CN113450260A - Splicing method for photographed images of multiple cameras - Google Patents

Splicing method for photographed images of multiple cameras Download PDF

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CN113450260A
CN113450260A CN202111008250.6A CN202111008250A CN113450260A CN 113450260 A CN113450260 A CN 113450260A CN 202111008250 A CN202111008250 A CN 202111008250A CN 113450260 A CN113450260 A CN 113450260A
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CN113450260B (en
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谈昆伦
季小强
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Changzhou Hongfa Zongheng Advanced Material Technology Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
    • 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

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Abstract

The invention relates to the technical field of image measurement, in particular to a method for splicing photographed images of a plurality of cameras; comprising the following steps 10: erecting n industrial cameras; step 20: placing a calibration plate with calibration points in the visual field of each industrial camera; step 30: using n industrial cameras to take pictures to generate n workpiece images; step 40: respectively mapping the n workpiece images to form n mapping images on one plane; step 50: measuring actual distance relations among the calibration points on all the calibration plates, and calculating mapping distance relations among the calibration points in the mapping image according to the actual distance relations; step 60: and taking the 1 st mapping image as a reference, and sequentially placing the rest mapping images on the 1 st mapping image according to the mapping distance relation to finish the image splicing. The invention provides a splicing method of multiple camera photographed images, which can acquire an integral image of a workpiece with a long length.

Description

Splicing method for photographed images of multiple cameras
Technical Field
The invention relates to the technical field of image measurement, in particular to a method for splicing photographed images of a plurality of cameras.
Background
The image measuring technology is a novel technology which takes a workpiece image shot by a camera as a carrier for information transmission, analyzes and researches an imaging image of an object according to a visual principle and a digital image processing technology so as to obtain information to be measured, and is successfully applied to many fields at present. The image measuring method has the advantages of non-contact, high speed, large dynamic range, rich information and the like, and is emphasized by the measuring field at home and abroad.
Due to the fact that the photographing range of a single camera is limited, for workpieces with long lengths such as pipes and fiber cloth, the whole of the workpiece cannot be accommodated in the visual field of the single camera, and only local images of the workpiece can be acquired, so that the whole of the workpiece cannot be measured by an image measuring technology, only local parts of the workpiece can be measured, and the measuring result cannot truly reflect the state of the workpiece.
In view of the above problems, the present designer is actively making research and innovation based on the practical experience and professional knowledge that is rich over years in engineering application of such products and by using the theory, and provides a method for stitching images photographed by multiple cameras, which can obtain an overall image of a workpiece with a long length.
Disclosure of Invention
The invention aims to provide a method for splicing images shot by a plurality of cameras, aiming at the defects in the prior art, and the method can acquire the whole image of a workpiece with a longer length by using a plurality of industrial cameras to shoot different parts of the workpiece and then splicing the workpiece.
In order to achieve the above object, the present invention provides a method for stitching multiple photographed images, comprising:
step 10: erecting n industrial cameras facing different parts of the workpiece, wherein n is a positive integer larger than 2;
step 20: placing a calibration plate with calibration points in the visual field of each industrial camera;
step 30: using n industrial cameras to take pictures to generate n workpiece images;
step 40: respectively mapping the n workpiece images to form n mapping images on one plane;
step 50: measuring actual distance relations among the calibration points on all the calibration plates, and calculating mapping distance relations among the calibration points in the mapping image according to the actual distance relations;
step 60: and taking the 1 st mapping image as a reference, and sequentially placing the rest mapping images on the 1 st mapping image according to the mapping distance relation to finish the image splicing.
Further, in the step 20, the calibration points include a main calibration point and an auxiliary calibration point, and the main calibration point and the auxiliary calibration point on all the calibration plates are equally spaced and are on a horizontal straight line.
