CN113313823B - Collaborative imaging method and system for imaging system group - Google Patents
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Abstract
The invention discloses a collaborative imaging method for an imaging system group, which relates to the technical field of image processing and mainly comprises the following steps: in the single-row cooperative mode, each member imaging system acquires a target image sent by a source imaging system according to a preset transmission mode, and returns the processed target image to the source imaging system for three-dimensional reconstruction imaging display after processing the target image; in the parallel collaborative mode, each imaging system in the imaging system group respectively acquires a respective target image, and after processing the respective target image, distributes the processed target image to each imaging system in the imaging system group for three-dimensional reconstruction imaging display. The invention provides two collaborative imaging methods, namely a single-line collaborative mode and a parallel collaborative mode, based on a source imaging system and a member imaging system, and the self computing power of each imaging system is utilized to solve the data processing of part of target images, so that a cloud server does not need to be additionally built to meet the computing power requirement of three-dimensional image construction.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a collaborative imaging method and a collaborative imaging system for an imaging system group.
Background
When a three-dimensional image is constructed, a conventional method is to gradually acquire images of each component of a target object through a single imaging system, and then reconstruct and combine the images of each component to form the three-dimensional image. However, the computing power of a single imaging system is often limited, and the problem of insufficient image computing power often occurs when complex three-dimensional image construction is performed, and a common method at this time is to upload a target image obtained by the imaging system to a cloud server, and perform data processing by using the advantage of large computing power of the cloud server. Therefore, how to well utilize the computing power of the imaging system while solving the problem of insufficient computing power of a single imaging system in three-dimensional image construction is the problem to be solved by the invention.
Disclosure of Invention
In order to solve the above problems, the present invention provides a collaborative imaging method for an imaging system group, in which the collaborative imaging includes a single-line collaborative mode and a parallel collaborative mode, each member imaging system and a source imaging system that needs to be collaborated form the imaging system group, and after entering the collaborative imaging, the method specifically includes:
if the single-row collaborative mode is adopted, each member imaging system acquires a target image sent by the source imaging system according to a preset transmission mode, and returns the processed target image to the source imaging system for three-dimensional reconstruction imaging display after processing the target image;
if the image is in the parallel collaborative mode, each imaging system in the imaging system group respectively acquires a respective target image, and distributes the processed target image to each imaging system in the imaging system group for three-dimensional reconstruction imaging display after processing the respective target image; the imaging systems include a source imaging system and member imaging systems.
Further, the member imaging systems in the imaging system group return agreement signals after receiving the assistance request of the source imaging system.
Further, each imaging system in the imaging system group has independent numbers which are sequentially ordered, and the preset transmission mode in the single-row cooperative mode is as follows:
and according to the sequence of the current acquisition target image of the source imaging system, sequentially sending the current acquisition target image to the member imaging systems corresponding to the independent numbers according to the sequence of the independent numbers, wherein only a single imaging system in each acquisition sequence obtains the target image in the current acquisition sequence.
Further, in the single-line collaborative mode, after the source imaging system receives the processed target image sent by each member imaging system, the method for performing three-dimensional reconstruction imaging display on the target image comprises the following steps:
and sequencing all the target images according to the acquisition sequence of the target images, and then performing three-dimensional reconstruction imaging display.
Further, in the parallel collaborative mode, after each imaging system receives the processed target image sent by the imaging systems in the imaging system group, the three-dimensional reconstruction imaging display of the target image can be expressed as a formula:
in the formula InFor a three-dimensional reconstructed imaging display of the nth imaging system,
a three-dimensional image reconstruction is represented,
the three-dimensional coordinates of the target image acquired for the nth imaging system, N being the total number of imaging systems in the imaging system group.
Furthermore, the member imaging system and the source imaging system perform data interaction in a wireless communication mode.
