CN111738941A - Underwater image optimization method fusing light field and polarization information - Google Patents

Underwater image optimization method fusing light field and polarization information Download PDF

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CN111738941A
CN111738941A CN202010507045.3A CN202010507045A CN111738941A CN 111738941 A CN111738941 A CN 111738941A CN 202010507045 A CN202010507045 A CN 202010507045A CN 111738941 A CN111738941 A CN 111738941A
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付先平
梁政
王亚飞
米泽田
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Dalian Maritime University
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Abstract

The invention discloses an underwater image optimization method fusing light field and polarization information, which comprises the following steps: carrying out polarization diagram collection on a target scene at different positions away from the target scene, wherein a plurality of polarization diagrams form a polarization diagram group; respectively restoring the polarization map groups at different positions to obtain polarization restored images at different positions; determining a target image in the polarization recovery image; optimizing the target image according to the polarized images at all different positions; the light field imaging technology and the polarization imaging technology are combined, multi-field depth information of a scene is obtained in one-time acquisition process, information dimensionality obtained by single imaging is increased, initial restoration is carried out on each sub-field depth image by using a proposed polarization restoration algorithm, and finally restoration fusion is carried out by using a light field correlation algorithm, so that underwater imaging quality is improved.

Description

Underwater image optimization method fusing light field and polarization information
Technical Field
The invention relates to underwater image imaging, in particular to an underwater image optimization method fusing light field and polarization information.
Background
When underwater imaging is carried out, the imaging quality is poor due to the absorption of light by water and the scattering of suspended particles. The existing underwater image imaging method based on the atmospheric imaging model is not suitable for the low-illumination and multi-suspended particle underwater environment; the existing underwater image processing based on polarization information can improve imaging quality, but forward and backward scattered light caused by environmental suspended particles under water is difficult to distinguish, so that the restored image is seriously distorted.
Disclosure of Invention
The invention provides an underwater image optimization method fusing light field and polarization information, which aims to overcome the technical problems.
The invention relates to an underwater image optimization method fusing light field and polarization information, which comprises the following steps:
carrying out polarization diagram collection on a target scene at different positions away from the target scene, wherein a plurality of polarization diagrams form a polarization diagram group;
respectively restoring the polarization map groups at different positions to obtain polarization restored images at different positions;
determining a target image in the polarization recovery image;
and optimizing the target image according to the polarized images at all different positions.
Further, the acquiring the polarization diagrams of the target scene at different positions from the target scene includes: adjusting the angle of a polaroid to collect a plurality of polarization diagrams for a target scene at a first position away from the target scene; and in the same way, adjusting the angle of the polaroid to collect a plurality of polarization diagrams for the target scene at the Nth position away from the target scene.
Further, the respectively restoring the polarization map groups at different positions to obtain polarization restored images at different positions includes:
the set of polarization diagrams is labeled with stokes vectors as:
Figure BDA0002526893970000011
obtaining a total light intensity image, intensity difference images in horizontal and vertical directions and intensity difference images in 45 DEG and-45 DEG directions of the image scene at the current position, wherein SN0Representing the total light intensity, S, of the image scene at the current locationN1Indicating the difference in intensity, S, between the horizontal and vertical directions of the current positionN2Indicating the intensity difference in the 45 ° and-45 ° directions of the current position;
calculating the polarization degree of the image scene at the current position according to the total light intensity image, the intensity difference images in the horizontal direction and the vertical direction and the intensity difference images in the 45-degree direction and the-45-degree direction of the image scene at the current position;
calculating a dark channel image of the total light intensity image according to the total light intensity image of the image scene at the current position;
dividing the dark channel image into four sub-images equally by adopting quadtree decomposition, and calculating the mean value and the variance of the four sub-images;
determining a region of the dark channel image only containing scattering effect according to the difference value of the mean value and the variance of the sub-images, and determining the position of the brightest pixel point in the region only containing scattering effect;
determining a total light intensity image, intensity difference images in the horizontal direction and the vertical direction and intensity difference images in the 45-degree direction and the-45-degree direction of the image scene at the current position according to the region of the dark channel image only containing the scattering effect, and determining a backscattering light parameter at infinity according to the position of the brightest pixel point in the region of the dark channel image only containing the scattering effect;
calculating the polarization degree and the polarization angle of the backward scattering light according to the total light intensity image of the image scene at the current position, the intensity difference images in the horizontal direction and the vertical direction and the regions only containing the scattering effect of the intensity difference images in the 45-degree direction and the 45-degree direction;
calculating the parameters of the backward scattering light according to the polarization degree and the polarization angle of the backward scattering light and the polarization degree of the current position image scene;
and restoring the image scene at the current position according to the backscattered light parameters at the infinite distance and the backscattered light parameters.
