries out stitching portion
Reason, obtains stitching image and specifically includes:
The center image region of the image to be spliced is intercepted as region to be spliced；
It is sat according to the splicing that the pixel in region to be spliced is calculated in the speed of institute's displacement information and dynamic irradiation
Mark；
Gamma correction is carried out to the region to be spliced；
According to the splicing coordinate, image co-registration is carried out to the region to be spliced after gamma correction, obtains stitching image.
Further, described according to the splicing coordinate, image co-registration is carried out to the region to be spliced after gamma correction, is obtained
To stitching image specifically:
According to formula Fn(x, y)=w1·Fn(x,y)+w2·Fn+1The overlay region of (x, y) to two neighboring region to be spliced
Domain is merged, wherein (x, y) indicates the splicing coordinate of pixel, and x, y ∈ (Fn∩Fn+1),
yLAnd yUThe boundary pixel coordinate in respectively two neighboring region to be spliced.
Embodiment one
Please refer to Fig. 1 to Fig. 7, the embodiment of the present invention one are as follows: a kind of dynamic DR image spelling based on Multi-sensor Fusion
Method is connect, as shown in Figure 1, including the following steps:
S1, the energy for presetting the first X-ray bulb and the second X-ray bulb respectively, wherein the first X-ray bulb
Energy is less than the energy of the second X-ray bulb.Fig. 2 and Fig. 3 is the schematic diagram of the image collecting device of the present embodiment, image
Acquisition device includes high pressure generator 1, bulb 2, light concentrator 3, rack 4, bed body 5, foot pedal 6, detector 7, electro-mechanical powertrain
System 8, industrial personal computer 9 and laser vision sensor, wherein bulb 2 includes the first X-ray bulb 2-1 and the second X-ray bulb 2-2,
And first X-ray bulb 2-1 the top of the second X-ray bulb 2-2 is set, light concentrator 3 includes the first light concentrator 3-1 and second
On the first X-ray bulb 2-1, the second light concentrator 3-2 is arranged in the second X-ray for light concentrator 3-2, the first light concentrator 3-1 setting
On bulb 2-2.High pressure generator 1 provides high voltage power supply to the first X-ray bulb 2-1 and the second X-ray bulb 2-2 respectively, by
This generates cone-beam x-ray, wherein the irradiation field of X-ray, built-in filtering can be changed in the first light concentrator 3-1 and the second light concentrator 3-2
Ray frequency spectrum can be changed in piece.X-ray decays after detected object (generally human body), and attenuation ray can be by detector
7 receive, and the processing of industrial personal computer 9 is then sent to after A/D is converted.In the present embodiment, high pressure generator 1 is the first X-ray bulb
2-1 provides the high pressure of 60kV, provides the high pressure of 100kV for the second X-ray bulb 2-2, so that the first X-ray bulb 2-1 emits
Soft ray, the second X-ray bulb emit hard ray, and the upper and lower side of detector 7 can acquire the soft tissue of detected object respectively
And bone image.
S2, pass through the first X-ray bulb and the second X-ray bulb detected object of dynamic irradiation simultaneously.When detection,
Detected object is stood on foot pedal 6 with certain posture, then initializes relevant parameter, including detector 7 by industrial personal computer 9
Frame per second, the movement velocity of electromechanical driving system 8, the first light concentrator 3-1 and the second light concentrator 3-2 window size, high pressure
The exposure pulsewidth of raw device and the voltage of the first X-ray bulb 2-1 and the second X-ray bulb.
Position between the initial pictures of S3, the initial pictures for acquiring the detected object respectively and adjacent two frame
Move information.The initial position for determining Image Acquisition first, is then acquired by electromechanical driving system 8 from top to bottom or from the bottom up
Image.While acquiring image, it is also necessary to feed back the displacement information between adjacent two field pictures to industrial personal computer 9.Such as Fig. 3 institute
Show, rack 4 is equipped with fixture 4-1, and fixture 4-1 is equipped with bearing group 4-2, for connecting the guide rail of 5 side of bed body, motor 8-3
Connect with gear 8-2, moved for drive chain 8-1, motor 8-3 rotation can make rack 4, detector 7 and bulb 2 (including
Light concentrator 3) it moves up and down together, in the present embodiment, motor 8-3 is rotated with constant speed, but due to its precision deficiency, is needed
Other devices are set to detect displacement information.One kind can install rotary encoder 8-4 on motor 8-3, and motor is turned
Dynamic number is converted to displacement；One kind can install pulling force electric resistance sensor 8-5 on chain 8-1, and pulling force induction is converted to
Displacement；Laser displacement sensor 4-3 can also be installed in rack 4 to measure displacement.It, can be each in the present embodiment
The image sampling period feeds back displacement information to industrial personal computer 9.
