CN111667405A - Image splicing method and device - Google Patents

Image splicing method and device Download PDF

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Publication number
CN111667405A
CN111667405A CN201910166998.5A CN201910166998A CN111667405A CN 111667405 A CN111667405 A CN 111667405A CN 201910166998 A CN201910166998 A CN 201910166998A CN 111667405 A CN111667405 A CN 111667405A
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China
Prior art keywords
image
basic image
basic
unit
displacement
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CN201910166998.5A
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Chinese (zh)
Inventor
刘洋
李永飞
丰林
贺浩
屈军锁
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Xian University of Posts and Telecommunications
Rocket Force University of Engineering of PLA
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Xian University of Posts and Telecommunications
Rocket Force University of Engineering of PLA
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Application filed by Xian University of Posts and Telecommunications, Rocket Force University of Engineering of PLA filed Critical Xian University of Posts and Telecommunications
Priority to CN201910166998.5A priority Critical patent/CN111667405A/en
Publication of CN111667405A publication Critical patent/CN111667405A/en
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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
    • G06T3/60—Rotation of a whole image or part thereof
    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/32—Indexing scheme for image data processing or generation, in general involving image mosaicing

Abstract

The invention provides an image splicing method and device, relates to the technical field of electronic information, and can solve the problem that in the related technology, the image splicing is not accurate enough, so that a map generated finally has errors. The specific technical scheme is as follows: acquiring a first basic image and a second basic image which are shot by a flight device, wherein the first basic image and the second basic image are two adjacent images which are sequenced according to shooting time, and the first basic image is shot before the second basic image; acquiring image information of a second basic image, wherein the image information of the second basic image is used for indicating the rotation angle and the displacement of the second basic image; and splicing the second basic image and the first basic image according to the image information of the second basic image and generating a spliced image. The present disclosure is used for road network splicing.

