CN115100037A - Large-breadth tile imaging method and system based on multi-line scanning camera image splicing - Google Patents
Large-breadth tile imaging method and system based on multi-line scanning camera image splicing Download PDFInfo
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Abstract
The invention relates to a large-breadth tile imaging method based on multi-line scanning camera image splicing, which comprises the following steps: after the imaging system is determined, calibrating a plurality of cameras in the imaging system to acquire a homography matrix adapted to the imaging system hardware; determining the type of a target ceramic tile, and determining the complexity of the texture of the target ceramic tile according to the determined type; and acquiring a target tile image, adopting simple texture image splicing to the target tile image if the complexity of the texture of the target tile is a simple texture tile, and adopting complex texture image splicing to the target tile image if the complexity of the texture of the target tile is a complex texture tile. The invention corrects the simple texture ceramic tile through the homography matrix obtained by correction, and realizes the splicing of the basic large-breadth images. The real-time image splicing executed under the condition of the ceramic tile with the complex texture can relieve the influence caused by the change of the homography matrix parameters caused by vibration in the running process of the ceramic tile imaging platform.
Description
Technical Field
The invention relates to the technical field of robot visual positioning, in particular to a large-breadth tile imaging method and system based on image splicing of a multi-line scanning camera.
Background
When detecting the ceramic tile, how to image the ceramic tile is a problem which needs to be solved. Imaging is often performed by a single camera in the market today, so that it is more economical to use multiple low resolution cameras to capture the same scene than a single higher resolution camera if the same field of view is used; and the images acquired by the multiple cameras are spliced, so that the defect that a single camera cannot acquire a larger detection visual field can be overcome, and the influence caused by the change of the homography matrix parameters due to vibration in the operation process of the tile imaging platform can be relieved by real-time image splicing executed under the condition of the tile with the complex texture.
However, the image stitching technology in this aspect is not perfect in the current market, and a large-format tile imaging method based on multi-line scanning camera image stitching is required in the current market.
Disclosure of Invention
The present invention is directed to a method and system for imaging a large-width tile based on image stitching with a multi-line scanning camera.
In order to achieve the above object, the present invention adopts the following technical means,
specifically, a large-breadth tile imaging method based on image stitching of a multi-line scanning camera is provided, which comprises the following steps:
after the imaging system is determined, calibrating a plurality of cameras in the imaging system to acquire a homography matrix adapted to the imaging system hardware;
determining the type of a target ceramic tile, and determining the complexity of the texture of the target ceramic tile according to the determined type;
and acquiring a target tile image, adopting simple texture image splicing to the target tile image if the complexity of the texture of the target tile is a simple texture tile, and adopting complex texture image splicing to the target tile image if the complexity of the texture of the target tile is a complex texture tile.
Further, in particular, a plurality of cameras in an imaging system are calibrated to obtain a homography matrix adapted to the imaging system hardware, including,
acquiring a result of processing the cameras through a black and white correction plate during manual calibration, and calculating the internal reference and external reference of the cameras based on the result to obtain an internal reference and external reference matrix of each camera to finish correction;
at the intersection of the visual fields of any two cameras, obtaining the feature points of the correction plate through an SIFT algorithm to obtain a plurality of feature points, and calculating a homography matrix M between the cameras based on the plurality of feature points 1,2 ,M 2,3 ,…M n-1,n And n is the number of cameras used.
Further, in particular, the type of the target tile is determined, and the complexity of the texture of the target tile is determined according to the determined type, including,
acquiring a ceramic tile type selected by a user in a pre-established database as the type of a target ceramic tile;
calling tile pictures in an interaction area corresponding to the two cameras and pre-stored in the database;
extracting feature points of the tile image to obtain the number of the feature points and calculating the histogram variance of the tile image;
and when the number of the characteristic points is larger than a preset threshold value T1 and the histogram variance is larger than T2, judging that the target tile is a complex texture tile, and if not, judging that the target tile is a simple texture tile.
Further, specifically, the simple texture image stitching process includes the following,
a plurality of cameras shoot a plurality of tile images together, and the number of the tile images is assumed to be n;
passing a homography matrix M based on multiple tile images 1,2 ,M 2,3 ,…M n-1,n And + splicing, and outputting the high-resolution tile image after single splicing.