Further, in the step 30, the method includes:
taking the central point of the main calibration point as the origin in the workpiece image generated by the nth camera, and extracting the corresponding coordinate (X) of each pixel pointAn，YAn，ZAn) Color information corresponding to each pixel point is fn（XAn，YAn，ZAn）。
Further, in the step 40, the method includes:
Figure 576122DEST_PATH_IMAGE001
calculating the corresponding coordinate of each pixel point in the nth mapping image as (X)Bn，YBn，ZBn) Color information corresponding to each pixel point is gn（XBn，YBn，ZBn）=fn（XAn，YAn，ZAn），
Wherein,
Figure 430946DEST_PATH_IMAGE002
。
further, in the step 50, the method includes:
acquiring the distance between the central point of the main calibration point and the central point of the auxiliary calibration point in the 1 st mapping image as LB；
Measuring the actual distance between the central point of the main calibration point and the central point of the auxiliary calibration point on the 1 st calibration plate and recording the actual distance as LA；
Measuring the actual distance W from the center point of the main calibration point on the nth calibration plate to the center point of the main calibration point on the 1 st calibration platen。
Further, in the step 60, the method includes:
setting the mapping distance k of the n-th mapping imagen=LB/LA*Wn；
Calculating the corresponding coordinate (X) of each pixel point in the complete image formed after image splicingF，YF) The color information corresponding to each pixel point is F (X)F，YF），
Then, F (X)F，YF）=g1（XB1，YB1，ZB1) Or g2（XB2，YB2，ZB2) … … or gn（XBn，YBn，ZBn) Wherein
XF=XB1or XB2+k2… … or XBn+kn，
YF=YB1Or YB2… … or YBn。
Further, in step 10, the method further includes:
after the industrial cameras are installed, the visual field edges of every two adjacent industrial cameras are mutually balanced.
Further, in the step 20, the method further includes:
placing an offset plate on a workpiece, wherein n offset tables are arranged on the offset plate; each calibration plate is fixedly arranged on a corresponding offset platform, and two adjacent edges of each calibration plate are attached to two edges of the offset platform.
Further, between the step 40 and the step 50, the following steps are further included:
step 45; acquiring the distance between the central point of a main calibration point and the central point of an auxiliary calibration point in each mapping image, and recording the distance in the 1 st mapping image as LBFor said spacing not equal to LBAnd adjusting the height of the industrial camera corresponding to the mapping image, and repeating the steps 30-45 until all the distances are equal, and then executing the step 50.
Further, the diameter of the primary index point is larger than the diameter of the secondary index point.
Through the technical scheme of the invention, the following technical effects can be realized: the plurality of industrial cameras are used for photographing different parts of the workpiece and then splicing the workpiece, so that the whole image of the workpiece with a long length can be acquired, and an image basis is provided for a subsequent image measurement technology.
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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 used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for stitching a plurality of photographed images of a camera according to an embodiment of the present invention;
FIG. 2 is a front view showing placement positions of an industrial camera, a calibration plate, and a shift plate in an embodiment of the present invention;
FIG. 3 is a schematic top view of an exemplary industrial camera, calibration plate and offset plate placement location in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a mapping image before stitching according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating a spliced mapping image according to an embodiment of the present invention;
reference numerals: calibration plate 1, main calibration point 11, auxiliary calibration point 12 and offset plate 2.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
A method for splicing photographed images of a plurality of cameras is disclosed, as shown in FIGS. 1-5, and comprises the following steps:
step 10: erecting n industrial cameras facing different parts of the workpiece, wherein n is a positive integer larger than 2;
step 20: a calibration plate 1 with calibration points is placed in the visual field of each industrial camera;
step 30: using n industrial cameras to take pictures to generate n workpiece images;
step 40: respectively mapping the n workpiece images to form n mapping images on one plane;
step 50: measuring actual distance relations among the calibration points on all the calibration plates 1, and calculating mapping distance relations among the calibration points in the mapping image according to the actual distance relations;
step 60: and taking the 1 st mapping image as a reference, and sequentially placing the rest mapping images on the 1 st mapping image according to the mapping distance relationship to finish the image splicing.
Specifically, the splicing method can acquire the overall image of the workpiece with a long length by using a plurality of industrial cameras to photograph different parts of the workpiece and then splicing, thereby providing an image basis for a subsequent image measurement technology.