Description

Image splicing method and device
Technical Field
The disclosure relates to the technical field of electronic information, in particular to an image stitching method and device.
Background
With the development of the unmanned aerial vehicle technology, the unmanned aerial vehicle technology has been applied to many fields, for example, aerial photography, transportation, monitoring, and the like. In an application scene, the unmanned aerial vehicle can shoot the ground, and a complete map of a region is obtained by splicing continuously shot pictures. However, in the process of implementing the method, the image stitching is not accurate enough, which may cause errors in the finally generated map.
Disclosure of Invention
The embodiment of the disclosure provides an image stitching method and an image stitching device, which can solve the problem that in the related technology, image stitching is not accurate enough, so that a finally generated map has errors, and the technical scheme is as follows:
according to a first aspect of the embodiments of the present disclosure, there is provided an image stitching method, including:
acquiring a first basic image and a second basic image which are shot by a flight device, wherein the first basic image and the second basic image are two adjacent images which are sequenced according to shooting time, and the first basic image is shot before the second basic image;
acquiring image information of a second basic image, wherein the image information of the second basic image is used for indicating the rotation angle and the displacement of the second basic image;
and splicing the second basic image and the first basic image according to the image information of the second basic image and generating a spliced image.
When the two basic images are spliced, the two basic images are spliced according to the rotation angle and the displacement between the two basic images, and the accuracy of image splicing is improved.
In one embodiment, stitching the second base image with the first base image and generating a stitched image according to image information of the second base image comprises:
determining a coordinate transformation function of the second basic image relative to the first basic image according to the rotation angle and the displacement of the second basic image;
performing coordinate transformation on the second basic image according to a coordinate transformation function to obtain a transformed image;
and matching pixel points of the transformed image and the first basic image, and splicing the first basic image and the transformed image according to a matching result to generate a spliced image.
In one embodiment, acquiring image information of the second base image includes:
and receiving the rotation angle of the second basic image sent by the flying device, wherein the rotation angle of the second basic image is detected by the flying device by using a gyroscope.
In one embodiment, acquiring image information of the second base image includes:
and receiving the displacement of the second basic image sent by the flying device, wherein the displacement of the second basic image is detected by the flying device by using the acceleration sensor.
In one embodiment, acquiring a first base image and a second base image taken by a flying device comprises:
acquiring a first original image and a second original image shot by a flight device;
and carrying out vector extraction on the first original image and the second original image to obtain a first basic image and a second basic image.
According to a second aspect of the embodiments of the present disclosure, there is provided an image stitching device including: the device comprises a first acquisition module, a second acquisition module and a splicing module;
the first acquisition module is used for acquiring a first basic image and a second basic image which are shot by the flight device, wherein the first basic image and the second basic image are two adjacent images which are sequenced according to shooting time, and the first basic image is shot before the second basic image;
the second acquisition module is used for acquiring the image information of the second basic image, and the image information of the second basic image is used for indicating the rotation angle and the displacement of the second basic image;
and the splicing module is used for splicing the second basic image and the first basic image according to the image information of the second basic image and generating a spliced image.
In one embodiment, a splicing module comprises: the device comprises a function unit, a transformation unit and a matching unit;
a function unit for determining a coordinate transformation function of the second basic image with respect to the first basic image according to the rotation angle and the displacement of the second basic image;
the transformation unit is used for carrying out coordinate transformation on the second basic image according to a coordinate transformation function to obtain a transformed image;
and the matching unit is used for matching pixel points of the transformed image and the first basic image and splicing the first basic image and the transformed image according to a matching result to generate a spliced image.
In one embodiment, the second acquisition module includes a first receiving unit;
and the first receiving unit is used for receiving the rotation angle of the second basic image sent by the flying device, and the rotation angle of the second basic image is detected by the flying device by using a gyroscope.
In one embodiment, the second obtaining module includes a second receiving unit;
and the second receiving unit is used for receiving the displacement of the second basic image sent by the flying device, and the displacement of the second basic image is detected by the flying device by using the acceleration sensor.
In one embodiment, the first acquisition module comprises an original image unit and a vector extraction unit;
the original image unit is used for acquiring a first original image and a second original image shot by the flight device;
and the vector extraction unit is used for carrying out vector extraction on the first original image and the second original image to obtain a first basic image and a second basic image.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a flowchart of an image stitching method provided in an embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating an effect of transforming an image according to an embodiment of the present disclosure;
FIG. 3 is a block diagram of an image stitching apparatus according to an embodiment of the present disclosure;
FIG. 4 is a block diagram of an image stitching apparatus according to an embodiment of the present disclosure;
FIG. 5 is a block diagram of an image stitching apparatus according to an embodiment of the present disclosure;
FIG. 6 is a block diagram of an image stitching apparatus according to an embodiment of the present disclosure;
fig. 7 is a structural diagram of an image stitching apparatus according to an embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The embodiment of the present disclosure provides an image stitching method, which is applied to an image stitching device, as shown in fig. 1, where fig. 1 is a flowchart of an image stitching method provided in the embodiment of the present disclosure, and the image stitching method provided in the embodiment of the present disclosure includes the following steps:
101. a first base image and a second base image taken by a flying device are acquired.
The first basic image and the second basic image are two adjacent images in order of photographing time, and the first basic image is photographed before the second basic image.
The flying device may be a drone. The unmanned aerial vehicle can continuously shoot the ground, and the first basic image and the second basic image are two adjacent images in time sequence. The first basic image and the second basic image may be images captured by the flight device, or may be processed images captured by the flight device.
For example, in one embodiment, acquiring a first base image and a second base image taken by a flying device comprises:
acquiring a first original image and a second original image shot by a flight device; and carrying out vector extraction on the first original image and the second original image to obtain a first basic image and a second basic image.
102. Image information of the second base image is acquired.