Further, the determining the region of the dark channel image containing only the scattering effect according to the difference value of the mean and the variance of the sub-images includes:
using a formula
Figure BDA0002526893970000021
Determining regions of the dark channel image containing only scattering effects, wherein the dark channel image comprises a plurality of dark channels
Figure BDA0002526893970000022
For the areas of the finally selected dark channel image containing only scattering effects, the
Figure BDA0002526893970000023
For the # th channel in the dark channel image*Sub-image block, said τ*For picture block number τ*，
Figure BDA0002526893970000031
Is the Tth sub-image block in the dark channel image, the
Figure BDA0002526893970000032
Is the mean value of the τ th sub-image block in the dark channel image, said
Figure BDA0002526893970000033
The variance of the τ -th sub-image block in the dark channel image is shown, and τ is the serial number of the image block.
Further, the determining the backscattered light parameters at infinity according to the position of the brightest pixel point in the dark channel image, which only contains the scattering effect region, includes:
using a formula
Figure BDA0002526893970000034
Determining backscattered light at infinityParameter, wherein, BN∞(λ) is backscattered light at infinity, SN0(i*,j*λ) is the position (i)*,j*) In the image SN0Middle pixel value of (i) above*,j*) For the position of the brightest pixel point in the dark channel image, which contains only scattering effect regions
Figure BDA0002526893970000035
Is the position (i, j) in the image
Figure BDA0002526893970000036
The middle pixel value.
The method combines the light field imaging technology and the polarization imaging technology, obtains multi-depth-of-field information of a scene in one-time acquisition process, increases information dimensionality obtained by single imaging, performs initial restoration on each sub-depth-of-field image by using a proposed polarization restoration algorithm, and performs restoration fusion by using a light field correlation algorithm, thereby improving the underwater imaging quality.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to these drawings without creative efforts.
FIG. 1 is a flow chart of underwater polarized optical imaging of an underwater image optimization method of the invention for fusing light field and polarization information;
FIG. 2 is a schematic diagram of underwater polarized optical imaging of an underwater image optimization method for fusing light field and polarization information.
FIG. 3 is a process of processing a polarization image in the underwater image optimization method for fusing light field and polarization information.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Fig. 1 shows a flowchart of an underwater image optimization method for fusing light field and polarization information according to the present invention, which includes the following processing steps:
carrying out polarization diagram collection on a target scene at different positions away from the target scene, wherein a plurality of polarization diagrams form a polarization diagram group;
respectively restoring the polarization map groups at different positions to obtain polarization restored images at different positions;
determining a target image in the polarization recovery image;
and optimizing the target image according to the polarized images at all different positions.
Further, the acquiring the polarization diagrams of the target scene at different positions from the target scene includes: adjusting the angle of a polaroid to collect a plurality of polarization diagrams for a target scene at a first position away from the target scene; and in the same way, adjusting the angle of the polaroid to collect a plurality of polarization diagrams for the target scene at the Nth position away from the target scene.