Further, in particular, the complex texture image stitching process includes the following,
multiple cameras shoot multiple tile images together, assuming n, where I 1 (x,y),I 2 (x, y) are two images with overlapping regions, (x) 0 ,y 0 ) Is a translational change between images;
the following calculations were made to calculate the following,
the cross power spectrum of the two images is defined as follows:
wherein
Is F 1 (u, v) complex conjugate number of (u, v),
then performing an inverse fourier transform on the above equation yields:
calculate G maximum value G max And get G max The corresponding position is the translation x between the images 0 ，y 0 ，
Similarly, the (x, y) coordinates of the two images are converted into polar coordinates (rho, theta), the above calculation process is performed again to obtain the corresponding rotation coefficients,
finally, the image I can be converted by determining the translation amount and the rotation coefficient 2 (x, y) projection to I 1 Completing the splicing of two images with overlapped areas under the image coordinates of (x, y),
and completing the splicing of all the images with the overlapped areas by parity of reasoning, and finally outputting a single spliced high-resolution tile image.
The invention also provides a large-breadth tile imaging system based on image splicing of the multi-line scanning camera, which comprises:
the tile optical detection platform comprises a conveying device, a tile optical detection platform and a tile optical detection platform, wherein the conveying device is used for conveying a target tile through a conveying belt;
an imaging system including a light source and a plurality of cameras for acquiring an image of a target tile, the plurality of cameras being mounted in parallel on a common line with a field of view between each two cameras having a coincident portion;
the calibration module is used for calibrating a plurality of cameras in the imaging system to acquire a homography matrix adapted to the imaging system hardware after the imaging system is determined;
the complexity calculation module is used for determining the type of the target ceramic tile and determining the complexity of the texture of the target ceramic tile according to the determined type;
the image splicing module is used for acquiring a target tile image, adopting simple texture image splicing to the target tile image if the complexity of the texture of the target tile is a simple texture tile, and adopting complex texture image splicing to the target tile image if the complexity of the texture of the target tile is a complex texture tile.
Further, the system also comprises a control unit,
the system comprises a pre-established database, wherein the database is established based on ceramic tile types and ceramic tile pictures in an interaction area corresponding to two cameras, and when the ceramic tile type selected by a user is used as the type of a target ceramic tile, the ceramic tile pictures in the interaction area corresponding to the two cameras and pre-stored in the database are returned.
The invention also provides a computer-readable storage medium, which stores a computer program, wherein the computer program is used for realizing the steps of the method for imaging the large-breadth tiles based on image stitching of the multi-line scanning camera when being executed by a processor.
The invention has the beneficial effects that:
the invention is suitable for a fusion scene of the tile imaging of a plurality of line scanning cameras, and a multi-image splicing simple texture tile image splicing method and a complex texture tile image splicing quick method are respectively executed according to the judgment result by judging the texture of the tile, so that the tile images shot by a plurality of low-resolution cameras are fused into a complete high-resolution tile. Using multiple low resolution cameras to capture an equivalent swath is more economical than using a single higher resolution camera under equivalent field of view conditions. And correcting the simple texture ceramic tile through the corrected homography matrix to realize the splicing of the basic large-format images. The real-time image splicing executed under the condition of the ceramic tile with the complex texture can relieve the influence caused by the change of the homography matrix parameters caused by vibration in the running process of the ceramic tile imaging platform.
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The foregoing and other features of the present disclosure will become more apparent from the detailed description of the embodiments shown in conjunction with the drawings in which like reference characters designate the same or similar elements throughout the several views, and it is apparent that the drawings in the following description are merely some examples of the present disclosure and that other drawings may be derived therefrom by those skilled in the art without the benefit of any inventive faculty, and in which:
FIG. 1 is a flow chart of a large-format tile imaging method based on multi-line scanning camera image stitching according to the present invention;
FIG. 2 is a schematic diagram of a simple texture tile image stitching method of the large format tile imaging method based on multi-line camera image stitching of the present invention;
FIG. 3 is a schematic diagram of a complex texture tile image stitching method of the large format tile imaging method based on multi-line camera image stitching according to the present invention;
fig. 4 is a schematic layout view of a tile optical inspection platform of the large-format tile imaging system based on image stitching with a multi-line scanning camera according to the present invention.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The same reference numbers will be used throughout the drawings to refer to the same or like parts.
