CN110533624A - A kind of laser ranging auxiliary splicing system and image split-joint method - Google Patents
A kind of laser ranging auxiliary splicing system and image split-joint method Download PDFInfo
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- CN110533624A CN110533624A CN201910857950.9A CN201910857950A CN110533624A CN 110533624 A CN110533624 A CN 110533624A CN 201910857950 A CN201910857950 A CN 201910857950A CN 110533624 A CN110533624 A CN 110533624A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000003384 imaging method Methods 0.000 claims abstract description 17
- 230000003287 optical effect Effects 0.000 claims abstract description 8
- 230000009897 systematic effect Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 3
- 241000251468 Actinopterygii Species 0.000 description 2
- 238000010422 painting Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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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
Abstract
The present invention is that a kind of laser ranging assists splicing system and image split-joint method, including front end acquisition module, interchanger and back-end processing system, front-end processing system includes the camera that 5 performances are identical and imaging angle is 30 degree, two top of camera on the outermost side are equipped with the laser range finder parallel with the camera optical axis in 5 cameras, camera passes through connection interchanger and back-end processing system connection, and the back-end processing system includes the computer for being equipped with splicing system software.A kind of image split-joint method, through reasonable settings the deflection angle of 5 cameras, by calculating guarantee enough object distances, overlay area be calculated, without using complicated stitching algorithm, the target of weak texture or repetition texture can effectively be spliced, obtain the big view field image of ultrahigh resolution.
Description
(1) technical field
The present invention relates to field of image processing, specially a kind of laser ranging auxiliary splicing system and image split-joint method.
(2) background technique
For mural painting, the planar object of the high-aspect-ratio of the large size such as large-scale painting and calligraphy, textile carries out image information collecting
When need big view field image using ultrahigh resolution, but be constrained to the limitation of hardware technology, single camera is unable to reach.
With the development of computer and image processing techniques, fish eye lens system, rotating splicing-type and multicamera system are made
For the main means of big visual field panoramic imagery, and extensive popularization is obtained.The shortcomings that fish eye lens scheme is to distort very sternly
Weight, closer to image edge location, there is the perspective transforms of more wide-angle, therefore covered closer to edge unit angle
Pixel number is fewer, causes the uneven of serious resolution ratio；One camera rotary splicing, since its central principle is using more
A common lens acquired image is spliced into the image of a fish-eye acquisition, therefore inherits fish-eye lack
Point, closer to spliced image edge location, there is the perspective transforms of more wide-angle；Multicamera system is deposited due to parallax
Correctly image can not be registrated.Spelling is be easy to cause especially for the less object of texture repetition or texture information
Wrong misses.
(3) summary of the invention
For the above problems of the prior art, the present invention provides a kind of laser ranging auxiliary splicing system and figures
As joining method, cooperate laser ranging system using polyphaser, the effective solution weak texture of plane of large-scale high-aspect-ratio
The close-up images of object acquire.
The present invention is achieved through the following technical solutions:
A kind of laser ranging auxiliary splicing system, including front end acquisition module, interchanger and back-end processing system, before described
End processing system includes the camera that several performances are identical and imaging angle is 30 degree, positioned at most in several cameras
Two top of camera in outside are equipped with the laser range finder parallel with the camera optical axis, and the camera passes through connection interchanger
With back-end processing system connection；The back-end processing system includes the computer for being equipped with splicing system software.
Preferably, the camera is located at same level and fan-shaped distribution, is provided with high-definition fixed-focus camera lens, and quantity is
5.
Preferably, angle is identical for putting between adjacent two cameras between 5 cameras, and is less than the imaging of camera
Angle.
A kind of image split-joint method, comprising the following steps:
S1: angle theta is put in determination, i.e. puts angle between adjacent two cameras in 5 cameras；
S2: by being collected object length 2*x5Determine minimum object distance Zmin:
Wherein, α is camera imaging angle, and α=30 °；
S3: adjusting acquisition angles, and guarantee keeps two rangefinder degrees identical to make systematic optical axis and collected plane hang down
Directly；
S4: object distance acquisition according to the data of laser range finder, calculates accurate object distance:
Wherein, Z is object distance, and L is the data that laser range finder measures；
S5: object distance acquisition acquires image by the camera of GigE protocol integrated test system front end by computer；
S6: image mosaic completes the splicing of image using overlay area as the offset of splicing:
Wherein, x2-x1For the overlay area of center position camera and adjacent two sides camera, x4-x3For two sides camera with it is outermost
The overlay area of side camera；
S7: in the computer of back-end processing system, image is shown and exports.
