CN112509035A - Double-lens image pixel point matching method for optical lens and thermal imaging lens - Google Patents
Double-lens image pixel point matching method for optical lens and thermal imaging lens Download PDFInfo
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Abstract
A double-lens image pixel point matching method of an optical lens and a thermal imaging lens comprises the following steps: correcting the distortion of the thermal imaging lens and the optical lens; fixing the optical lens and the thermal imaging lens, and transforming the position of the calibration plate to obtain an affine transformation matrix between the optical lens and the thermal imaging lens at the corresponding positions to obtain images; and performing least square fitting on each element in the affine transformation matrix to obtain an affine transformation matrix corresponding to the picture pixel at each position. This scheme of use can effectively solve the position problem of not matching when going to people's discernment and body temperature detection, guarantees pedestrian's discernment accuracy and body surface temperature's measuring accuracy and efficiency.
Description
Technical Field
The invention relates to a method for matching various image pixel points, in particular to a method for matching image pixel points by using an optical lens and a thermal imaging lens.
Background
The modern pedestrian detection method not only needs to obtain the position information of the pedestrian, but also more importantly obtains the body surface temperature of the pedestrian so as to provide technical support for the whole epidemic situation prevention and control system. However, the traditional method of using a monocular thermal imaging camera to detect the temperature of the pedestrian often leads to inaccurate body temperature detection and poor detection effect. If the pedestrian detection by the body temperature gun and the optical lens is adopted, the body temperature detection efficiency is reduced, and great pressure is brought to traffic.
The temperature information of the detected target is obtained according to the visible light and the infrared image information obtained by the camera, and the technology used in the process is mature. However, the matching of the pixel points of the optical lens and the infrared lens is also a technical point. Raw images are the source of data processed by a terminal device (e.g., a computer, etc.). If the original image information is accurate, system resources required in the processing process are less, and the result is more accurate.
Disclosure of Invention
In order to improve the acquisition of accurate original image information, the technical scheme provides a method for matching pixel points of a dual-lens image of an optical lens and a thermal imaging lens, which is used for solving the problem of position mismatching during pedestrian identification and body temperature detection, and specifically comprises the following steps:
a double-lens image pixel point matching method of an optical lens and a thermal imaging lens comprises the following steps:
1) taking a camera and a chessboard calibration plate, and fixing the relative positions of the camera and the chessboard;
the camera respectively adopts an optical lens and a thermal imaging lens to shoot the chessboard calibration plate, and respectively records the position of the central point of each black grid in the chessboard calibration plate; obtaining an internal reference matrix of the thermal imaging lens, and correcting the distortion of the thermal imaging lens by adopting the internal reference matrix of the thermal imaging lens; the method of correction comprises the steps of:
1.1) converting a source image pixel coordinate system into a camera coordinate system through an internal reference matrix, and correcting the camera coordinate of the image through a distortion coefficient;
1.2) converting the corrected camera coordinate system into an image pixel coordinate system through an internal reference matrix, and assigning a new image coordinate according to the pixel of the source image coordinate;
2) the camera shoots the chessboard calibration plate by adopting an optical lens and records the angular point position of the chessboard calibration plate; obtaining an internal reference matrix of the optical lens, and correcting the distortion of the optical lens by adopting the internal reference matrix of the optical lens;
the correction method is the same as the steps 1.1) to 1.2);
3) fixing an optical lens and a thermal imaging lens; sequentially electrifying each resistance wire of the chessboard calibration plate at the position d to obtain the optical coordinates and the infrared coordinates of the central point of each black lattice at the position and obtain an affine transformation matrix G;
4) the positions of the chessboard are changed to d1、d2，...dnObtaining an affine transformation matrix G between the images obtained by the optical lens and the thermal imaging lens at the corresponding positions by adopting the method in the step 3)1、G2，...Gn；
5) And 4) performing least square fitting on each element in the affine transformation matrix obtained in the step 4) to obtain an affine transformation matrix G' corresponding to the picture pixel at each position.
The method can be applied to binocular acquisition of the body temperature information of the pedestrian, and the principle is as follows: the traditional temperature measuring gun and temperature measuring door scheme has limited coverage and needs special personnel to watch, and the efficiency is lower.
The arrangement mode of the optical lens and the infrared lens is used for realizing large-range multi-target detection, the personnel targets and the positions (such as forehead) needing temperature measurement in the coverage range can be detected through the optical lens, the temperature information of the objects in the coverage range can be obtained through the infrared lens, and the body temperature of each personnel target can be obtained through matching of pixel points of the images of the optical lens and the images of the infrared lens. However, the matching of the pixel points of the optical lens and the infrared lens is a technical difficulty. The calibration and pixel point matching method for the optical lens and the infrared lens solves the technical difficulty, and the optical lens image and the infrared lens image can be matched through an affine transformation matrix G'.