It is assumed that the speed of service of motor 8-3 is 120mm/s, the sample frequency of detector 7 is 3FPS, motor
Start to acquire image when 8-3 uniform rotation, 3 frame image (F can be acquired in [t, t+1] s1,F2,F3), then adjacent two field pictures it
Between displacement be 40mm.
S4, according to the window size of the light concentrator on the first X-ray bulb and the second X-ray bulb to it is described just
Beginning image is split processing, obtains dual intensity irradiation image.As shown in figure 5, the first light concentrator 3-1 makes the first X-ray bulb 2-1
Imaging region be upper gray region, the second light concentrator 3-2 makes the imaging region lower part grey of the second X-ray bulb 2-2
Region, the other parts blocked by light concentrator hardly receive X-ray, therefore are in black.
S5, according to institute's displacement information, dual intensity irradiation image and the first X-ray bulb and the second X-ray bulb
Between relative positional relationship enhancing image is calculated.
In the present embodiment, step S5 is specifically included:
S51, according to the opposite position between institute's displacement information and the first X-ray bulb and the second X-ray bulb
It sets relationship to match the dual intensity irradiation image at a position of detected object, obtains a position in the first X-ray ball
The high energy image of low energy image and a position under the irradiation of the second X-ray bulb under pipe irradiation.
S52, the enhancing image that a position is calculated according to the low energy image and high energy image.Step S52 tool
Body are as follows: according to formulaThe enhancing image at a position is calculated, wherein FnIndicate enhancing image, LnTable
Show low energy image, Hn,lIndicate that high energy image, q indicate soft tissue attenuation coefficient, value range is [0,0.5], and n indicates photographed frame
Number, l indicate the relative displacement between the high energy image and low energy image at a position.
S6, processing is zoomed in and out to the enhancing image, obtains image to be spliced.
In the present embodiment, step 6 is specifically included:
S61, the thickness image for obtaining detected object.As shown in fig. 6, being detected by the acquisition of laser vision sensor 10
The thickness of object 11, laser vision sensor 10 include laser light source 10-1 and CMOS camera 10-2, and laser light source 10-1 shines
It penetrates on detected object 11, thickness image is collected by CMOS camera 10-2.
S62, binaryzation and edge extracting processing are carried out to the thickness image, obtain thickness profile image.
S63, the thickness profile image is detected by gradient operator, obtains effective contour region.
S64, using the center in the effective contour region as the position of bone.That is, by the median in effective contour region
Relative position as bone.
S65, according to the source of the thickness image to image distance from and the position of the bone zoom factor is calculated.Step
Rapid S65 specifically: according to formulaZoom factor is calculated, wherein f indicates that zoom factor, SID indicate that source is arrived
Image distance is from s indicates bone to the distance of picture, and the distance of bone to picture is that the median in the effective contour region is arrived plus bed body
The distance of picture.
S66, processing is zoomed in and out to the enhancing image according to the zoom factor, obtains image to be spliced.To enhancing
Image zooms in and out processing, can be to avoid cone-beam x-ray to enlarge-effect caused by bone imaging.
S7, stitching image progress splicing is treated according to the speed of institute's displacement information and dynamic irradiation, spelled
Map interlinking picture.
In the present embodiment, step S7 is specifically included:
S71, the center image region of the image to be spliced is intercepted as region to be spliced.Center image region is i.e. with coke
Away from the partial image region centered on picture centre intersection, such as the image of wide 50mm can be intercepted as area to be spliced
Domain can effectively avoid generation pattern distortion.Therefore, the window of light concentrator can be reduced between film making, reduces detected pair
As received dose of radiation.
