CN111598784A - Image rotation correction method based on 45-degree mirror wide-width multi-element parallel scanning imaging - Google Patents
Image rotation correction method based on 45-degree mirror wide-width multi-element parallel scanning imaging Download PDFInfo
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Abstract
The invention discloses an image rotation correction method based on 45-degree mirror wide-width multi-element parallel scanning imaging, which comprises the following steps of: firstly, establishing a coordinate system of a rotation-free image, and randomly selecting a certain point P on the rotation-free image; secondly, judging whether the image point P is in the range of the detector; then, establishing a detector surface coordinate system, and calculating according to the rotation angle theta of the scanning mirror to obtain the corresponding image coordinate of the image point P in the original image rotation image; and finally, calculating the specific position of the pixel in the original image rotation according to the coordinates of each column and row of the image rotation-free image, and obtaining the gray value of the corrected image rotation-free image through resampling so as to obtain the corrected image of the whole original image rotation-free image. The similarity of the image corrected by the method of the invention and the original image rotation image is compared, and the image rotation problem caused by wide-range multi-element parallel scanning imaging of a 45-degree mirror is effectively solved.
Description
Technical Field
The invention relates to an optical image processing technology, in particular to an image rotation correction method based on 45-degree mirror wide-width multi-element parallel scanning imaging, and particularly relates to an image rotation correction method in the fields of computers, remote sensing and the like.
Background
The optical machine scanning based on the 45-degree rotary scanning mirror is widely applied to space remote sensing instruments due to the characteristics of small size, good stability, large breadth and the like. For a multi-element line detector, the 45-degree scanning mirror can not only cause image rotation of parallel-scanning wave band scanning images, but also cause non-registration of different wave band scanning images; for an area array detector, an image rotation exists in an image formed on a focal plane due to a 45-degree scanning mirror, and then the fields of view corresponding to all pixels cannot be registered. Therefore, it is critical to study the 45 degree mirror rotation correction.
There are two kinds of optical machine correction and software correction for the 45-degree mirror distortion correction method. The key of the software correction method is to establish the relationship between the image with image rotation and the image without image rotation. The research on 45-degree mirror imaging is relatively few at home and abroad. Relevant domestic research includes: the imaging rule and the scanning track of the 45-degree mirror are deeply analyzed, and certain qualitative conclusions are obtained; a mathematical model of a two-dimensional pointing system is established, and an image rotation elimination algorithm is provided for a two-dimensional pointing mirror and an area array detector imaging system; the properties of the image rotation and the scanning axis of the 45-degree two-dimensional scanning mirror are deeply researched; analyzing the scanning track of the 45-degree mirror multi-element parallel scanning system rotating around the X axis, and performing software image rotation correction to obtain a better correction effect; the imaging principle and the scanning track of a scanning system of a 45-degree mirror and area array detector rotating around two axes in two scanning modes are analyzed, the corresponding relation between pixel coordinates and ground coordinates is determined, and distortion elimination is carried out through means of interpolation and the like. These studies do not take into account that as the number of parallel scanning detectors increases, the fracture dislocation of the scanned image at the junction of adjacent scan bands becomes more severe; the larger the instantaneous field of view number of the detector deviating from the main optical axis and the like is, the more serious the image distortion is, and the like.
Disclosure of Invention
Aiming at the problem of image rotation correction in 45-degree mirror scanning imaging, the invention provides an image rotation correction method based on 45-degree mirror wide-width multi-element parallel scanning imaging, so that the image rotation problem caused by 45-degree mirror scanning imaging is effectively solved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention discloses an image rotation correction method based on 45-degree mirror wide-width multi-element parallel scanning imaging, which comprises the following steps of:
1): establishing a rotation-free image coordinate system, and randomly selecting a certain point P on a rotation-free image to obtain the coordinate of the rotation-free image coordinate system, wherein the specific steps are as follows:
1-1): non-image rotation image coordinate system { ON-XNYNThe establishment of the image coordinate system mainly refers to the establishment of a 0-degree image coordinate system without image rotation. Namely, the projection of the center of the 45-degree scanning mirror at the point under the satellite is taken as the origin ONThe flight direction is XNAxis, scanning direction YNAnd axes, establishing a coordinate system.
1-2): arbitrarily selecting a point P on the image without image rotation, with the coordinate of PN＝(x1y1) Wherein y is1J is the distance of the channel center from the optical axis, x1And N is the number of pixels of the detector, ± N-1, …, 0.
