CN110503678A - Navigation equipment based on topological structure constraint is infrared with the heterologous method for registering of optics - Google Patents
Navigation equipment based on topological structure constraint is infrared with the heterologous method for registering of optics Download PDFInfo
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- CN110503678A CN110503678A CN201910800263.3A CN201910800263A CN110503678A CN 110503678 A CN110503678 A CN 110503678A CN 201910800263 A CN201910800263 A CN 201910800263A CN 110503678 A CN110503678 A CN 110503678A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10052—Images from lightfield camera
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30141—Printed circuit board [PCB]
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Abstract
The invention belongs to heterologous method for registering technical fields, and in particular to a kind of navigation equipment based on topological structure constraint is infrared with the heterologous method for registering of optics, including the following steps: S1, calibration optics image characteristic point；S2, Infrared Image Features point is found；S3, building are using triangle as the topological structure network of unit；S4, building three-legged structure network similarity measurements flow function；S5, infrared and optical imagery spatial transform relation is solved.The present invention forms the topological structure as unit of triangle using infrared image centroid feature point, topological structure the constraint relationship and topological structure measuring similarity function are constructed with triangle interior angle, complete optics and the matching of infrared topological structure, the matched accuracy of lifting feature point and heterologous registration accuracy.The present invention heterologous is registrated for infrared with optical.
Description
Technical field
The invention belongs to heterologous method for registering technical fields, and in particular to a kind of navigation equipment based on topological structure constraint
The infrared and heterologous method for registering of optics.
Background technique
As navigation equipment is increasingly miniaturized, micromation, equipment caused by relevant equipment fault takes place frequently is reprocessed not in time
The normal use of user, while traditional means fault detection higher cost are seriously affected, the period is longer, is also navigation equipment
Popularization bring obstruction, for this purpose, improve navigation equipment fault-detecting ability have become important topic urgently to be resolved.
Contactless fault detection technique is by obtaining to electronic equipment optical imagery and infrared image fusion treatment
There are the new images of electronic equipment background information and radiation information simultaneously, can be realized the effectively accurate feature extraction of thermal imagery and quickly
Thermal imagery positions extremely.Since there is differences in spatial location between optical imagery for electronic equipment infrared, need by image
Registration, therefore the present invention mainly studies the registration of infrared image and optical imagery based on navigation equipment.
In recent years, domestic that heterologous registration project is had conducted extensive research.Wherein, based on the method for registering of feature because it is matched
Quasi velosity is fast, suitable for homologous or multi-source image registration, becomes one of method for registering of greatest concern.Such method is usually logical
It crosses in selection two images and is capable of the similitude of representative image to a certain extent, and be easier to the common characteristic information extracted
As foundation, the matching of two images characteristic quantity is then completed using the feature extracted, finally by the matching relationship of characteristic quantity
Obtain the spatial transform relation of two images.In practical applications, generally use point feature, common point feature have marginal point and
Angle point.The selection of characteristic point be whole image registration key link, feature point extraction it is accurate whether directly determine registration
Success or failure.
Whether need artificially to participate according to the process for extracting characteristic point, the matching based on characteristic point can be divided into interactive mode
Method for registering and self-action method for registering.
Interactive registration method refers to by operator's selection subjective on benchmark image or image subject to registration respectively
Characteristic point pair, or the selected characteristic point on piece image are obtained in another piece image corresponding by certain searching method
Characteristic point.
Autoegistration method is then to complete the extraction of point feature, the matching and spatial alternation ginseng of characteristic quantity by computer completely
Number calculate, the basic procedure of algorithm is: first to image carry out pre-process and using certain detective operators to benchmark image and to
Registration image extracts characteristic point (such as Harris, SUSAN, SIFT, SURF etc.) respectively, then uses customized characteristic area
Similarity measurement method carry out characteristic point matching, complete the calculating of spatial transformation parameter, finally to image carry out space coordinate
Transformation.
Since angle point has concentrated many important shape informations, it can effectively reflect the local feature of image, be image registration
In one of most common feature.Wherein, robust features (Speed-Up Robust Feature, SURF) angle point is accelerated to have
Rotational invariance, stability are strong, distinguishability is good and the characteristic of informative, representative in autoegistration method.