Preferably, in above-mentioned image split-joint method, the overlay area being calculated in S6 is arrived as input information input
In computer in S7.
The beneficial effects of the present invention are: ensuring that systematic optical axis is vertical with collected plane using laser range finder；Each phase
Machine is all made of the non-wide-angle lens that imaging angle is 30 degree, lens distortion very little；It is quick according to the precise information of laser range finder
The overlay area calculated between camera, it is unrelated with the acquisition textural characteristics of target, can without using complicated stitching algorithm
Weak texture or the target for repeating texture are effectively spliced.
(4) Detailed description of the invention
The present invention will be further described below with reference to the drawings.
Fig. 1 is that system of the invention constitutes schematic diagram.
Fig. 2 is camera arrangement schematic diagram in the present invention.
Fig. 3 is camera strap laser range finder schematic top plan view in the present invention.
Fig. 4 is that camera minimum object distance and overlapping range calculate schematic diagram in the present invention.
(5) specific embodiment
To enable those skilled in the art to better understand the present invention, below in conjunction with attached drawing to technical solution of the present invention
It is described further.
Referring to figs. 1 to 4, a kind of laser ranging assists splicing system, including front end acquisition module, interchanger and after
Processing system is held, the front-end processing system includes the camera that several performances are identical and imaging angle α is 30 degree, camera
Positioned at same level and fan-shaped distribution, it is provided with high-definition fixed-focus camera lens, the quantity of camera is set as 5 in the present embodiment
Platform.Angle theta is identical for putting between adjacent two cameras between 5 cameras, to guarantee the imaging area between each camera
There is lap in domain, puts the imaging angle α that angle theta should be less than camera.Camera is in sequence marked as No. 1-5, i.e., outermost
Side two is No. 1 and No. 5, and intermediate one is No. 3.
Two top of camera on the outermost side are equipped with the laser ranging parallel with the camera optical axis in 5 cameras
Instrument, for acquiring the distance between camera and measured object.
The camera passes through connection interchanger and back-end processing system connection.Back-end processing system includes being equipped with splicing
The computer of system software can carry out splicing to the collected multiple images of front end acquisition module, and export splicing knot
Fruit, while can be inputted using the overlay area being calculated as parameter, improve the effect of image mosaic processing.
A kind of image split-joint method, comprising the following steps:
S1: angle theta is put in determination:
That is angle is put between adjacent two cameras in 5 cameras.The length of usual object is in 3m-10m, to guarantee nothing
Distortion, the imaging angle α of camera lens should be less than being equal to 30 degree, therefore it is 30 degree that α is taken in the present embodiment, to guarantee between each camera
Imaging region have lap, put angle theta should be less than camera imaging angle α, take θ be 25 degree；
S2: by being collected object length 2*x5Determine minimum object distance Zmin:
To guarantee that collected object is completely covered in the acquisition range of system, minimum object distance should ensure that.
In Fig. 4, heavy line is the areas imaging of No. 1 camera, and dotted line is the areas imaging of No. 2 cameras, double dot dash line 3
The areas imaging of number camera.It is available according to trigonometric function relationship from figureDue toFormula can then be passed throughObject distance Z is obtained, the Z obtained at this time is actually
Zmin.As guarantee that collected object is completely covered in the acquisition range of system, the distance between acquisition system and collected object are answered
Z should be not less thanmin。
Such as object length 2*x5When being 10 meters,I.e. long for 10 meters
Collected object, the distance between acquisition system and collected object should just can guarantee not less than 2.33 meters and be completely covered；
S3: acquisition angles are adjusted:
After object distance calculates, angular adjustment is carried out according to the laser range finder of outermost acquisition module, makes two rangefinder degree
Number is identical to keep systematic optical axis vertical with collected plane；
S4: object distance acquisition:
The data that system reads laser range finder calculate accurate object distance according to the data of laser range finder.