The invention also provides a cooperative imaging system for the imaging system group, the cooperative imaging comprises a single-line cooperative mode and a parallel cooperative mode, each member imaging system and a source imaging system needing cooperation form the imaging system group, each member imaging system comprises an image acquisition module, an image processing module, an image display module and a wireless transmitter, the source imaging system also comprises an image acquisition module, an image processing module, an image display module and a wireless transmitter, after the cooperative imaging is carried out,
if the single-row collaborative mode is adopted, in the member imaging system:
the wireless transmitter is used for receiving a target image which is acquired by the source imaging system through the image acquisition module and is sent by the wireless transmitter according to a preset transmission mode;
the image processing module is used for processing the target image, returning the processed target image to the source imaging system through the wireless transmitter, and performing three-dimensional reconstruction imaging display through the image display module of the source imaging system;
if the mode is the parallel cooperation mode, in each imaging system of the imaging system group:
the image acquisition module is used for acquiring respective target images;
the image processing module is used for processing respective target images, distributing the processed target images to each imaging system in the imaging system group through the wireless transmitter, and performing three-dimensional reconstruction imaging display through the image display module of each imaging system; the imaging systems include a source imaging system and member imaging systems.
Further, the member imaging systems in the imaging system group return the agreement signals after receiving the assistance request of the source imaging system through the wireless transmitter.
Further, each imaging system in the imaging system group has independent numbers which are sequentially ordered, and the preset transmission mode in the single-row cooperative mode is as follows:
and according to the sequence of the current acquisition target image of the source imaging system, sequentially sending the current acquisition target image to the member imaging systems corresponding to the independent numbers according to the sequence of the independent numbers, wherein only a single imaging system in each acquisition sequence obtains the target image in the current acquisition sequence.
Further, in the single-line collaborative mode, after the source imaging system receives the processed target image sent by each member imaging system, the method for performing three-dimensional reconstruction imaging display on the target image comprises the following steps:
sequencing all target images according to the acquisition sequence of the target images, and then performing three-dimensional reconstruction imaging display;
in the parallel cooperation mode, after each imaging system receives the processed target image sent by the imaging systems in the imaging system group, the three-dimensional reconstruction imaging display of the target image can be expressed as a formula:
in the formula InFor a three-dimensional reconstructed imaging display of the nth imaging system,
a three-dimensional image reconstruction is represented,
the three-dimensional coordinates of the target image acquired for the nth imaging system, N being the total number of imaging systems in the imaging system group.
Compared with the prior art, the invention at least has the following beneficial effects:
(1) the invention discloses a collaborative imaging method and a collaborative imaging system for an imaging system group, which provide two collaborative imaging methods, namely a single-line collaborative mode and a parallel collaborative mode, based on a source imaging system and a member imaging system, and solve the data processing of part of target images by utilizing the self computing power of each imaging system, so that the computing power requirement of three-dimensional image construction is met without additionally constructing a cloud server;
(2) the single imaging system does not need to integrate over-high computational power, so that the whole volume of the single imaging system can be reduced, and the portability of the imaging system is ensured;
(3) on the premise of keeping imaging independent operation, the computational complexity caused by portability and miniaturization is complemented.
Drawings
FIG. 1 is a method step diagram of a collaborative imaging method for a population of imaging systems;
FIG. 2 is a system block diagram of a collaborative imaging system for a population of imaging systems;
FIG. 3 is a functional diagram of the modules in single row collaboration mode;
fig. 4 is a functional diagram of the modules in the parallel collaboration mode.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
Example one
In order to solve the problem that the traditional three-dimensional imaging equipment has limited computing power and often needs to provide computing power support through a cloud server, as shown in fig. 1, the invention provides a collaborative imaging method for an imaging system group, wherein the collaborative imaging comprises a single-line collaborative mode and a parallel collaborative mode, each member imaging system and a source imaging system needing to be collaborated form the imaging system group, and after the collaborative imaging is performed, the method specifically comprises the following steps:
if the single-row collaborative mode is adopted, each member imaging system acquires a target image sent by the source imaging system according to a preset transmission mode, and returns the processed target image to the source imaging system for three-dimensional reconstruction imaging display after processing the target image;
if the image is in the parallel collaborative mode, each imaging system in the imaging system group respectively acquires a respective target image, and distributes the processed target image to each imaging system in the imaging system group for three-dimensional reconstruction imaging display after processing the respective target image; the imaging systems include a source imaging system and member imaging systems.