In underwater imaging, poor imaging quality is caused by absorption of light by water and scattering of suspended particles, and as the imaging distance increases, the two effects become more significant, which makes underwater image recovery difficult. According to fig. 2, the camera receives light from two aspects, one is signal light from the target reflected and attenuated to the camera, that is:
D(i,j,λ,d)＝J(i,j,λ)·T(i,j,λ) (1)
the other is the back scattered light which is scattered into the camera by the suspended particle scattering effect when the light is transmitted, namely:
B(i,j,λ)＝(1-T(i,j,λ))·B∞(λ) (2)
the final camera imaging process can be represented as
I(i,j,λ)＝D(i,j,λ)+B(i,j,λ)
＝J(i,j,λ)·T(i,j,λ)+(1-T(i,j,λ))·B∞(λ) (3)
Where (I, j) is a certain point in the image, I is the abscissa of the pixel point in the image, j is the ordinate of the pixel point in the image, d is the depth of field, λ is the wavelength of the light, λ ∈ { red, green, blue } corresponds to three color channels of the RGB image, B (I, j, λ) is the backscattered light, I (I, j, λ) is the image acquired by the camera, T (I, j, λ) is e-s(λ)d(i,j)Is a transmittance chart, B∞(λ) is the backscattered light at infinity, D (i, J, λ) is the signal light that the target reflects and reaches the camera after attenuation, and J (i, J, λ) is the signal light without any attenuation. By combining the formulas (1) to (3), the compound can be obtained,
Figure BDA0002526893970000051
therefore, as can be seen from equation (4), to restore an image, B∞(λ) and B (i, j, λ) are two key parameters that are crucial to the recovery quality of the image.
Further, as shown in fig. 3, the process is processed by the following formula for the polarization image; because the traditional underwater image quality recovery based on the polarization information adopts the fixed depth of field to shoot the polarization image, the accurate model parameter estimation value is difficult to obtain. In addition, human involvement is required in parameter estimation, which has certain limitation in practical application.
The invention adopts different positions far away from a target scene to shoot polarization images with different initial angles, namely obtains a multi-position polarization image group, and obtains the whole larger light field information as follows:
(I0(0),I0(45),I0(90))，(I1(0),I1(45),I1(90))，......,(IN(0),IN(45),IN(90))，
polarization diagram of each sub-positionThe image set is initially reconstructed by polarizing the image set at the Nth positional distance (I)N(0),IN(45),IN(90) To illustrate the recovery operation:
the respectively restoring the polarization map groups at different positions to obtain polarization restored images at different positions includes: the set of polarization diagrams is labeled with stokes vectors as:
Figure BDA0002526893970000052
wherein SN0Total light intensity, S, representing the scene at the current locationN1Indicating the difference in intensity, S, between the horizontal and vertical directions of the current positionN2Indicating the difference in intensity in the 45 deg. and-45 deg. directions for the current position.
Obtaining a total light intensity image, intensity difference images in horizontal and vertical directions and intensity difference images in 45 DEG and-45 DEG directions of the image scene at the current position, wherein SN0Representing the total light intensity, S, of the image scene at the current locationN1Indicating the difference in intensity, S, between the horizontal and vertical directions of the current positionN2Indicating the intensity difference in the 45 ° and-45 ° directions of the current position;
calculating the polarization degree of the image scene at the current position according to the total light intensity image, the intensity difference images in the horizontal direction and the vertical direction and the intensity difference images in the 45-degree direction and the-45-degree direction of the image scene at the current position;
calculating a dark channel image of the total light intensity image according to the total light intensity image of the image scene at the current position;
dividing the dark channel image into four sub-images equally by adopting quadtree decomposition, and calculating the mean value and the variance of the four sub-images;
determining a region of the dark channel image only containing scattering effect according to the difference value of the mean value and the variance of the sub-images, and determining the position of the brightest pixel point in the region only containing scattering effect;
determining a total light intensity image, intensity difference images in the horizontal direction and the vertical direction and intensity difference images in the 45-degree direction and the-45-degree direction of the image scene at the current position according to the region of the dark channel image only containing the scattering effect, and determining a backscattering light parameter at infinity according to the position of the brightest pixel point in the region of the dark channel image only containing the scattering effect;
calculating the polarization degree and the polarization angle of the backward scattering light according to the total light intensity image of the image scene at the current position, the intensity difference images in the horizontal direction and the vertical direction and the regions only containing the scattering effect of the intensity difference images in the 45-degree direction and the 45-degree direction;
calculating the parameters of the backward scattering light according to the polarization degree and the polarization angle of the backward scattering light and the polarization degree of the current position image scene;
and restoring the image scene at the current position according to the backscattered light parameters at the infinite distance and the backscattered light parameters.