But infrared image and optical imagery belong to heterogeneous more granular informations, and consistent SURF characteristic point ten is extracted from infrared/optical imagery
Divide difficulty, causes successful match rate low.
Summary of the invention
In view of the above technical problems, it is red to provide a kind of high navigation equipment based on topological structure constraint of successful match rate
Outside with the heterologous method for registering of optics.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows:
Navigation equipment based on topological structure constraint is infrared with the heterologous method for registering of optics, including the following steps:
S1, calibration optics image characteristic point；
S2, Infrared Image Features point is found；
S3, building are using triangle as the topological structure network of unit；
S4, building three-legged structure network similarity measurements flow function；
S5, infrared and optical imagery spatial transform relation is solved.
The method of optical imagery characteristic point is demarcated in the S1 are as follows: determine according to the calorific value of heating element and reflectivity
The position of position heating element, obtains the center position information of heating element, the characteristic point as optical imagery.
The method of Infrared Image Features point is found in the S2 are as follows: using the variation of front and back calorific value on circuit board, to red
Outer difference image carries out binarization threshold segmentation, and extracts heating region mass center.
Building is using triangle as the method for the topological structure network of unit in the S3 are as follows: by infrared image and optical imagery
On characteristic point respectively form several triangular networks, N number of characteristic point is extracted on infrared image, then is had accordinglyIt is a
Triangular network extracts M characteristic point on optical imagery, accordingly hasA triangular network forms three tops of triangular network
Point is A (x respectivelyi,yi)、B(xj,yj)、C(xk,yk), wherein i, j, k are point set rope of three points in entire infrared image respectively
Draw value, these three points are joined end to end and form three vectors, wherein the angle θ of corresponding A pointiIt indicates, B point θjIt indicates, C point is used
θkIt indicates, the solution mode of angle are as follows:
Then acquire three angles are arranged by sequence from small to large.
The method of three-legged structure network similarity measurements flow function is constructed in the S4 are as follows: find out the similar triangle in angle
Network, similarity measurement criterion are
Wherein, θpFor the sum of the absolute value of the difference at three angles of two triangular networksθIiFor infrared image
The angle of upper triangular network, θOiFor the angle of triangular network on optical imagery, wherein i=1,2,3, to all θ being calculatedp
It is ranked up, therefrom chooses θpLess than the similar triangular network of certain threshold value.
The method of the spatial transform relation of infrared and optical imagery is solved in the S5 are as follows: image registration mathematically can be with
It indicates are as follows: I1(x, y)=g (I2(f (x, y))), wherein I1、I2Respectively reference picture and image subject to registration, f are two-dimensional coordinate
Transforming function transformation function, g are one-dimensional coordinate transforming function transformation function, determine ideal f function, the function f by the positional relationship between coordinate
It is described with global change's model, so that it is determined that the corresponding relationship of image between points, according to the infrared and optical picture acquired
As upper similar triangles find the coordinate of at least three corresponding points, the affine change of two images is obtained according to corresponding characteristic point
Change relationship, Y=AX, whereinIndicate the characteristic point on infrared image,Indicate light
Learn the characteristic point of image；The affine matrix between two images is indicated, to derive A=
((XTX)-1XTY)T, the affine matrix found out is then substituted into global change's model, obtains optical picture corresponding with infrared image
Picture, to complete heterologous registration.
Global change's model uses projective transformation model, the projective transformation model can reflect from different location and
Angle obtains the corresponding relationship between any two images of Same Scene, and two images are restored to the projective rejection of same position
Are as follows:
Wherein w=a31x+a32y+a33For scale factor, projective transformation no longer guarantees the parallel sexual intercourse of transformation front and back, needs
9 parameters are calculated, under the premise of not conllinear, need four corresponding points in two images that can uniquely determine at any 3 points
Required parameter.
Compared with prior art, the present invention having the beneficial effect that
The present invention forms the topological structure as unit of triangle using infrared image centroid feature point, with triangle interior angle
Topological structure the constraint relationship and topological structure measuring similarity function are constructed, optics and the matching of infrared topological structure is completed, is promoted
The accuracy of Feature Points Matching and heterologous registration accuracy.