The imaging systems of the imaging system group are the imaging systems which return the agreement signals after receiving the assistance request of the source imaging system.
Fig. 3 is a schematic view of the modular functions in the single-line collaborative mode, and it can be easily seen from fig. 1 and the above description that when the collaborative imaging is the single-line collaborative mode, only the source imaging system is used to acquire the target image of the target object, and then the target image obtained each time is distributed to each imaging system in the imaging system group once for image processing. The processing method has the advantages that the whole three-dimensional image reconstruction task is divided into a plurality of subtasks and the subtasks are respectively processed by different imaging systems, so that the computational stress required to be born by each imaging system is greatly reduced. Meanwhile, the image calculation power of each imaging system is fully utilized to reconstruct the three-dimensional image, so that a cloud server does not need to be additionally built to support the calculation power.
Under the working condition, a single imaging system needs to repeatedly and uninterruptedly acquire target images of all parts of an imaging target, and the target images are distributed to imaging systems in an imaging system group according to a certain time sequence for three-dimensional image construction. Meanwhile, the portability of a single imaging system can be greatly improved by the arrangement, when the three-dimensional image reconstruction is required to be carried out on a remote target object, the reconstruction of the three-dimensional image can be completed on site only by carrying the single imaging system and in a remote assistance mode of an imaging system group. Furthermore, a single imaging system does not need to integrate excessive image computing power, and the imaging task can be completely shared by the image computing power of the member imaging systems, so that the imaging task is completed.
It should be noted that each imaging system in the imaging system group has an independent serial number (which may be numbered according to the production code of the imaging system itself or the timing sequence of the return agreement signal) ordered in sequence, and the preset transmission mode in the single-line cooperation mode is:
and according to the sequence of the current acquisition target image of the source imaging system, sequentially sending the current acquisition target image to the member imaging systems corresponding to the independent numbers according to the sequence of the independent numbers, wherein only a single imaging system in each acquisition sequence obtains the target image in the current acquisition sequence. It can be formulated as:
in the formula, N represents that the target image acquired at the P-th time is to be distributed to the N-th imaging system, N is the total time of the imaging systems, P is the total acquisition time of the target image of the current imaging target, and mod () is a complementation function.
In the single-line collaborative mode, after the source imaging system receives the processed target image sent by each member imaging system, the method for performing three-dimensional reconstruction imaging display on the target image comprises the following steps:
and sequencing all the target images according to the acquisition sequence of the target images, and then performing three-dimensional reconstruction imaging display. The source imaging system performs a collection based on the imaging system as a classification for how to classify the received processed image according to the source, and can be expressed as a formula:
wherein t is the number of times the source imaging system traverses the target image set in the imaging system population,
representing the corresponding acquisition times p when the imaging system is traversed to the nth imaging system in the t traversal process; i (p) acquiring a corresponding processed image for the p-th target image; i is’n (t) is a processed image set of the nth imaging system after processing the target image.
Fig. 4 is a schematic view of a modular function in a parallel collaborative mode, and it can be seen from fig. 1 and the above description that in the collaborative imaging mode, each imaging system in an imaging system group simultaneously acquires a target image of a certain part of an imaging target, then performs image processing on the target image of the part by using the image computing power of the imaging system, and finally distributes the processed image to each imaging system in the imaging system group for collection, integration, and three-dimensional reconstruction imaging display. The method has the advantages that three-dimensional imaging processing results of multiple parts of the target object can be synchronously acquired, the construction speed of the three-dimensional image is greatly increased, and the construction speed can be increased as the number of imaging systems in the imaging system group is increased.