2): determining whether point P is within the detector range includes four states: the point P is in the range of the detector, the point P exceeds the range of the detector in the flying direction, the point P exceeds the range of the detector in the scanning direction, and the point P exceeds the range of the detector in both the flying direction and the scanning direction. The method comprises the following specific steps:
firstly, judging whether the point P is in the range of a detector; and then, solving the coordinate of the point P in the detector plane coordinate system according to the step 3-2), namely the corresponding coordinate in the original image rotation image. The scanning angle of each element of the detector is recorded as SaInstantaneous field angle of VaAnd the rotation angle of the 45-degree scanning mirror is theta.
2-1): point P is within the detector range, then the coordinate of point P within one frame is P'N＝(x2y2) Wherein x is2＝x1，y2＝y1+θ/Sa。
2-2): the point P exceeds the range of the detector in the scanning direction and is positioned at theta-SaOr theta + SaThe angle position is reestablished, and then the new coordinate of the point P is P'N＝(x2y2) Wherein x is2＝x1+Sa/VaOr x2＝x1-Sa/Va，y2＝y1. Because of the scan direction oversampling, point P is at θ -SaOr theta + SaAt angular position, moved by only S in the scanning directiona/VaDistance.
2-3): the point P exceeds the range of the detector in the flight direction, is positioned at the theta angle positions of the previous frame and the next frame, and the coordinate system is reestablished, so that the new coordinate of the point P is P'N＝(x2y2) Wherein x is2＝x1，y2＝y1+Df/DpOr y2＝y1-Df/Dp，DfOne frame distance in the direction of flight, DpA distance represented by one pixel;
2-4): point P exceeds the detector range in both the flight and scan directions. Since the rotating scanning angle is increased from the central position, the scanning width in the flight direction on the panoramic surface is reduced, and when the new coordinate of the point P is calculated by adopting the pixel central coordinate, the situation that the pixel center is not scanned exists, the pixel central coordinate is projected to the ground, then projected to the panoramic surface of the previous frame and the next frame, and the steps 2-1) -2-3) are repeated to calculate the new coordinate of the point P.
3): establishing a detector plane coordinate system, and calculating the corresponding image coordinate of the image point P in the original image rotation image according to the state of the image point P in the step 2) and the rotation angle theta of the scanning mirror. The method comprises the following specific steps:
3-1): detector plane coordinate system { OD-XDYDEstablishment of the method mainly comprises the following steps: firstly, when a 45-degree scanning mirror rotates by an angle theta, a coordinate system { O-XY } is established by taking a central projection point of a detector as a coordinate origin O, the flight direction as an X axis and the scanning direction as a Y axis corresponding to the ground; secondly, in the detector plane, the center of the detector is taken as an origin OD，XCAxis and YCThe axes are parallel to the X-axis and Y-axis respectively in the coordinate system { O-XY }, to establish coordinatesIs { O }D-XCYC}; finally, coordinate system { OD-XCYCA coordinate system obtained by rotating the normal vector of the detector plane by an angle theta is a detector plane coordinate system (O)D-XDYD}。
3-2): the coordinate of the point P in the coordinate system of the detector plane is the corresponding coordinate P of the point P in the original image rotation imageD＝(xDyD)：
xD＝βsin(θ+θ′)，yD＝βcos(θ+θ′)，
Wherein
4): obtaining the gray value of the corrected image without image rotation by resampling according to the pixel corresponding relation between the image coordinates without image rotation and the original image coordinates obtained in the step 3), and further obtaining the image rotation correction image of the whole original image.
And (3) calculating the specific position of the pixel in the original image rotation according to the coordinates of each column and each row of the image rotation-free image in the step 3), so as to obtain the pixel corresponding relation between the coordinates of the image rotation-free image and the coordinates of the original image rotation-free image. However, since the calculated image rotation coordinates are not necessarily integer values, interpolation is required for the original image to obtain a normal image.
Compared with the prior art, the invention has the beneficial effects that: the image rotation correction method based on 45-degree mirror scanning imaging obtains the pixel corresponding relation between the image rotation-free image and the image rotation image based on panoramic surface projection transformation, and obtains the corrected image through bilinear interpolation. The image rotation correction method for 45-degree mirror scanning imaging can effectively solve image rotation distortion generated by a wide-width multi-element parallel scanning 45-degree mirror scanning system.