The matching and the deployment scheme can realize large-range multi-target accurate temperature measurement with the width of more than 5 meters.
Drawings
FIG. 1 is a schematic flow diagram of the present process;
FIG. 2 is a schematic illustration of a deployment of a detection system applying the present method;
FIG. 3 is a schematic view of the camera mounting height H calculation of the inspection system;
FIG. 4 is a schematic view of a camera coverage width W calculation of the detection system;
FIG. 5 is a schematic view of a calibration aid.
Detailed Description
The following describes the technical scheme of the invention by taking an accurate detection system for the body temperature of a certain pedestrian applying the method as an example. In this example:
referring to fig. 1, the application steps of the dual-lens image pixel matching method for the optical lens and the thermal imaging lens include:
1) taking a camera and a chessboard calibration plate, and fixing the relative positions of the camera and the chessboard;
the camera respectively adopts an optical lens and a thermal imaging lens to shoot the chessboard calibration plate, and respectively records the position of the central point of each black grid in the chessboard calibration plate; obtaining an internal reference matrix K of the thermal imaging lens1Using an internal reference matrix K1Correcting the distortion of the thermal imaging lens;
the distortion of the image includes: radial distortion and tangential distortion.
Radial distortion is due to processing problems of the lens itself and tangential distortion is due to mounting problems.
The correction process is divided into two steps:
1. converting a source image pixel coordinate system into a camera coordinate system through an internal reference matrix, and correcting the camera coordinate of the image through a distortion coefficient;
2. and the corrected camera coordinate system is converted into an image pixel coordinate system through the internal reference matrix, and is assigned to a new image coordinate according to the pixel of the source image coordinate.
The specific method comprises the following steps:
the internal reference matrix is:
the known camera has a focal length f (unit: mm), a picture size m × n (unit: pixel), a sensor size i × j (unit: micrometer), and a pixel size p × p. The internal reference matrix can be obtained from the above known conditions as follows:
the tilt parameter β is usually 1
Namely, it is
The internal reference matrix is understood to mean that the values in the matrix are related to the camera internal parameters only and do not change with the position of the object.
fx, fy is a parameter representing the focal length (which is the distance of the vacuum from the projection screen, similar to the human eye and retina, and is measured in pixels), representing the physical dimensions of each pixel in the x and y directions of the image plane.
U0, v0 represents the coordinates of the origin of the image coordinate system in the pixel coordinate system, and is therefore m/2, n/2.
If the image pixel coordinate system has distortion-free coordinates (u, v), the distortion-free coordinates fall into uOv coordinate system (u, v) after warp distortion and tangential distortiond，vd) On the upper part
Comprises the following steps:
for the distortion:
radial distortion:
tangential distortion:
x ', y' are normalized coordinates of a pixel value in the image coordinate system, and u, v are distortion-free coordinates. That distortion location coordinate is a combination of the radial distortion coordinate and the tangential distortion coordinate.
I.e. ud＝uDiameter of a pipe‘+uCutting machine‘，vd＝vDiameter of a pipe‘+vCutting machine‘
Wherein
uDiameter of a pipe‘＝u‘＝u(1+k1r2+k2r4+k3r6)，
uCutting machine‘＝v‘＝v(1+k1r2+k2r4+k3r6)
K1,k2,k3,p1,p2Is the distortion parameter, K1,k2,k3Is the radial distortion parameter, p1And p is a tangential distortion parameter. r is2＝x2+y2
2) The camera shoots the chessboard calibration plate by adopting an optical lens and records the angular point position of the chessboard calibration plate; obtaining an internal reference matrix of the optical lens, and correcting the distortion of the optical lens by adopting the internal reference matrix;
3) based on steps 1) and 2), adopting a calibration plate shifting device; fixing an optical lens and a thermal imaging lens; sequentially electrifying each resistance wire of the chessboard calibration plate at the position d to obtain the optical coordinates and the infrared coordinates of the central point of each black lattice at the position and obtain an affine transformation matrix G;
the process of obtaining the affine transformation matrix G from the optical coordinates and the infrared coordinates comprises the following steps:
recording optical coordinates (x, y) and infrared coordinates (m, n); the translation and flip experienced by the imaging of the optical lens to the infrared lens image:
wherein A represents a rotation matrix, B represents a translation matrix,
for example, if the picture is rotated by θ, A is
When the picture is shifted by (x, y), then B is
The affine transformation method comprises the following steps:
convert it into a homogeneous coordinate matrix with a unique solution
This system of equations has 6 unknowns, so at least 6 equations (3 systems of equations) are required, i.e. at least 3 points in the coordinates of the optical and infrared lenses are required.