Referring to fig. 1, 2 and 3, in embodiment 1, the present invention provides a method for imaging a large-format tile based on image stitching with a multi-line scanner, including the following steps:
after the imaging system is determined, calibrating a plurality of cameras in the imaging system to acquire a homography matrix adapted to the imaging system hardware;
determining the type of a target ceramic tile, and determining the complexity of the texture of the target ceramic tile according to the determined type;
and acquiring a target tile image, adopting simple texture image splicing to the target tile image if the complexity of the texture of the target tile is a simple texture tile, and adopting complex texture image splicing to the target tile image if the complexity of the texture of the target tile is a complex texture tile.
The scheme in the embodiment is suitable for a fusion scene of tile imaging of a plurality of line scanning cameras, and the method for splicing the tile images with the simple textures and the method for splicing the tile images with the complex textures are respectively carried out by judging the textures of the tiles and respectively executing a proper algorithm, so that the tile images shot by a plurality of low-resolution cameras are fused into a complete high-resolution tile. Therefore, the problem that a single line scan camera cannot image an image with a larger view field at the present stage and the problem that the cost of using a single high-resolution camera is high are solved.
As a preferred embodiment of the present invention, in particular, a plurality of cameras in an imaging system are calibrated to acquire a homography matrix adapted to hardware of the imaging system, including,
acquiring a result of processing the cameras through a black and white correction plate during manual calibration, and calculating the internal reference and external reference of the cameras based on the result to obtain an internal reference and external reference matrix of each camera to finish correction;
at the intersection of the visual fields of any two cameras, obtaining the feature points of the correction plate through an SIFT algorithm to obtain a plurality of feature points, and calculating a homography matrix M between the cameras based on the plurality of feature points 1,2 ,M 2,3 ,…M n-1,n N isThe number of cameras used.
In the preferred embodiment, the system calibration part is manual calibration performed by the platform in the debugging stage, and the internal reference and external reference matrix of the camera is obtained by calculating the internal reference and external reference of the camera through a black and white calibration board. After correction is finished, feature points of the correction plate are obtained at the visual field intersection of the two cameras again through the SIFT algorithm, and the homography matrix M among the cameras is calculated 1,2 ,M 2,3 ,…M n-1,n And n is the number of cameras used.
As a preferred embodiment of the present invention, in particular, the type of the target tile is determined, and the complexity of the texture of the target tile is determined according to the determined type, including,
acquiring a ceramic tile type selected by a user in a pre-established database as the type of a target ceramic tile;
calling tile pictures in an interaction area corresponding to the two cameras and pre-stored in the database;
extracting feature points of the tile image to obtain the number of the feature points and calculating the histogram variance of the tile image;
and when the number of the characteristic points is larger than a preset threshold value T1 and the histogram variance is larger than T2, judging that the target tile is a complex texture tile, and if not, judging that the target tile is a simple texture tile.
As a preferred embodiment of the present invention, specifically, the simple texture image stitching process includes the following,
a plurality of cameras shoot a plurality of tile images together, and n tiles are assumed;
passing a homography matrix M based on multiple tile images 1,2 ,M 2,3 ,…M n-1,n And + splicing, and outputting the high-resolution tile image after single splicing.
As a preferred embodiment of the present invention, in particular, the complex texture image stitching process includes the following,
multiple cameras shoot multiple tile images together, assuming n, where I 1 (x,y),I 2 (x, y) are two images with overlapping regions, (x) 0 ,y 0 ) Is a translational change between images;
the following calculations were performed and the results were,
the cross power spectrum of the two images is defined as follows:
wherein
Is F 1 (u, v) complex conjugate number of (u, v),
then performing an inverse fourier transform on the above equation yields:
find the maximum value G max And get G max The corresponding position is the translation x between the images 0 ，y 0 ，
Similarly, the (x, y) coordinates of the two images are converted into polar coordinates (rho, theta), the above calculation process is executed again to obtain the corresponding rotation coefficients,
finally, the image I can be converted by determining the translation amount and the rotation coefficient 2 (x, y) projection to I 1 Completing the splicing of two images with overlapped areas under the image coordinates of (x, y),
and completing the splicing of all the images with the overlapped areas by analogy, and finally outputting the high-resolution tile images spliced by the single tile.