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is vector triangle topology schematic diagram of the present invention；
Fig. 3 is matched triangle topological diagram in infrared image of the present invention；
Fig. 4 is matched triangle topological diagram in optical imagery of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Navigation equipment based on topological structure constraint is infrared with the heterologous method for registering of optics, as shown in Figure 1, including following step
It is rapid:
S1, calibration optics image characteristic point, position heating element according to the calorific value of heating element and reflectivity
Position, obtain the center position information of heating element, the characteristic point as optical imagery.
S2, Infrared Image Features point is found, using the variation of front and back calorific value on circuit board, infrared differential image is carried out
Binarization threshold segmentation, and extract heating region mass center.
S3, building are using triangle as the topological structure network of unit, as shown in Figure 2,3, 4, by infrared image and optical picture
As upper characteristic point respectively forms several triangular networks, N number of characteristic point is extracted on infrared image, then is had accordingly
A triangular network extracts M characteristic point on optical imagery, accordingly hasA triangular network forms three of triangular network
Vertex is A (x respectivelyi,yi)、B(xj,yj)、C(xk,yk), wherein i, j, k are point set of three points in entire infrared image respectively
These three points are joined end to end and form three vectors, wherein the angle θ of corresponding A point by index valueiIt indicates, B point θjIt indicates, C point
Use θkIt indicates, the solution mode of angle are as follows:
Then acquire three angles are arranged by sequence from small to large.
S4, building three-legged structure network similarity measurements flow function, find out the similar triangular network in angle, similarity measurements
Measuring criterion is
Wherein, θpFor the sum of the absolute value of the difference at three angles of two triangular networks,θIiFor infrared image
The angle of upper triangular network, θOiFor the angle of triangular network on optical imagery, wherein i=1,2,3, to all θ being calculatedp
It is ranked up, therefrom chooses θpLess than the similar triangular network of certain threshold value.
S5, infrared and optical imagery spatial transform relation is solved, image registration is mathematically represented as: I1(x,
Y)=g (I2(f (x, y))), wherein I1、I2Respectively reference picture and image subject to registration, f are two-dimensional coordinate transforming function transformation function, and g is
One-dimensional coordinate transforming function transformation function determines ideal f function by the positional relationship between coordinate, function f with global change's model come
Description, global change's model uses projective transformation model, so that it is determined that the corresponding relationship of image between points, projective transformation mould
Type can reflect from the corresponding relationship between any two images that different location and angle obtain Same Scene, and two images are extensive
The projective rejection of same position is arrived again are as follows:
Wherein w=a31x+a32y+a33For scale factor, projective transformation no longer guarantees the parallel sexual intercourse of transformation front and back, needs
9 parameters are calculated, under the premise of not conllinear, need four corresponding points in two images that can uniquely determine at any 3 points
Required parameter.The coordinate that at least three corresponding points are found according to the similar triangles on the infrared and optical imagery acquired, according to
Corresponding characteristic point obtains the affine transformation relationship of two images, Y=AX, whereinIt indicates on infrared image
Characteristic point,Indicate the characteristic point of optical imagery；It indicates between two images
Affine matrix, to derive A=((XTX)-1XTY)T, the affine matrix found out is then substituted into global change's model, is obtained
Optical imagery corresponding with infrared image, to complete heterologous registration.
Workflow of the invention are as follows: the present invention acquires navigation equipment circuit board temperature rise sequence using infrared thermal imaging sensor
Column extract the obvious region that generates heat according to the difference for powering on front and back component calorific value, and then extract mass center as on infrared image
Characteristic point.Infrared image composition topological structure characterized by mass center；Optical imagery structure characterized by component central point
At topological structure, similarity measurement is carried out to the topological structure relationship in two images, chooses the topological structure to match, is calculated
Transformation model matrix is finally completed the registration of infrared image and optical imagery.
Only presently preferred embodiments of the present invention is explained in detail above, but the present invention is not limited to above-described embodiment,
Within the knowledge of a person skilled in the art, it can also make without departing from the purpose of the present invention each
Kind variation, various change should all be included in the protection scope of the present invention.