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The invention is further described below in conjunction with the appended drawings and the detailed description.
FIG. 1 is a schematic flow chart of an image rotation correction method based on 45-degree mirror wide-width multi-element parallel scanning imaging according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the establishment of a rotation-free image coordinate system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a detector plane coordinate system setup according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of panoramic surface transformation according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating the effect of the method of the present invention on image processing, wherein FIG. 1 is a diagram illustrating an original image rotation obtained by a 5-channel 12-element parallel scanning 45-degree mirror scanning system according to an embodiment of the present invention; FIG. 2 is a corrected image of an original image rotation image of a 5-channel 12-element parallel scanning 45-degree mirror scanning system according to an embodiment of the present invention.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below with reference to the attached drawings and the embodiments. The present invention is illustrated by the original image rotation collected by a 5-channel 12-membered parallel scanning 45-degree mirror scanning system, which is for the purpose of explanation, but not for the purpose of limitation.
Referring to fig. 1, an embodiment of the present invention discloses an image rotation correction method based on 45-degree mirror wide-width multi-element parallel scanning imaging, including the following steps:
step 1: and establishing a rotation-free image coordinate system, and randomly selecting a certain point P on the rotation-free image to obtain the coordinate of the rotation-free image coordinate system.
In practice, this step includes the establishment of a coordinate system of the non-image-rotation image and the acquisition of the coordinates of a certain point P.
Non-image rotation image coordinate system { ON-XNYNThe establishment of (c) is shown in fig. 2. Mainly refers to the establishment of a 0-degree non-image rotation image coordinate system. Namely, the projection of the center of the 45-degree scanning mirror at the point under the satellite is taken as the origin ONThe flight direction is XNAxis, scanning direction YNAnd axes, establishing a coordinate system.
Coordinates of a certain point P: the coordinate of point P is PN＝(x1y1) Wherein, y1J isDistance, x, of channel centre from optical axis1And N is the number of pixels of the detector, ± N-1, …, 0.
Step 2: determining whether point P is within the detector range includes four states: the point P is in the range of the detector, the point P exceeds the range of the detector in the flying direction, the point P exceeds the range of the detector in the scanning direction, and the point P exceeds the range of the detector in both the flying direction and the scanning direction.
In particular implementation, the steps include: and judging whether the point P is in the range of the detector, and respectively calculating the corresponding coordinates of the point P in the original image rotation image according to the scanning angle, the instantaneous field of view, the rotation angle of the scanning mirror and the like of each element of the detector in four states.
Recording the scanning angle of each point of the detector as SaInstantaneous field angle of VaAnd the rotation angle of the 45-degree scanning mirror is theta.
2-1) Point P is within the detector coordinate range: the coordinate of the point P in one frame is P'N＝(x2y2) Wherein x is2＝x1，y2＝y1+θ/Sa。
2-2) point P exceeds the detector range in the scan direction: at theta-SaOr theta + SaThe angle position is reestablished, and then the new coordinate of the point P is P'N＝(x2y2) Wherein x is2＝x1+Sa/VaOr x2＝x1-Sa/Va，y2＝y1. Because of the scan direction oversampling, point P is at θ -SaOr theta + SaAt angular position, moved by only S in the scanning directiona/VaDistance.
2-3) point P exceeds the detector range in the flight direction: and (4) the position of theta angle positioned in the front/rear frame, and a coordinate system is reestablished, wherein the new coordinate of the point P is P'N＝(x2y2) Wherein x is2＝x1，y2＝y1+Df/DpOr y2＝y1-Df/Dp，DfOne frame distance in the direction of flight, DpIs a distance represented by a pixelAnd (5) separating.
2-4) the point P exceeds the detector range in both the flight direction and the scan direction: since the rotating scanning angle is increased from the central position, the scanning width in the flight direction on the panoramic surface is reduced, and when the new coordinate of the point P is calculated by adopting the pixel central coordinate, the situation that the pixel center is not scanned exists, the pixel central coordinate is projected to the ground, then projected to the panoramic surface of the previous frame and the next frame, and the steps 2-1) -2-3) are repeated to calculate the new coordinate of the point P.
The panoramic surface is an arc surface which takes the center of the scanning mirror as the center and takes the height of the track as the radius. The image of the panoramic surface is an image without image rotation theoretically.