In the parallel collaborative mode, after each imaging system receives the processed target image sent by the imaging systems in the imaging system group, the three-dimensional reconstruction imaging display of the target image can be expressed as a formula:
in the formula InFor a three-dimensional reconstructed imaging display of the nth imaging system,
a three-dimensional image reconstruction is represented,
the three-dimensional coordinates of the target image acquired for the nth imaging system, N being the total number of imaging systems in the imaging system group.
Furthermore, in order to realize remote data interaction between different imaging systems, the member imaging system and the source imaging system perform data interaction in a wireless communication mode.
Meanwhile, the method of rendering the three-dimensional image based on the two-dimensional image sets at different spatial positions to obtain the three-dimensional image is a mature technology and is recorded in many relevant documents, so that the method is not repeated in this embodiment.
Example two
In order to better understand the technical content of the present invention, this embodiment explains the technical features of the present invention by way of a system structure, as shown in fig. 2 (a schematic diagram of connection of modules in a single-line collaborative mode), a collaborative imaging system for an imaging system group, where the collaborative imaging includes a single-line collaborative mode and a parallel collaborative mode, each member imaging system includes an image acquisition module, an image processing module, an image display module and a wireless transmitter, a source imaging system also includes an image acquisition module, an image processing module, an image display module and a wireless transmitter, and after entering collaborative imaging,
if the single-row collaborative mode is adopted, in the member imaging system:
the wireless transmitter is used for receiving a target image which is acquired by the source imaging system through the image acquisition module and is sent by the wireless transmitter according to a preset transmission mode;
the image processing module is used for processing the target image, returning the processed target image to the source imaging system through the wireless transmitter, and performing three-dimensional reconstruction imaging display through the image display module of the source imaging system;
if the mode is the parallel cooperation mode, in each imaging system of the imaging system group:
the image acquisition module is used for acquiring respective target images;
the image processing module is used for processing respective target images, distributing the processed target images to each imaging system in the imaging system group through the wireless transmitter, and performing three-dimensional reconstruction imaging display through the image display module of each imaging system; the imaging systems include a source imaging system and member imaging systems.
The imaging system group comprises a plurality of imaging systems, wherein the imaging systems of the imaging systems are imaging systems which return an agreement signal after receiving a source imaging system assistance request through a wireless transmitter.
Meanwhile, each imaging system in the imaging system group has independent serial numbers which are sequentially ordered, and the preset transmission mode in the single-row cooperative mode is as follows:
and according to the sequence of the current acquisition target image of the source imaging system, sequentially sending the current acquisition target image to the member imaging systems corresponding to the independent numbers according to the sequence of the independent numbers, wherein only a single imaging system in each acquisition sequence obtains the target image in the current acquisition sequence.
Further, in the single-line collaborative mode, after the source imaging system receives the processed target image sent by each member imaging system, the method for performing three-dimensional reconstruction imaging display on the target image comprises the following steps:
sequencing all target images according to the acquisition sequence of the target images, and then performing three-dimensional reconstruction imaging display;
in the parallel cooperation mode, after each imaging system receives the processed target image sent by the imaging systems in the imaging system group, the three-dimensional reconstruction imaging display of the target image can be expressed as a formula:
in the formula InFor a three-dimensional reconstructed imaging display of the nth imaging system,
a three-dimensional image reconstruction is represented,
the three-dimensional coordinates of the target image acquired for the nth imaging system, N being the total number of imaging systems in the imaging system group.