Wherein, Z is object distance, and L is the data that laser range finder measures.
Because the angle of laser range finder and the vertical line of collected plane isTherefore:
It is made comparisons, is adjusted between acquisition system and collected object with the minimum object distance in S4 according to obtained object distance Z
Distance guarantees Z >=Zmin；
S5: Image Acquisition acquires image by the camera of GigE protocol integrated test system front end by computer；
S6: image mosaic completes the splicing of image, the calculating of overlay area using overlay area as the offset of splicing
Method are as follows:
Wherein, x2-x1For the overlay area of No. 2 cameras and No. 3 cameras, x4-x3For the covering of No.1 camera and No. 2 cameras
Region.
Such as collected object length 2*x5It is 2.33 meters by obtaining Z in S2 when being 10 meters:
The splicing of image is completed using obtained overlay area as the offset of splicing；
S7: in the computer of back-end processing system, image is shown and exports.
In above-mentioned image split-joint method, the overlay area x that is calculated in S62-x1And x4-x3Make as input information
It is input in the computer in S7 for call parameter, improves the quality of graphic joining processing.
The above is the preferred embodiment of the present invention, and the explanation of specific embodiment is only used for better understanding the present invention
Thought.For those skilled in the art, according to the principle of the invention can also make it is several improvement or
Same replacement, these are improved or same replacement is also considered as the protection scope for falling in the utility model.
Claims (5)
1. a kind of laser ranging assists splicing system, it is characterised in that: including front end acquisition module, interchanger and back-end processing system
System, the front-end processing system include the camera that several performances are identical and imaging angle is 30 degree, several phases
Two top of camera on the outermost side are equipped with the laser range finder parallel with the camera optical axis in machine, and the camera passes through
Connect interchanger and back-end processing system connection；The back-end processing system includes the computer for being equipped with splicing system software.
2. a kind of laser ranging according to claim 1 assists splicing system, it is characterised in that: the camera is located at same
Horizontal plane and fan-shaped distribution are provided with high-definition fixed-focus camera lens, and quantity is 5.
3. a kind of laser ranging according to claim 2 assists splicing system, it is characterised in that: between 5 cameras
Angle is identical for putting between adjacent two cameras, and is less than the imaging angle of camera.
4. a kind of image split-joint method, which comprises the following steps:
S1: angle theta is put in determination, i.e. puts angle between adjacent two cameras in 5 cameras；
S2: by being collected object length 2*x5Determine minimum object distance Zmin:
Wherein, α is camera imaging angle, and α=30 °；
S3: adjusting acquisition angles, and guarantee keeps two rangefinder degrees identical to keep systematic optical axis vertical with collected plane；
S4: object distance acquisition according to the data of laser range finder, calculates accurate object distance:
Wherein, Z is object distance, and L is the data that laser range finder measures；
S5: Image Acquisition acquires image by the camera of GigE protocol integrated test system front end by computer；
S6: image mosaic completes the splicing of image using overlay area as the offset of splicing:
Wherein, x2-x1For the overlay area of center position camera and adjacent two sides camera, x4-x3For two sides camera and outermost phase
The overlay area of machine；
S7: in the computer of back-end processing system, image is shown and exports.
5. a kind of image split-joint method according to claim 4, it is characterised in that: make the overlay area being calculated in S6
It is input information input in the computer into S7.
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| CN106225765A (en) * | 2016-07-25 | 2016-12-14 | 浙江大学 | A kind of many line scan image sensors obtain device and the formation method of hyperfocal distance scanning imagery |
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| CN210428541U (en) * | 2019-09-11 | 2020-04-28 | 神博(山东)安防科技有限公司 | Laser ranging auxiliary splicing system |
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2019
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Patent Citations (6)
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| CN102143305A (en) * | 2010-02-02 | 2011-08-03 | 华为终端有限公司 | Image pickup method and system |
| DE102010011528A1 (en) * | 2010-03-15 | 2011-09-15 | Ulrich Clauss | Receiving arrangement for extracting geometric and photometric object data of e.g. objects, in accident site, has slope unit roatably coordinating at angle and connected with line camera, so that slope unit is moved in rotational axes |
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