The image information of the second basic image is used to indicate the rotation angle and displacement of the second basic image.
The rotation angle of the second basic image may be an angle that is offset from the reference direction when the flying apparatus takes the second basic image. The reference direction may be a fixed direction, for example a true north direction. The displacement of the second elemental image may be a distance between a position where the flying apparatus takes the first elemental image and a position where the flying apparatus takes the second elemental image. The rotation angle and the displacement of the second elemental image may be transmitted by the flying device to the image stitching device.
For example, in the first embodiment, acquiring image information of the second elemental image includes:
and receiving the rotation angle of the second basic image sent by the flying device, wherein the rotation angle of the second basic image is detected by the flying device by using a gyroscope.
In a second embodiment, acquiring image information of a second base image includes:
and receiving the displacement of the second basic image sent by the flying device, wherein the displacement of the second basic image is detected by the flying device by using the acceleration sensor.
103. And splicing the second basic image and the first basic image according to the image information of the second basic image and generating a spliced image.
In one embodiment, stitching the second base image with the first base image and generating a stitched image according to image information of the second base image comprises:
determining a coordinate transformation function of the second basic image relative to the first basic image according to the rotation angle and the displacement of the second basic image;
performing coordinate transformation on the second basic image according to a coordinate transformation function to obtain a transformed image;
and matching pixel points of the transformed image and the first basic image, and splicing the first basic image and the transformed image according to a matching result to generate a spliced image.
It should be noted that the coordinate transformation function changes according to the change of the displacement and the rotation angle of the flying apparatus, here, the application scenario shown in fig. 2 is taken as an example for description, and fig. 2 is a schematic diagram of the effect of transforming the image provided by the embodiment of the present disclosure. The second elementary image is rotated by 90 ° counterclockwise with respect to the first elementary image, and is shifted by 2 unit lengths to the right. Taking the reference point of the first basic image as the origin of coordinates, where the reference point of the first basic image is a point where the coordinates in the image are unchanged when the flying device shoots the angle rotation, in fig. 2, taking the flying device shoots vertically downwards as an example, the camera is at the center of the flying device, and taking the center of the first basic image as the reference point, i.e., the origin of coordinates. And transforming the pixel coordinates in the second basic image into the first basic image according to a coordinate transformation function, wherein the coordinate transformation function is as follows:
x1＝x2cos(β)-y2sin(β)+x0；y1＝y2cos(β)+x2sin(β)+y0；
wherein β is a counterclockwise rotation angle, (x)1,y1) Is the coordinate of the pixel point in the second basic image in the first basic image (i.e. the coordinate in the coordinate system with the center of the first basic image as the origin of coordinates), (x)2,y2) Is the coordinate of the pixel point in the second basic image (i.e. the coordinate in the coordinate system with the center of the second basic image as the origin of coordinates), (x) in the second basic image0,y0) Is the coordinates of the center of the second elemental image in the coordinate system of the first elemental image (i.e., the coordinates of the center of the second elemental image in the coordinate system with the center of the first elemental image as the origin).
As shown in fig. 2, β is 90 °, (x)0,y0) Is (2,0), the coordinate transformation function in fig. 2 is: x is the number of1＝2-y2；y1＝x2(ii) a Of course, this is merely an example and does not represent a limitation of the present disclosure.
According to the image splicing method provided by the embodiment of the disclosure, when the two basic images are spliced, the two basic images are spliced according to the rotation angle and the displacement between the two basic images, so that the accuracy of image splicing is improved.
Based on the image stitching method described in the embodiment corresponding to fig. 1, an embodiment of the present disclosure provides an image stitching device, configured to execute the image stitching method described in the embodiment corresponding to fig. 1, and as shown in fig. 3, the image stitching device 30 includes: a first obtaining module 301, a second obtaining module 302 and a splicing module 303;
the first acquiring module 301 is configured to acquire a first basic image and a second basic image captured by a flight device, where the first basic image and the second basic image are two adjacent images sorted according to capturing time, and the first basic image is captured before the second basic image;
a second obtaining module 302, configured to obtain image information of a second basic image, where the image information of the second basic image is used to indicate a rotation angle and a displacement of the second basic image;
and a stitching module 303, configured to stitch the second basic image with the first basic image according to the image information of the second basic image, and generate a stitched image.
In one embodiment, as shown in fig. 4, the stitching module 303 includes: a function unit 3031, a transformation unit 3032 and a matching unit 3033;
a function unit 3031, configured to determine a coordinate transformation function of the second basic image with respect to the first basic image according to the rotation angle and the displacement of the second basic image;
a transformation unit 3032, configured to perform coordinate transformation on the second basic image according to a coordinate transformation function to obtain a transformed image;
and the matching unit 3033 is configured to perform pixel matching on the transformed image and the first base image, and splice the first base image and the transformed image according to a matching result to generate a spliced image.
In one embodiment, as shown in fig. 5, the second obtaining module 302 includes a first receiving unit 3021;
a first receiving unit 3021, configured to receive a rotation angle of the second basic image sent by the flying apparatus, where the rotation angle of the second basic image is detected by the flying apparatus using a gyroscope.
In one embodiment, as shown in fig. 6, the second obtaining module 302 includes a second receiving unit 3022;
a second receiving unit 3022, configured to receive the displacement of the second basic image sent by the flying apparatus, where the displacement of the second basic image is detected by the flying apparatus using the acceleration sensor.
In one embodiment, as shown in fig. 7, the first acquisition module 301 includes an original image unit 3011 and a vector extraction unit 3012;
an original image unit 3011, configured to acquire a first original image and a second original image captured by a flying device;
and a vector extraction unit 3012, configured to perform vector extraction on the first original image and the second original image to obtain a first base image and a second base image.
According to the image splicing device provided by the embodiment of the disclosure, when two basic images are spliced, the two basic images are spliced according to the rotation angle and the displacement between the two basic images, so that the accuracy of image splicing is improved.
Based on the image stitching method described in the embodiment corresponding to fig. 1, an embodiment of the present disclosure further provides a computer-readable storage medium, for example, the non-transitory computer-readable storage medium may be a Read Only Memory (ROM), a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like. The storage medium stores computer instructions for executing the image stitching method described in the embodiment corresponding to fig. 1, which is not described herein again.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims (10)