Referring to fig. 4, the present invention further provides a large-format tile imaging system based on image stitching with a multi-line scanning camera, comprising:
the tile optical detection platform comprises a conveying device, a tile optical detection platform and a tile optical detection platform, wherein the conveying device is used for conveying a target tile through a conveying belt;
an imaging system including a light source and a plurality of cameras for acquiring an image of a target tile, the plurality of cameras being mounted in parallel on a common line with a field of view between each two cameras having a coincident portion;
the calibration module is used for calibrating a plurality of cameras in the imaging system to acquire a homography matrix adapted to the imaging system hardware after the imaging system is determined;
the complexity calculation module is used for determining the type of the target ceramic tile and determining the complexity of the texture of the target ceramic tile according to the determined type;
the image splicing module is used for acquiring a target tile image, adopting simple texture image splicing to the target tile image if the complexity of the texture of the target tile is a simple texture tile, and adopting complex texture image splicing to the target tile image if the complexity of the texture of the target tile is a complex texture tile.
In the present embodiment, the shooting position of the line scan camera coincides with the position of the broken line where the irradiation position of the light source is about the center in the figure. Taking the first camera as an example, the field of view size of the camera 1 is L 1 The interactive visual field of the camera 1 and the camera 2 is L 1,2 . When the tile reaches the position of the red dotted line, the n cameras shoot together to obtain n tile images.
As a preferred embodiment of the present invention, the system further comprises,
the system comprises a pre-established database, wherein the database is established based on the tile type and the tile pictures in the interaction area corresponding to the two cameras, and when the tile type selected by a user is taken as the type of a target tile, the tile pictures in the interaction area corresponding to the two cameras and pre-stored in the database are returned.
The invention further provides a computer-readable storage medium, which stores a computer program, wherein the computer program is used for realizing the steps of the method for imaging large-breadth tiles based on image stitching of the multi-line scanning camera when being executed by a processor.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium and can implement the steps of the above-described method embodiments when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or system capable of carrying said computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc. It should be noted that the computer readable medium includes content that can be suitably increased or decreased according to the requirements of legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunication signals according to legislation and patent practice.
While the present invention has been described in considerable detail and with particular reference to a few illustrative embodiments thereof, it is not intended to be limited to any such details or embodiments or any particular embodiments, but it is to be construed as effectively covering the intended scope of the invention by providing a broad, potential interpretation of such claims in view of the prior art with reference to the appended claims. Furthermore, the foregoing describes the invention in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial modifications of the invention, not presently foreseen, may nonetheless represent equivalent modifications thereto.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and the present invention shall fall within the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.
Claims (8)
1. The large-breadth tile imaging method based on image stitching of the multi-line scanning camera is characterized by comprising the following steps of:
after the imaging system is determined, calibrating a plurality of cameras in the imaging system to acquire a homography matrix adapted to the imaging system hardware;
determining the type of a target ceramic tile, and determining the complexity of the texture of the target ceramic tile according to the determined type;
and acquiring a target tile image, adopting simple texture image splicing to the target tile image if the complexity of the texture of the target tile is a simple texture tile, and adopting complex texture image splicing to the target tile image if the complexity of the texture of the target tile is a complex texture tile.
2. The method of claim 1, wherein the calibration of the cameras in the imaging system to obtain the homography matrix adapted to the imaging system hardware comprises,
acquiring a result of processing the camera by a black and white correction plate during manual calibration, and calculating the internal reference and external reference of the camera based on the result to obtain an internal reference and external reference matrix of each camera to finish correction;
at the intersection of the visual fields of any two cameras, obtaining the feature points of the correction plate through the SIFT algorithm to obtain a plurality of feature points, and calculating a homography matrix { M (matrix) between the cameras based on the plurality of feature points 1,2 ,M 2,3 ,…M n-1,n Where n is the number of cameras used.