S72, the spelling that the pixel in region to be spliced is calculated according to the speed of institute's displacement information and dynamic irradiation
Connect coordinate.As shown in Figure 7, it is assumed that the speed of service (i.e. the speed of dynamic irradiation) is 120mm/s, sample rate to sampling system up and down
For 3FPS, then the stroke of 1s is 120mm, and intercepting three width is the region to be spliced of 40mm with regard to the sliceable figure for obtaining wide 120mm
Picture.In the present embodiment, the width in the region to be spliced actually intercepted is wider than width actually required, such as can intercept
50mm, upper and lower boundary 5mm are used for image co-registration.
S73, gamma correction is carried out to the region to be spliced.It, can be by two regions to be spliced when carrying out gamma correction
The average value of several pixel grey scales in intersection is as gray scale benchmark, if one of them region to be spliced is in the ash of the pixel of intersection
It spends average value and is lower than the gray scale benchmark, then a coefficient greater than 1 is calculated, by coefficient to the picture in the region to be spliced
Plain point-by-point weighting.
S74, spliced map is obtained to the region to be spliced progress image co-registration after gamma correction according to the splicing coordinate
Picture.Step S74 specifically:
According to formula Fn(x, y)=w1·Fn(x,y)+w2·Fn+1The overlay region of (x, y) to two neighboring region to be spliced
Domain is merged, wherein (x, y) indicates the splicing coordinate of pixel, and x, y ∈ (Fn∩Fn+1),
yLAnd yUThe boundary pixel coordinate in respectively two neighboring region to be spliced.In the present embodiment, two neighboring region to be spliced is not
Lap does not need to be merged.Two regions to be spliced complete to obtain a stitching image after splicing, then by the stitching image
Spliced with next region to be spliced, until completion until splicing all regions to be spliced.
Embodiment two
Please refer to Fig. 8, the embodiment of the present invention two are as follows:
A kind of dynamic DR image mosaic terminal 100 based on Multi-sensor Fusion, packet corresponding with the method for embodiment one
It includes memory 101, processor 102 and is stored in the computer journey that can be run on the memory 101 and on the processor 102
Sequence, the processor 102 perform the steps of when executing the computer program
The energy for presetting the first X-ray bulb and the second X-ray bulb respectively, wherein the energy of the first X-ray bulb
Amount is less than the energy of the second X-ray bulb；
Pass through the first X-ray bulb and the second X-ray bulb detected object of dynamic irradiation simultaneously；
The displacement between the initial pictures of the detected object and the initial pictures of adjacent two frame is acquired respectively
Information；
According to the window size of the light concentrator on the first X-ray bulb and the second X-ray bulb to described initial
Image is split processing, obtains dual intensity irradiation image；
According between institute's displacement information, dual intensity irradiation image and the first X-ray bulb and the second X-ray bulb
Relative positional relationship enhancing image is calculated；
Processing is zoomed in and out to the enhancing image, obtains image to be spliced；
Stitching image is treated according to the speed of institute's displacement information and dynamic irradiation and carries out splicing, obtains spliced map
Picture.
Further, described according to institute's displacement information, dual intensity irradiation image and the first X-ray bulb and second
Relative positional relationship between X-ray bulb is calculated enhancing image and specifically includes:
It is closed according to the relative position between institute's displacement information and the first X-ray bulb and the second X-ray bulb
System matches the dual intensity irradiation image at a position of detected object, obtains a position and shines in the first X-ray bulb
The high energy image of low energy image and a position under the irradiation of the second X-ray bulb under penetrating；
The enhancing image at a position is calculated according to the low energy image and high energy image.
Further, the enhancing image that a position is calculated according to the low energy image and high energy image has
Body are as follows: according to formulaThe enhancing image at a position is calculated, wherein FnIndicate enhancing image, LnTable
Show low energy image, Hn,lIndicate that high energy image, q indicate soft tissue attenuation coefficient, value range is [0,0.5], and n indicates photographed frame
Number, l indicate the relative displacement between the high energy image and low energy image at a position.
Further, described that processing is zoomed in and out to the enhancing image, it obtains image to be spliced and specifically includes:
Obtain the thickness image of detected object；
Binaryzation and edge extracting processing are carried out to the thickness image, obtain thickness profile image；
The thickness profile image is detected by gradient operator, obtains effective contour region；
Using the center in the effective contour region as the position of bone；
According to the source of the thickness image to image distance from and the position of the bone zoom factor is calculated；
Processing is zoomed in and out to the enhancing image according to the zoom factor, obtains image to be spliced.