1. An image stitching method, characterized in that the method comprises:
acquiring a first basic image and a second basic image shot by a flight device, wherein the first basic image and the second basic image are two adjacent images which are sequenced according to shooting time, and the first basic image is shot before the second basic image;
acquiring image information of a second basic image, wherein the image information of the second basic image is used for indicating the rotation angle and the displacement of the second basic image;
and splicing the second basic image and the first basic image according to the image information of the second basic image to generate a spliced image.
2. The method of claim 1, wherein stitching the second base image with the first base image and generating a stitched image according to image information of the second base image comprises:
determining a coordinate transformation function of the second basic image relative to the first basic image according to the rotation angle and the displacement of the second basic image;
performing coordinate transformation on the second basic image according to the coordinate transformation function to obtain a transformed image;
and matching pixel points of the transformed image and the first basic image, and splicing the first basic image and the transformed image according to a matching result to generate the spliced image.
3. The method of claim 1, wherein obtaining image information for a second base image comprises:
and receiving the rotation angle of the second basic image sent by the flying device, wherein the rotation angle of the second basic image is detected by the flying device by using a gyroscope.
4. The method of claim 1, wherein obtaining image information for a second base image comprises:
and receiving the displacement of the second basic image sent by the flying device, wherein the displacement of the second basic image is detected by the flying device by using an acceleration sensor.
5. The method of any one of claims 1 to 4, wherein acquiring the first and second base images taken by the flying device comprises:
acquiring a first original image and a second original image shot by a flight device;
and carrying out vector extraction on the first original image and the second original image to obtain the first basic image and the second basic image.
6. An image stitching device, characterized in that the image stitching device comprises: the device comprises a first acquisition module, a second acquisition module and a splicing module;
the first acquisition module is used for acquiring a first basic image and a second basic image which are shot by a flight device, wherein the first basic image and the second basic image are two adjacent images which are sequenced according to shooting time, and the first basic image is shot before the second basic image;
the second obtaining module is configured to obtain image information of a second basic image, where the image information of the second basic image is used to indicate a rotation angle and a displacement of the second basic image;
and the splicing module is used for splicing the second basic image and the first basic image according to the image information of the second basic image and generating a spliced image.
7. The apparatus of claim 6, wherein the splicing module comprises: the device comprises a function unit, a transformation unit and a matching unit;
the function unit is used for determining a coordinate transformation function of the second basic image relative to the first basic image according to the rotation angle and the displacement of the second basic image;
the transformation unit is used for carrying out coordinate transformation on the second basic image according to the coordinate transformation function to obtain a transformed image;
and the matching unit is used for matching pixel points of the transformed image and the first basic image and splicing the first basic image and the transformed image according to a matching result to generate the spliced image.
8. The apparatus of claim 6, wherein the second obtaining module comprises a first receiving unit;
the first receiving unit is configured to receive a rotation angle of the second basic image sent by the flying device, where the rotation angle of the second basic image is detected by the flying device using a gyroscope.
9. The apparatus of claim 6, wherein the second obtaining module comprises a second receiving unit;
the second receiving unit is configured to receive a displacement of the second basic image sent by the flying device, where the displacement of the second basic image is detected by the flying device using an acceleration sensor.
10. The apparatus according to any one of claims 6-9, wherein the first obtaining module comprises an original image unit and a vector extraction unit;
the original image unit is used for acquiring a first original image and a second original image shot by the flight device;
the vector extraction unit is configured to perform vector extraction on the first original image and the second original image to obtain the first basic image and the second basic image.
CN201910166998.5A 2019-03-06 2019-03-06 Image splicing method and device Pending CN111667405A (en)

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Application publication date: 20200915