In particular, as the depth of field increases, the effects of scattering are exacerbated and the image becomes increasingly blurred (i.e., lower and lower contrast). Then, the mean value representing the image brightness and the variance representing the image contrast can be used to determine the infinite area, and in order to avoid the influence of the high brightness object in the target scene, the total light intensity image S is firstly processedN0Dark channel image determination:
Figure BDA0002526893970000061
then to dark channel image
Figure BDA0002526893970000062
Performing quadtree decomposition, calculating the mean M and variance S of each decomposed block region, subtracting the variance from the mean, selecting the region with the largest difference according to formula (7), and repeating the steps until the final block region
Figure BDA0002526893970000063
Is less than a set threshold value, determining the region as an infinite region containing only scattering effect, and determining the region containing only scattering effect of the dark channel image according to the difference value of the mean value and the variance of the sub-images, including adopting the following formula:
Figure BDA0002526893970000064
determining regions of the dark channel image containing only scattering effects, wherein the dark channel image comprises a plurality of dark channels
Figure BDA0002526893970000065
For the areas of the finally selected dark channel image containing only scattering effects, the
Figure BDA0002526893970000066
For the # th channel in the dark channel image*Sub-image block, said τ*For picture block number τ*，
Figure BDA0002526893970000071
Is the Tth sub-image block in the dark channel image, the
Figure BDA0002526893970000072
Is the mean value of the τ th sub-image block in the dark channel image, said
Figure BDA0002526893970000073
The variance of the τ -th sub-image block in the dark channel image is shown, and τ is the serial number of the image block.
Finding an AND in a Stokes vector
Figure BDA0002526893970000074
The area corresponding to the position is marked as delta. The degree and angle of polarization of the backscattered light can thus be derived from equations (8) - (9), and | Δ | represents the total number of pixels in the region.
Figure BDA0002526893970000075
Figure BDA0002526893970000076
In estimating the key parameter BN∞(lambda) and BNIn (i, j, λ), most of the existing methods are to estimate by manually selecting a region without a target. But the recovery quality of the image is not stable due to the difference of human operation. Because BN∞(lambda) and BN(i, j, λ) are parameters that relate only to backscattered light, and therefore it is necessary to determine regions on the image that contain only scattering effects. As the distance increases, different wavelengths will be absorbed at a certain location and the absorption effect disappears, so that only the scattering effect is contained in the image at infinity.
Further, the determining the backscattered light parameters at infinity according to the position of the brightest pixel point in the dark channel image, which only contains the scattering effect region, includes:
using a formula
Figure BDA0002526893970000077
Determining a backscattered light parameter at infinity, wherein BN∞(λ) is backscattered light at infinity, SN0(i*,j*λ) is the position (i)*,j*) In the image SN0Middle pixel value of (i) above*,j*) The position of the brightest pixel point in the dark channel image only containing the scattering effect area
Figure BDA0002526893970000078
Is the position (i, j) in the image
Figure BDA0002526893970000079
The middle pixel value.
The backscattered light parameter B is estimated from the degree and angle of polarization of the backscattered light, i.e., equations (8) to (9)N(i,j,λ)
Figure RE-GDA00026466238900000710
Wherein the content of the first and second substances,
Figure BDA0002526893970000081
accordingly, the estimated parameter B can be obtainedN∞(λ)，BN(i, J, λ) carry-in (4) and restore the degraded image J captured at the Nth positionN(i,j,λ)。
Recovering degraded images at different positions by the method, and recording the recovered degraded images as J0(i,j,λ)，J1(i,j,λ)，...， JN(i, J, lambda), taking the target image J (i, J, lambda) as a reference image, and respectively finding pixel points corresponding to the reference image in other multi-position images; because the shooting positions are different, the information such as intensity, color and the like reflected by the same object point is different, and the pixels of the same object point on the recovered images at different distances are accumulated to calculate the average to be used as the optimized pixel point of the object point in the target image, so that the quality of the target image is improved.
The method combines the light field imaging technology and the polarization imaging technology, obtains multi-depth-of-field information of a scene in one-time acquisition process, increases information dimensionality obtained by single imaging, performs initial restoration on each sub-depth-of-field image by using a proposed polarization restoration algorithm, and performs restoration fusion by using a light field correlation algorithm, thereby improving the underwater imaging quality.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (5)

1. An underwater image optimization method fusing light field and polarization information is characterized by comprising the following steps:
carrying out polarization diagram collection on a target scene at different positions away from the target scene, wherein a plurality of polarization diagrams form a polarization diagram group;
respectively restoring the polarization map groups at different positions to obtain polarization restored images at different positions;
determining a target image in the polarization recovery image;
and optimizing the target image according to the polarized images at all different positions.