The panoramic image belongs to multi-center equal-focal-length cylindrical projection, two frames of images on the panoramic surface are projected with overlapped region points in an image ground mode, and flying dimensional coordinate values of the overlapped points in the two frames are calculated.
Note that S0 and S1 are projection centers, A is an overlapping point on the ground, xaIs the coordinate of the flying direction of the point A on the ground, xb、xlThe coordinates of the front frame and the rear frame of the point A on the panoramic surface, which are correspondingly projected in the flight direction, are respectively.
It is known that: angle of rotation theta, instantaneous angle of view Va，DfOne frame distance in the direction of flight, DpA distance represented by one pixel; solving for xbAnd xlThe relationship between them.
xl/(Df/Dp-xa)＝cos(θ+Va)/cos(Va)，
xb/xa＝cos(θ+Va)/cos(Va)，
Then
xb+xl＝xa·cos(θ+Va)/cos(Va)。
And step 3: and (3) establishing a detector plane coordinate system, and calculating the corresponding image coordinate of the image point P in the original image rotation image according to the state of the image point P in the step (2) and the rotation angle theta of the scanning mirror.
In particular implementation, the steps include: and establishing a detector surface coordinate system, and calculating the coordinate of the point P in the detector surface coordinate system.
Detector plane coordinate system { OD-XDYDThe establishment of (c) is shown in fig. 3. Firstly, when a 45-degree scanning mirror rotates by an angle theta, a coordinate system { O-XY } is established by taking a central projection point of a detector as a coordinate origin O, the flight direction as an X axis and the scanning direction as a Y axis corresponding to the ground; secondly, in the detector plane, the center of the detector is taken as an origin OD，XCAxis and YCThe axes are respectively parallel to the X-axis and the Y-axis in the coordinate system { O-XY } to establish the coordinate system { OD-XCYC}; finally, coordinate system { OD-XCYCA coordinate system obtained by rotating the normal vector of the detector plane by an angle theta is a detector plane coordinate system (O)D-XDYD}。
The coordinate of the point P in the coordinate system of the detector plane is the corresponding coordinate P of the point P in the original image rotation imageD＝(xDyD)：
xD＝βsin(θ+θ′)，yD＝βcos(θ+θ′)，
Wherein
And 4, step 4: and (4) obtaining the gray value of the corrected image without image rotation by resampling according to the pixel corresponding relation between the image rotation-free image coordinate and the original image rotation image coordinate obtained in the step (3), and further obtaining the corrected image of the whole image rotation image.
In particular implementation, the steps include: and obtaining an image rotation correction image through bilinear interpolation.
Obtaining an image rotation corrected image by resampling: and (3) calculating the specific position of the pixel in the original image rotation according to the coordinates of each column and each row of the image rotation-free image in the step (3), so as to obtain the pixel corresponding relation between the image rotation-free image coordinates and the original image rotation image coordinates. However, since the calculated image rotation coordinates are not necessarily integer values, interpolation is required for the original image to obtain a normal image.
Bilinear interpolation, also known as first-order interpolation, is approximated by a triangular linear function, the sampling function being: i (x)c)＝1-|xc|，(0≤|xc|≤1)。
And obtaining the pixel value of the sampling point by taking the values of 4 known pixels around the sampling point into convolution operation. The method has the advantages of high interpolation precision and relatively simple algorithm. The disadvantage is that the original data is destroyed, and the smooth filtering effect is achieved on the image.
The experimental result of the image rotation correction method based on 45-degree mirror wide-width multi-element parallel scanning imaging is shown in fig. 5. The experimental result is the experimental data of a certain channel in a 5-channel 12-element parallel scanning system.
The foregoing is a more detailed description of the present invention that is presented in conjunction with specific embodiments, and the practice of the invention is not to be considered limited to those descriptions. For those skilled in the art to which the invention pertains, several equivalent substitutions or obvious modifications can be made without departing from the spirit of the invention, and all the properties or uses are considered to be within the scope of the invention.