4) The positions of the chessboard are changed to d1、d2，...dnObtaining an affine transformation matrix G between two lens images in respective positions1、G2，...Gn；
5) Performing least square fitting (without constraint conditions) on each element in the affine transformation matrix obtained in the step 4) to obtain an affine transformation matrix G' corresponding to the picture pixels at each position;
the process of step 5):
recording the relative displacement (x, y, z) of the transformed board position from the initial board, then there is a unique k1,k2,k3And b, after any position is transformed, the variance of the affine transformation matrix and the affine transformation matrix of the initial position is minimum.
Namely:
therefore, when obtaining
b, G' satisfies the condition.
Namely, it is
The chessboard calibration plate is an 8X 8 chessboard calibration plate made of optical glass, and black lattices and white lattices are sequentially arranged on the surface of the chessboard at intervals; a round hole is arranged at the center of the black lattice, and a resistance wire is placed in the round hole;
when recording the black grid central points under the optical lens and the thermal imaging lens, sequentially electrifying each resistance wire, and then photographing by using different lenses by using a camera to obtain the positions of the black grid central pixel coordinate points of the resistance wires under the optical lens and the thermal imaging lens.
As an application of the method, reference is made to fig. 2 to 5.
Fig. 2 is a wide-range accurate detection system for the body temperature of pedestrians based on image pixel matching, which includes a background system, a terminal device and a binocular camera with an optical lens and a thermal imaging lens; sending the infrared image acquired by the camera to the terminal equipment for processing, and sending a processing result to the background system; the background system sends control information to the terminal equipment, and the terminal equipment sends a control instruction to the camera; the camera is arranged in the pedestrian passage, and a temperature calibration black body is deployed at the farthest end of the detection range. The method is used after the pixels of the double-lens image of the optical lens of the binocular camera and the thermal imaging lens are matched.
When the detection system is constructed, due to the particularity of the thermal imaging lens, firstly, the lens of the camera is calibrated, and then an imaging affine transformation matrix of the camera is obtained, so that the problem of position mismatching during pedestrian identification and body temperature detection is effectively solved, and the accuracy of pedestrian identification and the accuracy and efficiency of measurement of the body surface temperature of pedestrians are guaranteed.
The equipment used for the system is mainly a calibration plate shifting device used in the process of calibrating the lens. The device adopts seven degree of freedom arms to connect the calibration board, and moves the checkerboard to the designated position through the mechanical arms in sequence according to the checkerboard position requirement. The position of the checkerboard is determined by three-dimensional coordinates d (x, y, z) by taking the coordinate of the central point of the checkerboard as a standard, and the origin of the coordinate is the central point of the root plane of the mechanical arm.
The system mainly comprises the following steps:
firstly, calibrating an optical lens and a thermal imaging lens:
1. an 8X 8 chessboard calibration plate made of optical glass is selected, black grids and white grids are arranged on the surface of the chessboard, and a round hole is arranged in the center of each black grid for placing a resistance wire.
2. Positioning the calibration plate by fixing the optical camera and using the calibration plate displacement device, sequentially electrifying each resistance wire and recording the position of each point. And after the recording is finished, the lens is changed into a thermal imaging lens, and the previous operation is repeated. At the moment, the position (x) of the central pixel coordinate point of the black grid where the resistance wire is located can be obtained by the optical lens and the infrared lens respectivelyg，yg) And (x)i，yi)。
3. Calibrating the coordinate points obtained in the step 2 to obtain an internal parameter matrix K of the thermal imaging lens1。
4. Shooting a standard 8 multiplied by 8 checkerboard through the optical lens to obtain the position of each angular point, and obtaining an internal reference matrix K of the optical lens through calibration2。
The camera internal reference reflects the projection relationship between the camera coordinate system and the image coordinate system. The calibration of the internal parameter of the camera is to obtain the internal parameter f of the camera by shooting checkerboard images at different anglesx，fy，cx，cyAnd a distortion coefficient [ k ]1，k2，p1，p2，k3]And the like.
The distortion problem of the lens can be corrected by the internal reference matrix of the thermal imaging lens and the internal reference matrix of the optical lens.
Matching image pixel points of optical lens and thermal imaging lens
1. The positions of the optical lens and the thermal imaging lens are fixed through the calibration plate shifting device, and each resistance wire is electrified in sequence, so that optical coordinates and infrared coordinates of 32 points below the position can be obtained, and an affine transformation matrix G can be obtained at the moment.
2. Moving the grid position to d by means of a scale plate displacement device1、d2，...dnAffine transformation matrix sequence G between two lens images at different positions can be obtained1、G2，...Gn。
3. And (4) performing least square fitting (without constraint conditions) on each element in the affine transformation matrix obtained in the step six to obtain affine transformation matrices corresponding to the picture pixels at multiple positions.
The above-mentioned calibration plate displacement means is shown in fig. 5, in which 1 is a calibration plate and 2 is a robot arm.