2. The method of claim 1, wherein the acquiring the polarization map of the target scene at different positions from the target scene comprises: adjusting the angle of a polaroid to collect a plurality of polarization diagrams for a target scene at a first position away from the target scene; and in the same way, adjusting the angle of the polaroid to collect a plurality of polarization diagrams for the target scene at the Nth position away from the target scene.
3. The method of claim 1, wherein the respectively restoring the polarization map groups at different positions to obtain polarization restored images at different positions comprises:
the set of polarization diagrams is labeled with stokes vectors as:
Figure FDA0002526893960000011
obtaining a total light intensity image, intensity difference images in horizontal and vertical directions and intensity difference images in 45 DEG and-45 DEG directions of the image scene at the current position, wherein SN0Representing the total light intensity, S, of the image scene at the current locationN1Indicating the difference in intensity, S, between the horizontal and vertical directions of the current positionN2Indicating the intensity difference in the 45 ° and-45 ° directions of the current position;
calculating the polarization degree of the image scene at the current position according to the total light intensity image, the intensity difference images in the horizontal direction and the vertical direction and the intensity difference images in the 45-degree direction and the-45-degree direction of the image scene at the current position;
calculating a dark channel image of the total light intensity image according to the total light intensity image of the image scene at the current position;
dividing the dark channel image into four sub-images equally by adopting quadtree decomposition, and calculating the mean value and the variance of the four sub-images;
determining a region of the dark channel image only containing a scattering effect according to the difference value of the mean value and the variance of the sub-images, and determining the position of a brightest pixel point in the region only containing the scattering effect;
determining a total light intensity image, intensity difference images in the horizontal direction and the vertical direction and intensity difference images in the 45-degree direction and the-45-degree direction of the image scene at the current position according to the region containing only the scattering effect of the dark channel image, and determining a backscattering light parameter at infinity according to the position of the brightest pixel point in the region containing only the scattering effect in the dark channel image;
calculating the polarization degree and the polarization angle of the backward scattering light according to the total light intensity image of the image scene at the current position, the intensity difference images in the horizontal direction and the vertical direction and the regions only containing the scattering effect of the intensity difference images in the 45-degree direction and the 45-degree direction;
calculating the parameters of the backward scattering light according to the polarization degree and the polarization angle of the backward scattering light and the polarization degree of the current position image scene;
and restoring the image scene at the current position according to the backscattered light parameters at the infinite distance and the backscattered light parameters.
4. The method of claim 3, wherein determining the region of the dark channel image containing only scattering effects from the difference of the mean and variance of the sub-images comprises:
using a formula
Figure FDA0002526893960000021
Determining regions of the dark channel image containing only scattering effects, wherein the dark channel image comprises a plurality of dark channels
Figure FDA0002526893960000022
For the finally selected areas of the dark channel image containing only scattering effects
Figure FDA0002526893960000023
For the # th channel in the dark channel image*Sub-image blocks, said τ*For picture block number τ*，
Figure FDA0002526893960000024
Is the Tth sub-image block in the dark channel image, the
Figure FDA0002526893960000025
Is the mean value of the τ th sub-image block in the dark channel image, said
Figure FDA0002526893960000026
And the variance of the tau-th sub-image block in the dark channel image is shown, wherein tau is the serial number of the image block.
5. The method of claim 3, wherein determining the backscattered light parameters at infinity based on the position of the brightest pixel point in the dark channel image containing only scattering effects comprises:
using a formula
Figure FDA0002526893960000027
Determining a backscattered light parameter at infinity, wherein BN∞(λ) is backscattered light at infinity, SN0(i*,j*λ) is the position (i)*,j*) In the image SN0Middle pixel value of (i) above*,j*) The position of the brightest pixel point in the dark channel image only containing the scattering effect area
Figure FDA0002526893960000028
Is the position (i, j) in the image
Figure FDA0002526893960000029
The middle pixel value.
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