Claims (7)
1. the navigation equipment based on topological structure constraint is infrared with the heterologous method for registering of optics, it is characterised in that: including following step
It is rapid:
S1, calibration optics image characteristic point；
S2, Infrared Image Features point is found；
S3, building are using triangle as the topological structure network of unit；
S4, building three-legged structure network similarity measurements flow function；
S5, infrared and optical imagery spatial transform relation is solved.
2. the navigation equipment according to claim 1 based on topological structure constraint is infrared with the heterologous method for registering of optics,
Be characterized in that: in the S1 demarcate optical imagery characteristic point method are as follows: according to the calorific value of heating element and reflectivity come
The position for positioning heating element, obtains the center position information of heating element, the characteristic point as optical imagery.
3. the navigation equipment according to claim 1 based on topological structure constraint is infrared with the heterologous method for registering of optics,
It is characterized in that: finding the method for Infrared Image Features point in the S2 are as follows: using the variation of front and back calorific value on circuit board, to red
Outer difference image carries out binarization threshold segmentation, and extracts heating region mass center.
4. the navigation equipment according to claim 1 based on topological structure constraint is infrared with the heterologous method for registering of optics,
Be characterized in that: building is using triangle as the method for the topological structure network of unit in the S3 are as follows: by infrared image and optical picture
As upper characteristic point respectively forms several triangular networks, N number of characteristic point is extracted on infrared image, then is had accordingly
A triangular network extracts M characteristic point on optical imagery, accordingly hasA triangular network forms three of triangular network
Vertex is A (x respectivelyi,yi)、B(xj,yj)、C(xk,yk), wherein i, j, k are point set of three points in entire infrared image respectively
These three points are joined end to end and form three vectors, wherein the angle θ of corresponding A point by index valueiIt indicates, B point θjIt indicates, C point
Use θkIt indicates, the solution mode of angle are as follows:
Then acquire three angles are arranged by sequence from small to large.
5. the navigation equipment according to claim 1 based on topological structure constraint is infrared with the heterologous method for registering of optics,
It is characterized in that: constructing the method for three-legged structure network similarity measurements flow function in the S4 are as follows: find out similar three in angle
Angle network, similarity measurement criterion are
Wherein, θpFor the sum of the absolute value of the difference at three angles of two triangular networks,θIiIt is on infrared image three
The angle of angle network, θOiFor the angle of triangular network on optical imagery, wherein i=1,2,3, to all θ being calculatedpIt carries out
Sequence, therefrom chooses θpLess than the similar triangular network of certain threshold value.
6. the navigation equipment according to claim 1 based on topological structure constraint is infrared with the heterologous method for registering of optics,
It is characterized in that: solving the method for infrared and optical imagery spatial transform relation in the S5 are as follows: image registration mathematically may be used
To indicate are as follows: I1(x, y)=g (I2(f (x, y))), wherein I1、I2Respectively reference picture and image subject to registration, f are that two dimension is sat
Transforming function transformation function is marked, g is one-dimensional coordinate transforming function transformation function, determines ideal f function, the function by the positional relationship between coordinate
F is described with global change's model, so that it is determined that the corresponding relationship of image between points, according to the infrared and optical picture acquired
As upper similar triangles find the coordinate of at least three corresponding points, the affine change of two images is obtained according to corresponding characteristic point
Change relationship, Y=AX, whereinIndicate the characteristic point on infrared image,Indicate light
Learn the characteristic point of image；The affine matrix between two images is indicated, to derive A=
((XTX)-1XTY)T, the affine matrix found out is then substituted into global change's model, obtains optical picture corresponding with infrared image
Picture, to complete heterologous registration.
7. the navigation equipment according to claim 6 based on topological structure constraint is infrared with the heterologous method for registering of optics,
Be characterized in that: global change's model uses projective transformation model, and the projective transformation model can reflect from different location
Corresponding relationship between any two images of angle acquisition Same Scene, the projection that two images are restored to same position is closed
System are as follows:
Wherein w=a31x+a32y+a33For scale factor, projective transformation no longer guarantees the parallel sexual intercourse of transformation front and back, needs to count
9 parameters are calculated, under the premise of any 3 points not conllinear, are needed needed for four corresponding points can uniquely determine in two images
Parameter.
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