3. The method of claim 1, wherein the type of the target tile is determined, and the complexity of the texture of the target tile is determined according to the determined type, comprising,
acquiring a ceramic tile type selected by a user in a pre-established database as the type of a target ceramic tile;
calling tile pictures in an interaction area corresponding to the two cameras and pre-stored in the database;
extracting feature points of the tile picture to obtain the number of the feature points and calculating the histogram variance of the tile picture;
and when the number of the characteristic points is greater than a preset threshold value T1 and the histogram variance is greater than T2, judging that the target tile is a complex texture tile, and if not, judging that the target tile is a simple texture tile.
4. The method of claim 2, wherein the step of stitching the simple texture image comprises the following steps,
a plurality of cameras shoot a plurality of tile images together, and the number of the tile images is assumed to be n;
based on multiple tile images passing through homography matrix { M 1,2 ,M 2,3 ,…M n-1,n Splicing is carried out, and the high-resolution tile image after single splicing is output.
5. The method for imaging large-format tiles based on image stitching with multi-line scan camera according to claim 2, wherein the specific process of image stitching with complex texture comprises the following steps,
multiple cameras shoot multiple tile images together, assuming n, where I 1 (x,y),I 2 (x, y) are two images with overlapping regions, (x) 0 ,y 0 ) Is a translational change between images;
the following calculations were performed and the results were,
the cross power spectrum of the two images is defined as follows:
wherein
Is F 1 (u, v) a complex conjugate of (u, v),
then performing an inverse fourier transform on the above equation yields:
calculate G maximum value G max And get G max The corresponding position is the translation x between the images 0 ，y 0 ，
Similarly, the (x, y) coordinates of the two images are converted into polar coordinates (rho, theta), the above calculation process is performed again to obtain the corresponding rotation coefficients,
finally, the image I can be converted by determining the translation amount and the rotation coefficient 2 (x, y) projection to I 1 Under the image coordinates of (x, y), completing the splicing of two images with overlapped areas,
and completing the splicing of all the images with the overlapped areas by analogy, and finally outputting the high-resolution tile images spliced by the single tile.
6. Large breadth ceramic tile imaging system based on camera image concatenation is swept to multi-line, its characterized in that includes:
the tile optical detection platform comprises a conveying device, a tile optical detection device and a tile optical detection device, wherein the conveying device is used for conveying a target tile through a conveying belt;
an imaging system including a light source and a plurality of cameras for acquiring an image of a target tile, the plurality of cameras being mounted in parallel on a common line with a field of view between each two cameras having a coincident portion;
the calibration module is used for calibrating a plurality of cameras in the imaging system to acquire a homography matrix adapted to the imaging system hardware after the imaging system is determined;
the complexity calculation module is used for determining the type of the target ceramic tile and determining the complexity of the texture of the target ceramic tile according to the determined type;
the image splicing module is used for acquiring a target tile image, adopting simple texture image splicing to the target tile image if the complexity of the texture of the target tile is a simple texture tile, and adopting complex texture image splicing to the target tile image if the complexity of the texture of the target tile is a complex texture tile.
7. The large format tile imaging system based on multi-line camera image stitching according to claim 6, further comprising,
the system comprises a pre-established database, wherein the database is established based on the tile type and the tile pictures in the interaction area corresponding to the two cameras, and when the tile type selected by a user is taken as the type of a target tile, the tile pictures in the interaction area corresponding to the two cameras and pre-stored in the database are returned.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116878388A (en) * | 2023-09-07 | 2023-10-13 | 东莞市兆丰精密仪器有限公司 | Line scanning measurement method, device and system and computer readable storage medium |
| CN116958135A (en) * | 2023-09-18 | 2023-10-27 | 支付宝(杭州)信息技术有限公司 | Texture detection processing method and device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116878388A (en) * | 2023-09-07 | 2023-10-13 | 东莞市兆丰精密仪器有限公司 | Line scanning measurement method, device and system and computer readable storage medium |
| CN116878388B (en) * | 2023-09-07 | 2023-11-14 | 东莞市兆丰精密仪器有限公司 | Line scanning measurement method, device and system and computer readable storage medium |
| CN116958135A (en) * | 2023-09-18 | 2023-10-27 | 支付宝(杭州)信息技术有限公司 | Texture detection processing method and device |
| CN116958135B (en) * | 2023-09-18 | 2024-03-08 | 支付宝(杭州)信息技术有限公司 | Texture detection processing method and device |
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