Further, the source according to the thickness image to image distance from and the position of the bone contracting is calculated
Put coefficient specifically: according to formulaZoom factor is calculated, wherein f indicates that zoom factor, SID indicate that source is arrived
Image distance is from s indicates bone to the distance of picture.
Further, the speed according to institute's displacement information and dynamic irradiation treats stitching image and carries out stitching portion
Reason, obtains stitching image and specifically includes:
The center image region of the image to be spliced is intercepted as region to be spliced；
It is sat according to the splicing that the pixel in region to be spliced is calculated in the speed of institute's displacement information and dynamic irradiation
Mark；
Gamma correction is carried out to the region to be spliced；
According to the splicing coordinate, image co-registration is carried out to the region to be spliced after gamma correction, obtains stitching image.
Further, described according to the splicing coordinate, image co-registration is carried out to the region to be spliced after gamma correction, is obtained
To stitching image specifically:
According to formula Fn(x, y)=w1·Fn(x,y)+w2·Fn+1The overlay region of (x, y) to two neighboring region to be spliced
Domain is merged, wherein (x, y) indicates the splicing coordinate of pixel, and x, y ∈ (Fn∩Fn+1),
yLAnd yUThe boundary pixel coordinate in respectively two neighboring region to be spliced.
In conclusion a kind of dynamic DR image split-joint method and terminal based on multi-sensor fusion provided by the invention, it can
Effectively avoid parallax and distortion, Image Acquisition precision is high, and it is good finally to splice obtained picture quality, and it is smart that clinical diagnosis can be improved
Degree.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalents made by bright specification and accompanying drawing content are applied directly or indirectly in relevant technical field, similarly include
In scope of patent protection of the invention.
Claims (10)
1. a kind of dynamic DR image split-joint method based on Multi-sensor Fusion characterized by comprising
The energy for presetting the first X-ray bulb and the second X-ray bulb respectively, wherein the energy of the first X-ray bulb is small
In the energy of the second X-ray bulb；
Pass through the first X-ray bulb and the second X-ray bulb detected object of dynamic irradiation simultaneously；
The displacement information between the initial pictures of the detected object and the initial pictures of adjacent two frame is acquired respectively；
According to the window size of the light concentrator on the first X-ray bulb and the second X-ray bulb to the initial pictures
It is split processing, obtains dual intensity irradiation image；
According to the phase between institute's displacement information, dual intensity irradiation image and the first X-ray bulb and the second X-ray bulb
Enhancing image is calculated to positional relationship；
Processing is zoomed in and out to the enhancing image, obtains image to be spliced；
Stitching image is treated according to the speed of institute's displacement information and dynamic irradiation and carries out splicing, obtains stitching image.
2. the dynamic DR image split-joint method according to claim 1 based on Multi-sensor Fusion, which is characterized in that described
According to the opposite position between institute's displacement information, dual intensity irradiation image and the first X-ray bulb and the second X-ray bulb
The relationship of setting is calculated enhancing image and specifically includes:
According to the relative positional relationship pair between institute's displacement information and the first X-ray bulb and the second X-ray bulb
The dual intensity irradiation image at one position of detected object is matched, and obtains a position under the irradiation of the first X-ray bulb
Low energy image and a position the second X-ray bulb irradiation under high energy image；
The enhancing image at a position is calculated according to the low energy image and high energy image.
3. the dynamic DR image split-joint method according to claim 2 based on Multi-sensor Fusion, which is characterized in that described
The enhancing image at a position is calculated according to the low energy image and high energy image specifically: according to formulaThe enhancing image at a position is calculated, wherein FnIndicate enhancing image, LnIndicate low energy image, Hn,l
Indicate that high energy image, q indicate soft tissue attenuation coefficient, value range is [0,0.5], and n indicates that shooting frame number, l indicate a position
High energy image and low energy image between relative displacement.