EXAMPLE III
In this embodiment, the technical content of the present invention is explained by a specific application scenario of the single-line collaborative mode, and the specific steps are as follows:
carrying the source imaging system to a place where the target object is located;
sending an assistance request to the imaging system in all communication ranges (determined by the specification and setting parameters of the wireless transmitter);
the source imaging system and the imaging system returning the agreement signal form an imaging system group, and each imaging system is numbered according to the time sequence of the returning agreement signal;
changing the height and the orientation of a source imaging system to sequentially acquire target images of all parts of a target object;
sequentially distributing the currently acquired target images to the imaging systems corresponding to the numbers according to the numbers of the imaging systems;
processing the target image through the image computing power of each imaging system, and returning the processed target image to the source imaging system;
and the source imaging system carries out three-dimensional reconstruction on the processed target image according to the three-dimensional coordinates of the target image and displays the target image in the source imaging system.
In summary, the collaborative imaging method and system for the imaging system group provided by the invention provide two collaborative imaging methods, namely a single-line collaborative mode and a parallel collaborative mode, based on a source imaging system and a member imaging system, and the self computing power of each imaging system is utilized to solve the data processing of part of target images, so that a cloud server does not need to be additionally built to meet the computing power requirement of three-dimensional image construction.
The single imaging system does not need to integrate over high computational power, so that the whole volume of the single imaging system can be reduced, and the portability of the imaging system is ensured. The computational complexity caused by portability and miniaturization is complemented while the imaging independent operation is kept.
Meanwhile, with the increase of imaging systems applying the method and the system, the imaging system group which can be formed has no online overall calculation theoretically, can be enhanced along with the increase of users, and has a virtuous circle on the commercial application.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
Moreover, descriptions of the present invention as relating to "first," "second," "a," etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating a number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Claims (7)
1. A collaborative imaging method for an imaging system group is characterized in that collaborative imaging comprises a single-line collaborative mode and a parallel collaborative mode, each member imaging system and a source imaging system needing to be collaborated form the imaging system group, and after collaborative imaging is started, the method specifically comprises the following steps:
if the single-row collaborative mode is adopted, each member imaging system acquires a target image sent by the source imaging system according to a preset transmission mode, and returns the processed target image to the source imaging system for three-dimensional reconstruction imaging display after processing the target image;
each imaging system in the imaging system group has independent serial numbers which are sequentially ordered, and the preset transmission mode in the single-row cooperative mode is as follows:
according to the sequence of the current acquisition target image of the source imaging system, sequentially sending the current acquisition target image to the member imaging systems corresponding to the independent numbers according to the sequence of the independent numbers, wherein only a single imaging system in each acquisition sequence obtains the target image of the current acquisition sequence, and the target image can be expressed by a formula:
in the formula, N represents that a target image acquired for the P time is to be distributed to an nth imaging system, N is the total number of the imaging systems, P is the total acquisition frequency of the target image of the current imaging target, and mod () is a complementation function;
in the single-line collaborative mode, after the source imaging system receives the processed target image sent by each member imaging system, the method for performing three-dimensional reconstruction imaging display on the target image comprises the following steps:
sequencing all target images according to the acquisition sequence of the target images, and then performing three-dimensional reconstruction imaging display; the source imaging system performs a collection based on the imaging system as a classification for how to classify the received processed image according to the source, and can be expressed as a formula:
wherein t is the number of times the source imaging system traverses the target image set in the imaging system population,
representing the corresponding acquisition times p when the imaging system is traversed to the nth imaging system in the t traversal process; i (p) acquiring a corresponding processed image for the p-th target image; i is’n (t) is a processed image set of the nth imaging system after processing the target image;
if the image is in the parallel collaborative mode, each imaging system in the imaging system group respectively acquires a respective target image, and distributes the processed target image to each imaging system in the imaging system group for three-dimensional reconstruction imaging display after processing the respective target image; the imaging systems include a source imaging system and member imaging systems.
2. The collaborative imaging method for an imaging system group according to claim 1, wherein the member imaging systems in the imaging system group return consent signals after receiving a request for assistance from a source imaging system.