Thirdly, realizing large-range accurate temperature measurement through equipment deployment
By arranging the temperature measuring equipment and the temperature calibration black body, accurate temperature measurement with the coverage width of more than 5 meters is realized.
1. Calculation of Camera mounting height H, refer to FIG. 3
The height of the lens is as follows: h1.5 +0.18 × D (common individual pixel model)
D is the monitoring distance, and D is the monitoring distance,
the average height below the head of a person is 1.5 m,
alpha is the top view angle of the camera,
the recommended top view angle is 10 DEG, tan10 DEG approximatively 0.18
The H was about 2.58 meters.
2. Camera coverage Width W calculation, see FIG. 4
Taking a horizontal viewing angle of 45 degrees and a vertical viewing angle of 34 degrees of the infrared thermal imaging camera as an example, calculating:
the horizontal depression angle of the camera is 10-13 degrees, the calibration distance between the camera and the temperature calibration black body is 6m (the same as the monitoring distance),
W＝tan22.5×L≈5.05m
L-H-1.5 m
From the above calculations, the device is field mounted, see fig. 2 (in the figure, 3 is the camera, 4 is the temperature calibration black).
The technical scheme overcomes the defects of the prior art, the affine transformation matrix can be obtained more accurately, the problem of position mismatching during pedestrian identification and body temperature detection is effectively solved through the technology, and the method can ensure the accuracy of pedestrian identification and the accuracy and efficiency of measurement of the body surface temperature of the pedestrian.
Claims (3)
1. A double-lens image pixel point matching method of an optical lens and a thermal imaging lens comprises the following steps:
1) taking a camera and a chessboard calibration plate, and fixing the relative positions of the camera and the chessboard;
the camera respectively adopts an optical lens and a thermal imaging lens to shoot the chessboard calibration plate, and respectively records the position of the central point of each black grid in the chessboard calibration plate; obtaining an internal reference matrix of the thermal imaging lens, and correcting the distortion of the thermal imaging lens by adopting the internal reference matrix of the thermal imaging lens; the method of correction comprises the steps of:
1.1) converting a source image pixel coordinate system into a camera coordinate system through an internal reference matrix, and correcting the camera coordinate of the image through a distortion coefficient;
1.2) converting the corrected camera coordinate system into an image pixel coordinate system through an internal reference matrix, and assigning a new image coordinate according to the pixel of the source image coordinate;
2) the camera shoots the chessboard calibration plate by adopting an optical lens and records the angular point position of the chessboard calibration plate; obtaining an internal reference matrix of the optical lens, and correcting the distortion of the optical lens by adopting the internal reference matrix of the optical lens;
the correction method is the same as the steps 1.1) to 1.2);
3) fixing an optical lens and a thermal imaging lens; sequentially electrifying each resistance wire of the chessboard calibration plate at the position d to obtain the optical coordinates and the infrared coordinates of the central point of each black lattice at the position and obtain an affine transformation matrix G;
4) the positions of the chessboard are changed to d1、d2，...dnObtaining an affine transformation matrix G between the images obtained by the optical lens and the thermal imaging lens at the corresponding positions by adopting the method in the step 3)1、G2，...Gn；
5) And 4) performing least square fitting on each element in the affine transformation matrix obtained in the step 4) to obtain an affine transformation matrix G' corresponding to the picture pixel at each position.
2. The method for matching dual lens image pixels of an optical lens and a thermal imaging lens as claimed in claim 1, wherein in step 1), the chessboard calibration plate is an 8 x 8 chessboard calibration plate made of optical glass, and black grids and white grids are sequentially alternated on the surface of the chessboard; a round hole is arranged at the center of the black lattice, and a resistance wire is placed in the round hole;
recording the center points of the black grids under the optical lens and the thermal imaging lens, sequentially electrifying each resistance wire, and then photographing by using different lenses by using a camera to obtain the positions of the pixel coordinate points of the center of the black grids where the resistance wires are positioned under the optical lens and the thermal imaging lens.
3. The method for matching pixel points of a dual-lens image of an optical lens and a thermal imaging lens according to claim 1, wherein in the step 3), the process of obtaining the affine transformation matrix G from the optical coordinates and the infrared coordinates comprises:
setting optical coordinates (x, y) and infrared coordinates (m, n); the translation and flip experienced by the imaging of the optical lens to the infrared lens image:
wherein A is an internal reference matrix of the optical lens, and B is an internal reference matrix of the thermal imaging lens;
the affine transformation method comprises the following steps:
it is converted into a homogeneous coordinate matrix, with a unique solution:
the equation set has 6 unknowns, so at least 6 equations are needed, namely at least 3 points are needed to correspond to the coordinates of the images of the optical lens and the infrared lens;
wherein A represents a rotation matrix, B represents a translation matrix,
if the picture is rotated by theta, A is
When the picture is shifted by (x, y), then B is
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