4. the dynamic DR image split-joint method according to claim 1 based on Multi-sensor Fusion, which is characterized in that described
Processing is zoomed in and out to the enhancing image, image to be spliced is obtained and specifically includes:
Obtain the thickness image of detected object；
Binaryzation and edge extracting processing are carried out to the thickness image, obtain thickness profile image；
The thickness profile image is detected by gradient operator, obtains effective contour region；
Using the center in the effective contour region as the position of bone；
According to the source of the thickness image to image distance from and the position of the bone zoom factor is calculated；
Processing is zoomed in and out to the enhancing image according to the zoom factor, obtains image to be spliced.
5. the dynamic DR image split-joint method according to claim 4 based on Multi-sensor Fusion, which is characterized in that described
According to the source of the thickness image to image distance from and the position of the bone zoom factor is calculated specifically: according to formulaZoom factor is calculated, wherein f indicates that zoom factor, SID indicate source to image distance from s indicates bone to picture
Distance.
6. the dynamic DR image split-joint method according to claim 1 based on Multi-sensor Fusion, which is characterized in that described
Stitching image is treated according to the speed of institute's displacement information and dynamic irradiation and carries out splicing, is obtained stitching image and is specifically wrapped
It includes:
The center image region of the image to be spliced is intercepted as region to be spliced；
The splicing coordinate of the pixel in region to be spliced is calculated according to the speed of institute's displacement information and dynamic irradiation；
Gamma correction is carried out to the region to be spliced；
According to the splicing coordinate, image co-registration is carried out to the region to be spliced after gamma correction, obtains stitching image.
7. the dynamic DR image split-joint method according to claim 6 based on Multi-sensor Fusion, which is characterized in that described
According to the splicing coordinate, image co-registration is carried out to the region to be spliced after gamma correction, obtains stitching image specifically:
According to formula Fn(x, y)=w1·Fn(x,y)+w2·Fn+1(x, y) carries out the overlapping region in two neighboring region to be spliced
Fusion, wherein (x, y) indicates the splicing coordinate of pixel, and x, y ∈ (Fn∩Fn+1),yLWith
yUThe boundary pixel coordinate in respectively two neighboring region to be spliced.
8. a kind of dynamic DR image mosaic terminal based on Multi-sensor Fusion, including memory, processor and it is stored in institute
State the computer program that can be run on memory and on a processor, which is characterized in that the processor executes the computer
It is performed the steps of when program
The energy for presetting the first X-ray bulb and the second X-ray bulb respectively, wherein the energy of the first X-ray bulb is small
In the energy of the second X-ray bulb；
Pass through the first X-ray bulb and the second X-ray bulb detected object of dynamic irradiation simultaneously；
The displacement information between the initial pictures of the detected object and the initial pictures of adjacent two frame is acquired respectively；
According to the window size of the light concentrator on the first X-ray bulb and the second X-ray bulb to the initial pictures
It is split processing, obtains dual intensity irradiation image；
According to the phase between institute's displacement information, dual intensity irradiation image and the first X-ray bulb and the second X-ray bulb
Enhancing image is calculated to positional relationship；
Processing is zoomed in and out to the enhancing image, obtains image to be spliced；
Stitching image is treated according to the speed of institute's displacement information and dynamic irradiation and carries out splicing, obtains stitching image.
9. the dynamic DR image mosaic terminal according to claim 8 based on Multi-sensor Fusion, which is characterized in that described
According to the opposite position between institute's displacement information, dual intensity irradiation image and the first X-ray bulb and the second X-ray bulb
The relationship of setting is calculated enhancing image and specifically includes:
According to the relative positional relationship pair between institute's displacement information and the first X-ray bulb and the second X-ray bulb
The dual intensity irradiation image at one position of detected object is matched, and obtains a position under the irradiation of the first X-ray bulb
Low energy image and a position the second X-ray bulb irradiation under high energy image；
The enhancing image at a position is calculated according to the low energy image and high energy image.
10. the dynamic DR image mosaic terminal according to claim 9 based on Multi-sensor Fusion, which is characterized in that institute
State the enhancing image that a position is calculated according to the low energy image and high energy image specifically: according to formulaThe enhancing image at a position is calculated, wherein FnIndicate enhancing image, LnIndicate low energy image, Hn,l
Indicate that high energy image, q indicate soft tissue attenuation coefficient, value range is [0,0.5], and n indicates that shooting frame number, l indicate a position
High energy image and low energy image between relative displacement.
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