Claims (1)
1. An image rotation correction method based on 45-degree mirror wide-width multi-element parallel scanning imaging is characterized by comprising the following steps of:
1): establishing a rotation-free image coordinate system, and randomly selecting a certain point P on a rotation-free image to obtain the coordinate of the rotation-free image coordinate system; the method comprises the following specific steps:
1-1): non-image rotation image coordinate system { ON-XNYNThe establishment of the point is the establishment of a 0-degree image coordinate system without image rotation, namely, the projection of the center of the 45-degree scanning mirror at the point under the satellite is taken as an origin ONThe flight direction is XNAxis, scanning direction YNAn axis establishing a coordinate system;
1-2): arbitrarily selecting a point P on the image without image rotation, with the coordinate of PN＝(x1y1) Wherein y is1J is the distance of the channel center from the optical axis, x1The pixel number of the detector is +/-N, +/-N-1, … and 0, and N is the pixel number of the detector;
2): determining whether point P is within the detector range includes four states: the point P is in the range of the detector, the point P exceeds the range of the detector in the flying direction, the point P exceeds the range of the detector in the scanning direction, and the point P exceeds the range of the detector in both the flying direction and the scanning direction;
firstly, judging whether a point P is in the range of a detector; then, according to the step 3-2), solving the coordinates of the point P in the detector plane coordinate system, namely the corresponding coordinates in the original image rotation image, and recording the scanning angle of each element of the detector as SaInstantaneous field angle of VaThe rotation angle of the 45-degree scanning mirror is theta; the method comprises the following specific steps:
2-1): point P is within the detector range, then the coordinate of point P within one frame is P'N＝(x2y2) Wherein x is2＝x1，y2＝y1+θ/Sa；
2-2): the point P exceeds the range of the detector in the scanning direction and is positioned at theta-SaOr theta + SaThe angle position is reestablished, and then the new coordinate of the point P is P'N＝(x2y2) Wherein x is2＝x1+Sa/VaOr x2＝x1-Sa/Va，y2＝y1；
2-3): the point P exceeds the range of the detector in the flight direction, is positioned at the theta angle positions of the previous frame and the next frame, and the coordinate system is reestablished, so that the new coordinate of the point P is P'N＝(x2y2) Wherein x is2＝x1，y2＝y1+Df/DpOr y2＝y1-Df/Dp，DfOne frame distance in the direction of flight, DpA distance represented by one pixel;
2-4): the point P exceeds the range of the detector in both the flight direction and the scanning direction, the central coordinate of the pixel is projected to the ground, then the pixel is projected to the panoramic surface of the previous frame and the next frame, and the steps 2-1) -2-3) are repeated to calculate the new coordinate of the point P;
3): establishing a detector surface coordinate system, and calculating the corresponding image coordinate of the image point P in the original image rotation image according to the state of the image point P in the step 2) and the rotation angle theta of the scanning mirror; the method comprises the following specific steps:
3-1): detector plane coordinate system { OD-XDYDEstablishment of the method mainly comprises the following steps: firstly, when a 45-degree scanning mirror rotates by an angle theta, a coordinate system { O-XY } is established by taking a central projection point of a detector as a coordinate origin O, the flight direction as an X axis and the scanning direction as a Y axis corresponding to the ground; secondly, in the detector plane, the center of the detector is taken as an origin OD，XCAxis and YCThe axes are respectively parallel to the X-axis and the Y-axis in the coordinate system { O-XY } to establish the coordinate system { OD-XCYC}; finally, coordinate system { OD-XCYCA coordinate system obtained by rotating the normal vector of the detector plane by an angle theta is a detector plane coordinate system (O)D-XDYD}；
3-2): the coordinate of the point P in the coordinate system of the detector plane is the corresponding coordinate P of the point P in the original image rotation imageD＝(xDyD)：
xD＝βsin(θ+θ′)，yD＝βcos(θ+θ′)，
Wherein
4): and (3) obtaining an image rotation correction image through resampling, calculating the specific position of the pixel in the original image rotation image according to the coordinates of each column and each row of the image rotation-free image in the step 3), namely obtaining the pixel corresponding relation between the coordinates of the image rotation-free image and the coordinates of the original image rotation image, and then obtaining the gray value of the corrected image rotation-free image through resampling, thereby obtaining the correction image of the whole original image rotation image.
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| 陈怀波: ""基于45°扫描转镜的线阵激光雷达研究"", 《中国优秀硕士学位论文全文数据库（信息科技辑）》 * |
| 马文佳 等: ""45°旋转扫描镜多元并扫的红外图像校正建模与仿真研究"", 《红外》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114663480A (en) * | 2022-02-10 | 2022-06-24 | 上海卫星工程研究所 | Synchronous image rotation elimination and channel registration method and system for 45-degree rotary scanning space camera |
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