In step 20, the calibration points include a main calibration point 11 and an auxiliary calibration point 12, and the main calibration point 11 and the auxiliary calibration point 12 on all the calibration plates 1 are equally spaced and are on a horizontal straight line. Preferably, the diameter of the main calibration point 11 is larger than that of the auxiliary calibration point 12, so that the main calibration point 11 and the auxiliary calibration point 12 are convenient to distinguish, and the splicing accuracy is prevented from being influenced by recognition errors.
In step 30, the method comprises the following steps:
taking the central point of the main calibration point 11 as the origin in the workpiece image generated by the nth camera, and extracting the corresponding coordinate (X) of each pixel pointAn，YAn，ZAn) Color information corresponding to each pixel point is fn（XAn，YAn，ZAn). The coordinate formed by the image shot by each industrial camera is independent, the expression method is a general expression of 1 st to n workpiece images, and the expression method specifically comprises the following steps: in the 1 st workpiece image is (X)A1，YA1，ZA1) And f1（XA1，YA1，ZA1) In the 2 nd workpiece image is (X)A2，YA2，ZA2) And f2（XA2，YA2，ZA2) … … is (X) in the nth workpiece imageAn，YAn，ZAn) And fn（XAn，YAn，ZAn）。
The concrete meaning of the pixel point coordinates in this step 30 is to record the color information of each pixel point in the image shot by the industrial camera by using the coordinates, so that the color information of each pixel point can be transmitted to the mapping image and the finally spliced image through the corresponding relation of the coordinate values, thereby forming the image.
In step 40, the method comprises the following steps:
Figure 945104DEST_PATH_IMAGE003
calculating the corresponding coordinate of each pixel point in the nth mapping image as (X)Bn，YBn，ZBn) Color information corresponding to each pixel point is gn（XBn，YBn，ZBn）=fn（XAn，YAn，ZAn) Wherein
Figure 261685DEST_PATH_IMAGE004
. As mentioned above, the expression method is a general expression for the 1 st to n th mapping images.
Since the mounting error inevitably occurs during the process of mounting the industrial camera, the angle of the industrial camera may slightly skew, and this stepThe essence of 40 is to map each workpiece image onto a plane with Z =0, thereby eliminating the influence of the installation angle of the industrial camera and ensuring that the images can be smoothly spliced. The specific meaning of the formula is that each coordinate before mapping of the image corresponds to each coordinate after mapping one to one, so that the corresponding relation between the pixel point coordinate and the pixel point color information is obtained on the mapping image. For example, if the 1 st workpiece image is a gray image, where the coordinates of one pixel point are (1, 1, 1) and the gray value is 60, f is1(1, 1, 1) =60, through calculation of mapping matrix T
Figure 13740DEST_PATH_IMAGE005
Then, it means that the color information of the pixel point at (1, 1, 0) of the 1 st mapping image is g1（1，1，0）=f1(1, 1, 1) =60, and similarly, by obtaining coordinates obtained by multiplying coordinate points on the other 1 st workpiece image by the mapping matrix T, the correspondence between the coordinate values of the 1 st mapping image and the color information can be obtained, and by obtaining the correspondence between the coordinate values of the other mapping image and the color information by the same method, the mapping image is formed.
In step 50, the method comprises the following steps:
acquiring the distance between the center point of the main calibration point 11 and the center point of the auxiliary calibration point 12 in the 1 st mapping image as LB；
Measuring the actual distance between the center point of the main calibration point 11 and the center point of the auxiliary calibration point 12 on the 1 st calibration plate 1 and recording the actual distance as LA；
Measuring the actual distance W from the center point of the main calibration point 11 on the nth calibration plate 1 to the center point of the main calibration point 11 on the 1 st calibration plate 1n。
Since the coordinates formed by the images photographed by each industrial camera are independent, the coordinates between the mapping images are also independent, and thus step 50 is required to obtain the positional relationship between the coordinate systems of the mapping images by the distance L between the center point of the main calibration point 11 and the center point of the sub calibration point 12 on the calibration plate 1 in the mapping imagesBAnd the actual distance LAThat is, the actual distance is reflected in the mapDistance on the image, thereby passing the actual distance W from the center point of the main calibration point 11 on the nth calibration plate 1 to the center point of the main calibration point 11 on the 1 st calibration plate 1nThe position relation among the coordinate systems of all the mapping images can be calculated, and therefore splicing is carried out.