3. The collaborative imaging method for an imaging system group according to claim 1, wherein in the parallel collaborative mode, after each imaging system receives the processed target image sent by the imaging system in the imaging system group, the three-dimensional reconstruction imaging display of the target image can be expressed as a formula:
in the formula InFor a three-dimensional reconstructed imaging display of the nth imaging system,
a three-dimensional image reconstruction is represented,
the three-dimensional coordinates of the target image acquired for the nth imaging system, N being the total number of imaging systems in the imaging system group.
4. The collaborative imaging method according to claim 1, wherein the member imaging systems and the source imaging system interact with each other via wireless communication.
5. A collaborative imaging system for an imaging system group is characterized in that the collaborative imaging comprises a single-line collaborative mode and a parallel collaborative mode, each member imaging system and a source imaging system needing to be collaborative form the imaging system group, each member imaging system comprises an image acquisition module, an image processing module, an image display module and a wireless transmitter, the source imaging system also comprises an image acquisition module, an image processing module, an image display module and a wireless transmitter, after the collaborative imaging is carried out,
if the single-row collaborative mode is adopted, in the member imaging system:
the wireless transmitter is used for receiving a target image which is acquired by the source imaging system through the image acquisition module and is sent by the wireless transmitter according to a preset transmission mode;
the image processing module is used for processing the target image, returning the processed target image to the source imaging system through the wireless transmitter, and performing three-dimensional reconstruction imaging display through the image display module of the source imaging system;
each imaging system in the imaging system group has independent serial numbers which are sequentially ordered, and the preset transmission mode in the single-row cooperative mode is as follows:
according to the sequence of the current acquisition target image of the source imaging system, sequentially sending the current acquisition target image to the member imaging systems corresponding to the independent numbers according to the sequence of the independent numbers, wherein only a single imaging system in each acquisition sequence obtains the target image of the current acquisition sequence, and the target image can be expressed by a formula:
in the formula, N represents that a target image acquired for the P time is to be distributed to an nth imaging system, N is the total number of the imaging systems, P is the total acquisition frequency of the target image of the current imaging target, and mod () is a complementation function;
in the single-line collaborative mode, after the source imaging system receives the processed target image sent by each member imaging system, the method for performing three-dimensional reconstruction imaging display on the target image comprises the following steps:
sequencing all target images according to the acquisition sequence of the target images, and then performing three-dimensional reconstruction imaging display; the source imaging system performs a collection based on the imaging system as a classification for how to classify the received processed image according to the source, and can be expressed as a formula:
wherein t is the target of the source imaging system traversing the imaging system groupThe number of times the image set is marked,
representing the corresponding acquisition times p when the imaging system is traversed to the nth imaging system in the t traversal process; i (p) acquiring a corresponding processed image for the p-th target image; i is’n (t) is a processed image set of the nth imaging system after processing the target image;
if the mode is the parallel cooperation mode, in each imaging system of the imaging system group:
the image acquisition module is used for acquiring respective target images;
the image processing module is used for processing respective target images, distributing the processed target images to each imaging system in the imaging system group through the wireless transmitter, and performing three-dimensional reconstruction imaging display through the image display module of each imaging system; the imaging systems include a source imaging system and member imaging systems.
6. The collaborative imaging system according to claim 5, wherein the member imaging systems of the group of imaging systems return consent signals upon receiving a request for assistance from a source imaging system via a wireless transmitter.
7. The collaborative imaging system according to claim 5, wherein in the parallel collaborative mode, after each imaging system receives the processed target image sent by the imaging system in the imaging system group, the three-dimensional reconstruction imaging display of the target image can be expressed as the following formula:
in the formula InFor a three-dimensional reconstructed imaging display of the nth imaging system,
a three-dimensional image reconstruction is represented,
the three-dimensional coordinates of the target image acquired for the nth imaging system, N being the total number of imaging systems in the imaging system group.
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