In step 60, the method comprises the following steps:
setting the mapping distance k of the n-th mapping imagen=LB/LA*Wn；
In the complete image formed after image splicing is calculated, because the mapping images are in the same plane and the Z dimension has no influence on the image, the corresponding coordinate of each pixel point can be directly counted as (X)F，YF) The color information corresponding to each pixel point is F (X)F，YF），
Then, F (X)F，YF）=g1（XB1，YB1，ZB1) Or g2（XB2，YB2，ZB2) … … or gn（XBn，YBn，ZBn) Wherein
XF=XB1or XB2+k2… … or XBn+kn，
YF=YB1Or YB2… … or YBn。
The meaning of the step 60 is that the 2 nd to the n th mapping images are sequentially placed on the right side of the 1 st mapping image, and the 2 nd to the n th mapping images are all according to the mapping distance knRelating the coordinates of itself to the 1 st mapping image, and then (X)F，YF) And corresponding to the coordinate values of all the mapping images from 1 st to n th, and obtaining corresponding color values so as to form the image. For example, in the 1 st to nth mapping images, each mapping image has a gray value of 60, i.e., g, for a pixel point with coordinates (1, 1, 0) in its own coordinate system1（1，1，0）、g2（1，1，0）……gn(1, 1, 0) are all 60, and the mapping distances of the 2 nd to nth mapping images are respectively k1=10、k2=20……kn=10n, then is finishedThe coordinates of n points in the whole image can be obtained to correspond to the coordinate values of the 1 st to n mapping images, and the method comprises the following steps: xF=XB1=1 and YF=YB1=1、XF=XB2+k2=1+10=11 and YF=YB2=1……XF=XBn+knAnd YF=YBnAfter the coordinates are corresponded, F (X) of the corresponding pointF，YF) The corresponding g can be obtained by the value1（1，1，0）、g2（1，1，0）……gnAnd (1, 1, 0) to obtain the gray value of n points as 60, and similarly, calculating the pixel points of other coordinates to finally obtain the color information of all the pixel points of the whole image to form the image.
In order to obtain the maximum shooting range, in step 10, the method further includes: after the industrial cameras are installed, the visual field edges of every two adjacent industrial cameras are mutually balanced.
In step 20, the method further comprises: placing an offset plate 2, wherein n offset tables are arranged on the offset plate 2; each calibration plate 1 is fixedly arranged on a corresponding offset platform, and two adjacent sides of each calibration plate 1 are attached to two sides of the offset platform. To obtain W convenientlynThe offset stages are preferably arranged at equal intervals.
Since the height of the industrial cameras may vary due to inevitable installation errors during the installation of the industrial cameras, and the actual size images of the workpiece captured by each industrial camera may vary, the method further includes the following steps between step 40 and step 50:
step 45; acquiring the distance between the center point of the main calibration point 11 and the center point of the auxiliary calibration point 12 in each mapping image, and recording the distance in the 1 st mapping image as LBFor pitches unequal to LBAnd (3) adjusting the height of the industrial camera corresponding to the mapping image, repeating the step 30 to the step 45, and executing the step 50 until all the distances are equal, wherein the step is used for correcting the position of the camera, ensuring that the shapes of the workpieces in the mapping images keep the same size, and avoiding that the spliced images are staggered to cause the images not to be used.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. A splicing method for photographed images of a plurality of cameras is characterized by comprising the following steps:
step 10: erecting n industrial cameras facing different parts of the workpiece, wherein n is a positive integer larger than 2;
step 20: placing a calibration plate with calibration points in the visual field of each industrial camera;
step 30: using n industrial cameras to take pictures to generate n workpiece images;
step 40: respectively mapping the n workpiece images to form n mapping images on one plane;
step 50: measuring actual distance relations among the calibration points on all the calibration plates, and calculating mapping distance relations among the calibration points in the mapping image according to the actual distance relations;
step 60: and taking the 1 st mapping image as a reference, and sequentially placing the rest mapping images on the 1 st mapping image according to the mapping distance relation to finish the image splicing.
2. The method for stitching a plurality of photographed images by using a camera according to claim 1, wherein in the step 20, the calibration points include a main calibration point and a sub calibration point, and the main calibration point and the sub calibration point are equally spaced and are on a horizontal straight line on all the calibration plates.
3. The method for stitching a plurality of photographed images by using a camera according to claim 2, wherein said step 30 comprises:
taking the central point of the main calibration point as the origin in the workpiece image generated by the nth camera, and extracting the corresponding coordinate (X) of each pixel pointAn，YAn，ZAn) Color information corresponding to each pixel point is fn（XAn，YAn，ZAn）。
4. The method for stitching a plurality of photographed images by using a camera according to claim 3, wherein in said step 40, the method comprises:
Figure 281949DEST_PATH_IMAGE001
calculating the corresponding coordinate of each pixel point in the nth mapping image as (X)Bn，YBn，ZBn) Color information corresponding to each pixel point is gn（XBn，YBn，ZBn）=fn（XAn，YAn，ZAn），
Wherein,
Figure 872199DEST_PATH_IMAGE002
。
5. the method for stitching a plurality of photographed images by using a camera according to claim 4, wherein in said step 50, the method comprises:
acquiring the distance between the central point of the main calibration point and the central point of the auxiliary calibration point in the 1 st mapping image as LB；
Measuring the actual distance between the central point of the main calibration point and the central point of the auxiliary calibration point on the 1 st calibration plate and recording the actual distance as LA；
Measuring the actual distance W from the center point of the main calibration point on the nth calibration plate to the center point of the main calibration point on the 1 st calibration platen。
6. The method for stitching a plurality of photographed images by using a camera according to claim 5, wherein in the step 60, the method comprises:
setting the mapping distance k of the n-th mapping imagen=LB/LA*Wn；
Calculating the corresponding coordinate (X) of each pixel point in the complete image formed after image splicingF，YF) The color information corresponding to each pixel point is F (X)F，YF），
Then, F (X)F，YF）=g1（XB1，YB1，ZB1) Or g2（XB2，YB2，ZB2) … … or gn（XBn，YBn，ZBn) Wherein
XF=XB1or XB2+k2… … or XBn+kn，
YF=YB1Or YB2… … or YBn。
7. The method for stitching a plurality of photographed images by using a camera according to claim 1, further comprising, at said step 10:
after the industrial cameras are installed, the visual field edges of every two adjacent industrial cameras are mutually balanced.
8. The method for stitching a plurality of photographed images by using a camera according to claim 1, further comprising, in said step 20:
placing a deviation plate, wherein n deviation tables are arranged on the deviation plate; each calibration plate is fixedly arranged on a corresponding offset platform, and two adjacent edges of each calibration plate are attached to two edges of the offset platform.
9. The method for stitching a plurality of photographed images by using a camera according to claim 2, further comprising, between said step 40 and said step 50, the steps of:
step 45; obtainingThe distance between the center point of the main calibration point and the center point of the auxiliary calibration point in each mapping image is recorded as L in the 1 st mapping imageBFor said spacing not equal to LBAnd adjusting the height of the industrial camera corresponding to the mapping image, and repeating the steps 30-45 until all the distances are equal, and then executing the step 50.
10. The method for stitching photographed images of a plurality of cameras according to claim 2, wherein the diameter of the main index point is larger than the diameter of the sub index point.
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Citations (3)

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Publication number Priority date Publication date Assignee Title
CN103150715A (en) * 2013-03-13 2013-06-12 腾讯科技（深圳）有限公司 Image stitching processing method and device
US10602126B2 (en) * 2016-06-10 2020-03-24 Lucid VR, Inc. Digital camera device for 3D imaging
CN111210386A (en) * 2019-12-18 2020-05-29 芜湖酷哇机器人产业技术研究院有限公司 Image shooting and splicing method and system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103150715A (en) * 2013-03-13 2013-06-12 腾讯科技（深圳）有限公司 Image stitching processing method and device
US10602126B2 (en) * 2016-06-10 2020-03-24 Lucid VR, Inc. Digital camera device for 3D imaging
CN111210386A (en) * 2019-12-18 2020-05-29 芜湖酷哇机器人产业技术研究院有限公司 Image shooting and splicing method and system

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